+ python -m lidar_slam --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters Centerline goodness [0,1] 0.6576961228274465 Centerline is valid? [0, False] SLAMing on 0.03264 meters Centerline goodness [0,1] 0.6236374690580623 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999801e-01 6.30826382e-04 -1.24853380e-05 2.81806237e-03] [-6.30821924e-04 9.99999738e-01 3.53845718e-04 -1.30672886e-03] [ 1.27085500e-05 -3.53837772e-04 9.99999937e-01 -7.51073621e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06264 meters SLAMing on 0.09264000000000001 meters Centerline goodness [0,1] 0.6072228869792233 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99998140e-01 1.92747443e-03 -6.63609712e-05 6.40959895e-03] [-1.92743224e-03 9.99997944e-01 6.30120175e-04 -1.94878810e-03] [ 6.75753753e-05 -6.29991097e-04 9.99999799e-01 -1.96600890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12264000000000001 meters Centerline goodness [0,1] 0.5510936209070748 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99996969e-01 2.43834793e-03 -3.41267058e-04 8.96931564e-03] [-2.43811367e-03 9.99996793e-01 6.85171609e-04 -2.61314144e-03] [ 3.42936651e-04 -6.84337485e-04 9.99999707e-01 -3.39520325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15264000000000003 meters Centerline goodness [0,1] 0.5165678255693468 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.01 [[ 9.99971247e-01 7.56988083e-03 -4.49280044e-04 1.29251354e-02] [-7.56751169e-03 9.99958567e-01 5.05939761e-03 -4.48984422e-03] [ 4.87560466e-04 -5.05585221e-03 9.99987100e-01 -5.22442551e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18264000000000002 meters Centerline goodness [0,1] 0.5288630763815558 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99965913e-01 8.21522152e-03 -8.26750411e-04 1.61303124e-02] [-8.21126235e-03 9.99955319e-01 4.68340583e-03 -9.94290964e-05] [ 8.65188688e-04 -4.67645752e-03 9.99988691e-01 -6.85027466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21264000000000002 meters Centerline goodness [0,1] 0.4340177239624463 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 0.99994052 0.01085202 -0.00109106 0.02313668] [-0.01084624 0.9999278 0.00517273 0.00240023] [ 0.00114711 -0.00516059 0.99998603 -0.01126813] [ 0. 0. 0. 1. ]] SLAMing on 0.24264000000000002 meters Centerline goodness [0,1] 0.43393456842292555 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99993845 0.01101551 -0.00132207 0.02523264] [-0.01100913 0.99992816 0.00474001 0.00565012] [ 0.00137419 -0.00472516 0.99998789 -0.01238598] [ 0. 0. 0. 1. ]] SLAMing on 0.27264 meters Centerline goodness [0,1] 0.39819633092256135 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99993772 0.01105166 -0.00155423 0.02769044] [-0.01104486 0.99992968 0.00431705 0.00956383] [ 0.00160183 -0.00429961 0.99998947 -0.01391823] [ 0. 0. 0. 1. ]] SLAMing on 0.30264 meters Centerline goodness [0,1] 0.48453926343860887 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 0.99993693 0.0111195 -0.00158141 0.0313851 ] [-0.01111335 0.99993084 0.00384915 0.01284924] [ 0.00162411 -0.00383133 0.99999134 -0.01503894] [ 0. 0. 0. 1. ]] SLAMing on 0.33264 meters Centerline goodness [0,1] 0.4435524555285034 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 0.99993666 0.01111163 -0.00178971 0.0335568 ] [-0.01110479 0.99993117 0.00378562 0.01325575] [ 0.00183165 -0.0037655 0.99999123 -0.01660705] [ 0. 0. 0. 1. ]] SLAMing on 0.36264 meters Centerline goodness [0,1] 0.4152185882612047 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99993739 0.01101207 -0.00198841 0.0356579 ] [-0.01100479 0.99993284 0.00363548 0.01419848] [ 0.00202831 -0.00361337 0.99999141 -0.01813494] [ 0. 0. 0. 1. ]] SLAMing on 0.39264 meters Centerline goodness [0,1] 0.39142819866052014 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99993969 0.01081236 -0.00192605 0.03966927] [-0.01080556 0.99993546 0.00350972 0.01475199] [ 0.00196388 -0.00348869 0.99999199 -0.02007339] [ 0. 0. 0. 1. ]] SLAMing on 0.42264 meters Centerline goodness [0,1] 0.4087034642943226 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99997338 0.00690462 -0.00235942 0.04304884] [-0.00690764 0.99997533 -0.00127456 0.0217482 ] [ 0.00235056 0.00129082 0.9999964 -0.02173866] [ 0. 0. 0. 1. ]] SLAMing on 0.45264 meters Centerline goodness [0,1] 0.3857458243204067 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99997374 0.006794 -0.00252083 0.0447422 ] [-0.00679744 0.99997598 -0.00135582 0.02251337] [ 0.00251156 0.00137292 0.9999959 -0.02275174] [ 0. 0. 0. 1. ]] SLAMing on 0.48264 meters Centerline goodness [0,1] 0.37289470230543764 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.03 [[ 9.99998770e-01 1.84899923e-04 1.55759839e-03 7.15016792e-02] [-1.87702339e-04 9.99998364e-01 1.79923639e-03 2.91519482e-02] [-1.55726316e-03 -1.79952654e-03 9.99997168e-01 -3.19522129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51264 meters Centerline goodness [0,1] 0.36774649754717814 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.03 [[ 9.99999203e-01 -5.13099098e-06 1.26246705e-03 7.40384108e-02] [ 3.06566897e-06 9.99998662e-01 1.63593782e-03 3.06129056e-02] [-1.26247375e-03 -1.63593264e-03 9.99997865e-01 -3.33456812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54264 meters Centerline goodness [0,1] 0.4443950573384301 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.03 [[ 9.99999218e-01 -4.67289674e-04 1.16004426e-03 7.82197022e-02] [ 4.65674147e-04 9.99998922e-01 1.39252244e-03 3.22109653e-02] [-1.16069372e-03 -1.39198115e-03 9.99998358e-01 -3.44910889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57264 meters Centerline goodness [0,1] 0.3933641941128264 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.04 [[ 9.99999349e-01 -7.09145263e-04 8.94130029e-04 8.07048629e-02] [ 7.08163824e-04 9.99999147e-01 1.09748604e-03 3.45124358e-02] [-8.94907544e-04 -1.09685213e-03 9.99998998e-01 -3.58381470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6026400000000001 meters Centerline goodness [0,1] 0.4170380604331937 Centerline is valid? [False, False] Translation: X:0.08, Y:0.04, Z:-0.04 [[ 9.99999304e-01 -9.68774237e-04 6.72878238e-04 8.28252082e-02] [ 9.68274236e-04 9.99999255e-01 7.43005933e-04 3.76046460e-02] [-6.73597542e-04 -7.42353886e-04 9.99999498e-01 -3.68771483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63264 meters Centerline goodness [0,1] 0.4165647853824438 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.04 [[ 9.99999153e-01 -1.24653465e-03 3.75228792e-04 8.53950050e-02] [ 1.24641534e-03 9.99999173e-01 3.18052975e-04 4.10263104e-02] [-3.75624945e-04 -3.17585014e-04 9.99999879e-01 -3.81367171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66264 meters Centerline goodness [0,1] 0.39763090888962693 Centerline is valid? [False, False] Translation: X:0.09, Y:0.04, Z:-0.04 [[ 9.99998955e-01 -1.44507387e-03 4.68811893e-05 8.82784824e-02] [ 1.44507235e-03 9.99998955e-01 3.25151630e-05 4.26100998e-02] [-4.69281271e-05 -3.24473823e-05 9.99999998e-01 -3.96455484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69264 meters Centerline goodness [0,1] 0.3571507211273808 Centerline is valid? [False, False] Translation: X:0.10, Y:0.04, Z:-0.05 [[ 9.99997055e-01 -2.31756976e-03 -7.20861647e-04 9.89700728e-02] [ 2.31712640e-03 9.99997126e-01 -6.15279450e-04 4.43616569e-02] [ 7.22285528e-04 6.13607310e-04 9.99999551e-01 -4.58445871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7226400000000001 meters Centerline goodness [0,1] 0.3622559174857848 Centerline is valid? [False, False] Translation: X:0.10, Y:0.05, Z:-0.05 [[ 9.99996231e-01 -2.54413697e-03 -1.03214451e-03 1.01573417e-01] [ 2.54325922e-03 9.99996404e-01 -8.50836356e-04 4.60068811e-02] [ 1.03430544e-03 8.48208138e-04 9.99999105e-01 -4.70461269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7526400000000001 meters Centerline goodness [0,1] 0.37771661970600445 Centerline is valid? [False, False] Translation: X:0.11, Y:0.05, Z:-0.05 [[ 0.99999162 -0.00362598 -0.00190275 0.11268735] [ 0.00362342 0.99999253 -0.00134438 0.0491718 ] [ 0.00190761 0.00133748 0.99999729 -0.05261226] [ 0. 0. 0. 1. ]] SLAMing on 0.78264 meters Centerline goodness [0,1] 0.37062050575918515 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.05 [[ 0.9999907 -0.00373385 -0.00215904 0.1150026 ] [ 0.00373114 0.99999225 -0.0012581 0.04818974] [ 0.00216372 0.00125003 0.99999688 -0.05342315] [ 0. 0. 0. 1. ]] SLAMing on 0.81264 meters Centerline goodness [0,1] 0.403582129600644 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.05 [[ 0.999988 -0.00428814 -0.00236906 0.11882878] [ 0.00428499 0.99998993 -0.00133181 0.0482624 ] [ 0.00237475 0.00132164 0.99999631 -0.05399615] [ 0. 0. 0. 1. ]] SLAMing on 0.8426400000000001 meters Centerline goodness [0,1] 0.4091061865603083 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.06 [[ 0.9999863 -0.00451276 -0.00265068 0.12126789] [ 0.00450862 0.99998861 -0.00156605 0.05031236] [ 0.00265771 0.00155408 0.99999526 -0.05516053] [ 0. 0. 0. 1. ]] SLAMing on 0.8726400000000001 meters Centerline goodness [0,1] 0.38165851489550906 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.06 [[ 0.99998469 -0.00469209 -0.00293216 0.12387208] [ 0.00468701 0.99998751 -0.00173714 0.05174985] [ 0.00294028 0.00172337 0.99999419 -0.05648462] [ 0. 0. 0. 1. ]] SLAMing on 0.90264 meters Centerline goodness [0,1] 0.38165851489550906 Centerline is valid? [False, False] Translation: X:0.12, Y:0.05, Z:-0.06 [[ 0.99998469 -0.00469209 -0.00293216 0.12387208] [ 0.00468701 0.99998751 -0.00173714 0.05174985] [ 0.00294028 0.00172337 0.99999419 -0.05648462] [ 0. 0. 0. 1. ]] SLAMing on 0.93264 meters Centerline goodness [0,1] 0.4269809203142536 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.06 [[ 0.99998292 -0.00500693 -0.00301618 0.12720793] [ 0.00500092 0.9999855 -0.00199685 0.05381776] [ 0.00302613 0.00198173 0.99999346 -0.05700671] [ 0. 0. 0. 1. ]] SLAMing on 0.96264 meters Centerline goodness [0,1] 0.3941371731036648 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.06 [[ 0.99998169 -0.0050952 -0.00326455 0.12931672] [ 0.00508856 0.99998498 -0.00203685 0.05383309] [ 0.00327488 0.0020202 0.9999926 -0.05781248] [ 0. 0. 0. 1. ]] SLAMing on 0.9926400000000001 meters Centerline goodness [0,1] 0.3874206014302847 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.06 [[ 0.99998044 -0.00518765 -0.00349493 0.13147044] [ 0.00518049 0.99998447 -0.00205639 0.05358465] [ 0.00350554 0.00203824 0.99999178 -0.05865412] [ 0. 0. 0. 1. ]] SLAMing on 1.02264 meters Centerline goodness [0,1] 0.40302216252518464 Centerline is valid? [False, False] Translation: X:0.13, Y:0.05, Z:-0.06 [[ 0.99997923 -0.00525471 -0.00373321 0.13351533] [ 0.00524723 0.99998421 -0.00201029 0.05299483] [ 0.00374371 0.00199066 0.99999101 -0.05937173] [ 0. 0. 0. 1. ]] SLAMing on 1.05264 meters Centerline goodness [0,1] 0.39775747693819663 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 0.99996802 -0.00636252 -0.00484615 0.14511264] [ 0.00635193 0.99997741 -0.00219677 0.05039781] [ 0.00486002 0.00216591 0.99998584 -0.06554528] [ 0. 0. 0. 1. ]] SLAMing on 1.08264 meters Centerline goodness [0,1] 0.40084256514276795 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.07 [[ 0.99996593 -0.00639367 -0.00522184 0.14834662] [ 0.00638416 0.99997794 -0.00183425 0.04681192] [ 0.00523345 0.00180085 0.99998468 -0.0669962 ] [ 0. 0. 0. 1. ]] SLAMing on 1.11264 meters Centerline goodness [0,1] 0.4209552677914725 Centerline is valid? [False, False] Translation: X:0.15, Y:0.04, Z:-0.07 [[ 0.99996137 -0.00666614 -0.00572958 0.15465237] [ 0.00665886 0.999977 -0.00128889 0.04285318] [ 0.00573804 0.00125069 0.99998276 -0.06922081] [ 0. 0. 0. 1. ]] SLAMing on 1.14264 meters Centerline goodness [0,1] 0.4211323781724192 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.07 [[ 0.99995968 -0.00664699 -0.0060385 0.15754608] [ 0.00664053 0.99997736 -0.00108841 0.04149179] [ 0.0060456 0.00104826 0.99998118 -0.07061762] [ 0. 0. 0. 1. ]] SLAMing on 1.1726400000000001 meters Centerline goodness [0,1] 0.2051897805349877 Centerline is valid? [False, False] Translation: X:0.16, Y:0.04, Z:-0.07 [[ 9.99957999e-01 -6.55108581e-03 -6.40968788e-03 1.60730573e-01] [ 6.54624081e-03 9.99978272e-01 -7.76575203e-04 3.91669211e-02] [ 6.41463601e-03 7.34583226e-04 9.99979156e-01 -7.20209835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2026400000000002 meters Centerline goodness [0,1] 0.20359772868423387 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99958126e-01 -5.87774110e-03 -7.01410422e-03 1.68865436e-01] [ 5.87848225e-03 9.99982718e-01 8.50527557e-05 3.53900562e-02] [ 7.01348308e-03 -1.26281481e-04 9.99975397e-01 -7.63237283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2326400000000002 meters Centerline goodness [0,1] 0.41120759470889945 Centerline is valid? [False, False] Translation: X:0.17, Y:0.04, Z:-0.08 [[ 9.99955730e-01 -5.89085174e-03 -7.33727958e-03 1.71858894e-01] [ 5.89085784e-03 9.99982649e-01 -2.07809636e-05 3.70098380e-02] [ 7.33727468e-03 -2.24428272e-05 9.99973082e-01 -7.77416081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26264 meters Centerline goodness [0,1] 0.40982462459758207 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.08 [[ 9.99953335e-01 -5.79684039e-03 -7.72815360e-03 1.75031664e-01] [ 5.79629193e-03 9.99983197e-01 -9.33648767e-05 3.81311211e-02] [ 7.72856497e-03 4.85658855e-05 9.99970133e-01 -7.88602754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29264 meters Centerline goodness [0,1] 0.09524237791168266 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.08 [[ 9.99958347e-01 -4.05270607e-03 -8.17800281e-03 1.82219011e-01] [ 4.05719794e-03 9.99991628e-01 5.32746943e-04 3.60884938e-02] [ 8.17577527e-03 -5.65904529e-04 9.99966418e-01 -8.09326536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.32264 meters Centerline goodness [0,1] 0.3707266638196489 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.08 [[ 9.99956720e-01 -3.73906644e-03 -8.51928279e-03 1.85016858e-01] [ 3.74170499e-03 9.99992957e-01 2.93796779e-04 3.87984156e-02] [ 8.51812426e-03 -3.25660706e-04 9.99963667e-01 -8.15747408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.35264 meters Centerline goodness [0,1] 0.2188571812862875 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.09 [[ 9.99952501e-01 -2.38779958e-03 -9.44958410e-03 1.92799724e-01] [ 2.39629271e-03 9.99996735e-01 8.87562992e-04 3.91059511e-02] [ 9.44743392e-03 -9.10164803e-04 9.99954958e-01 -8.50577381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38264 meters Centerline goodness [0,1] 0.21691053278230765 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.09 [[ 9.99950423e-01 -3.60001142e-04 -9.95094286e-03 2.01247017e-01] [ 3.73171544e-04 9.99999057e-01 1.32170797e-03 4.02692807e-02] [ 9.95045766e-03 -1.32535585e-03 9.99949615e-01 -8.86011324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4126400000000001 meters Centerline goodness [0,1] 0.219965020852953 Centerline is valid? [False, False] Translation: X:0.20, Y:0.04, Z:-0.09 [[ 9.99946922e-01 -3.35347245e-04 -1.02975744e-02 2.04128193e-01] [ 3.45547414e-04 9.99999451e-01 9.88777734e-04 4.32629045e-02] [ 1.02972372e-02 -9.92283552e-04 9.99946490e-01 -8.95624460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4426400000000001 meters Centerline goodness [0,1] 0.21759610662142248 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.10 [[ 9.99933111e-01 6.48732123e-04 -1.15478793e-02 2.17592523e-01] [-6.37125099e-04 9.99999288e-01 1.00877213e-03 4.70200138e-02] [ 1.15485255e-02 -1.00134721e-03 9.99932812e-01 -9.67763011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4726400000000002 meters Centerline goodness [0,1] 0.22192380608468 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.10 [[ 9.99929819e-01 6.33728971e-04 -1.18302369e-02 2.20189136e-01] [-6.23567685e-04 9.99999434e-01 8.62593827e-04 4.80799345e-02] [ 1.18307768e-02 -8.55156337e-04 9.99929648e-01 -9.78329216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5026400000000002 meters Centerline goodness [0,1] 0.22040248580979516 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.12 [[ 9.99995026e-01 8.62175356e-04 -3.03394268e-03 2.27223192e-01] [-8.59554861e-04 9.99999257e-01 8.64923903e-04 4.73854506e-02] [ 3.03468614e-03 -8.62311761e-04 9.99995024e-01 -1.21776702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53264 meters Centerline goodness [0,1] 0.1756873046786539 Centerline is valid? [False, False] Translation: X:0.23, Y:0.05, Z:-0.12 [[ 9.99994263e-01 9.12004792e-04 -3.26228622e-03 2.29616412e-01] [-9.08851656e-04 9.99999119e-01 9.67893701e-04 4.63808880e-02] [ 3.26316607e-03 -9.64923214e-04 9.99994210e-01 -1.22957756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56264 meters Centerline goodness [0,1] 0.1905690838154177 Centerline is valid? [False, False] Translation: X:0.24, Y:0.05, Z:-0.13 [[ 9.99989982e-01 5.40263357e-04 -4.44335304e-03 2.42248660e-01] [-5.36281197e-04 9.99999454e-01 8.97348799e-04 4.57254083e-02] [ 4.44383542e-03 -8.94956923e-04 9.99989726e-01 -1.29777639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59264 meters SLAMing on 1.62264 meters Centerline goodness [0,1] 0.19038457236179784 Centerline is valid? [False, False] Translation: X:0.25, Y:0.05, Z:-0.13 [[ 9.99990042e-01 2.11346695e-04 -4.45775319e-03 2.48636908e-01] [-2.06828760e-04 9.99999465e-01 1.01393719e-03 4.52079838e-02] [ 4.45796510e-03 -1.01300511e-03 9.99989550e-01 -1.31369688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65264 meters Centerline goodness [0,1] 0.06390985915492953 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.13 [[ 9.99988945e-01 2.03249021e-04 -4.69777029e-03 2.50881437e-01] [-1.98013307e-04 9.99999359e-01 1.11494880e-03 4.44546943e-02] [ 4.69799389e-03 -1.11400625e-03 9.99988344e-01 -1.32201844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6826400000000001 meters Centerline goodness [0,1] 0.06536212325686008 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:-0.13 [[ 9.99987523e-01 2.09514137e-04 -4.99107577e-03 2.53450420e-01] [-2.03202191e-04 9.99999179e-01 1.26511992e-03 4.31244756e-02] [ 4.99133673e-03 -1.26408994e-03 9.99986744e-01 -1.33106445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7126400000000002 meters Centerline goodness [0,1] 0.039690222652468576 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.14 [[ 9.99980313e-01 -4.87958380e-04 -6.25577472e-03 2.66501355e-01] [ 4.95952644e-04 9.99999062e-01 1.27641386e-03 4.01455665e-02] [ 6.25514602e-03 -1.27949130e-03 9.99979618e-01 -1.40209987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7426400000000002 meters Centerline goodness [0,1] 0.41875181681983853 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.14 [[ 9.99978273e-01 -4.28344079e-04 -6.57802438e-03 2.69385219e-01] [ 4.38241015e-04 9.99998774e-01 1.50317766e-03 3.79244411e-02] [ 6.57737244e-03 -1.50602776e-03 9.99977235e-01 -1.41392942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7726400000000002 meters Centerline goodness [0,1] 0.43220225620903374 Centerline is valid? [False, False] Translation: X:0.27, Y:0.04, Z:-0.14 [[ 9.99975458e-01 -4.40186544e-04 -6.99204132e-03 2.74410689e-01] [ 4.51060582e-04 9.99998691e-01 1.55370142e-03 3.75322416e-02] [ 6.99134825e-03 -1.55681713e-03 9.99974348e-01 -1.43243750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80264 meters Centerline goodness [0,1] 0.1759951093601413 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99973822e-01 -5.22333457e-04 -7.21680886e-03 2.76460207e-01] [ 5.32321307e-04 9.99998903e-01 1.38211876e-03 3.90803529e-02] [ 7.21607902e-03 -1.38592424e-03 9.99973003e-01 -1.43826485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.83264 meters Centerline goodness [0,1] 0.18195753122041392 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.14 [[ 9.99971711e-01 -5.72700857e-04 -7.49999815e-03 2.79004273e-01] [ 5.81685718e-04 9.99999116e-01 1.19585526e-03 4.07918960e-02] [ 7.49930665e-03 -1.20018407e-03 9.99971160e-01 -1.44778222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.86264 meters Centerline goodness [0,1] 0.177021450274364 Centerline is valid? [False, False] Translation: X:0.28, Y:0.04, Z:-0.15 [[ 9.99969708e-01 -6.44766025e-04 -7.75674060e-03 2.81200482e-01] [ 6.52291123e-04 9.99999319e-01 9.67645787e-04 4.26113028e-02] [ 7.75611141e-03 -9.72676128e-04 9.99969448e-01 -1.45395873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89264 meters Centerline goodness [0,1] 0.19318335817861498 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.15 [[ 9.99967176e-01 -4.63297988e-04 -8.08900294e-03 2.85807168e-01] [ 4.69742774e-04 9.99999574e-01 7.94852554e-04 4.40954850e-02] [ 8.08863124e-03 -7.98626214e-04 9.99966968e-01 -1.46271924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9226400000000001 meters Centerline goodness [0,1] 0.19013312451057163 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:-0.17 [[ 9.99999818e-01 -2.20715196e-04 5.60999085e-04 2.94926372e-01] [ 2.20391921e-04 9.99999810e-01 5.76244858e-04 4.39878552e-02] [-5.61126164e-04 -5.76121114e-04 9.99999677e-01 -1.69628345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9526400000000002 meters Centerline goodness [0,1] 0.18788980122941623 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.17 [[ 9.99999930e-01 -1.82624175e-04 3.26374052e-04 2.96889880e-01] [ 1.82421288e-04 9.99999790e-01 6.21559943e-04 4.32017866e-02] [-3.26487496e-04 -6.21500362e-04 9.99999754e-01 -1.70054773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9826400000000002 meters Centerline goodness [0,1] 0.18149130297990923 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.17 [[ 9.99999977e-01 -2.05609363e-04 -5.53881213e-05 3.01207681e-01] [ 2.05642566e-04 9.99999799e-01 6.00125242e-04 4.31322048e-02] [ 5.52647188e-05 -6.00136619e-04 9.99999818e-01 -1.71212769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01264 meters Centerline goodness [0,1] 0.17971837383602085 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:-0.17 [[ 9.99999931e-01 -2.49790137e-04 -2.75838540e-04 3.03275020e-01] [ 2.49945618e-04 9.99999810e-01 5.63776432e-04 4.33755170e-02] [ 2.75697662e-04 -5.63845337e-04 9.99999803e-01 -1.72005059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04264 meters Centerline goodness [0,1] 0.17675610696545618 Centerline is valid? [False, False] Translation: X:0.31, Y:0.04, Z:-0.17 [[ 9.99999768e-01 -3.24850559e-04 -5.97942303e-04 3.06037017e-01] [ 3.25203484e-04 9.99999773e-01 5.90229607e-04 4.31575415e-02] [ 5.97750431e-04 -5.90423923e-04 9.99999647e-01 -1.73047013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0726400000000003 meters Centerline goodness [0,1] 0.17007276320517428 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.18 [[ 9.99997207e-01 -1.30966961e-03 -1.96743295e-03 3.20019285e-01] [ 1.31094912e-03 9.99998930e-01 6.49197527e-04 4.10189171e-02] [ 1.96658061e-03 -6.51774919e-04 9.99997854e-01 -1.79792937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10264 meters Centerline goodness [0,1] 0.17028121484814396 Centerline is valid? [False, False] Translation: X:0.32, Y:0.04, Z:-0.18 [[ 0.99999635 -0.00134522 -0.00234215 0.32276098] [ 0.00134791 0.99999844 0.00114433 0.03672465] [ 0.00234061 -0.00114748 0.9999966 -0.18036225] [ 0. 0. 0. 1. ]] SLAMing on 2.1326400000000003 meters Centerline goodness [0,1] 0.17089307892062777 Centerline is valid? [False, False] Translation: X:0.33, Y:0.03, Z:-0.18 [[ 0.99999499 -0.00149154 -0.00279252 0.32613038] [ 0.00149615 0.99999752 0.001652 0.03165774] [ 0.00279005 -0.00165617 0.99999474 -0.18142617] [ 0. 0. 0. 1. ]] SLAMing on 2.16264 meters Centerline goodness [0,1] 0.1717274872912128 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:-0.19 [[ 0.99998742 -0.00329274 -0.00378501 0.33579394] [ 0.0032985 0.99999341 0.00151604 0.02623265] [ 0.00377999 -0.00152851 0.99999169 -0.1857061 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1926400000000004 meters Centerline goodness [0,1] 0.17478837794555024 Centerline is valid? [False, False] Translation: X:0.34, Y:0.02, Z:-0.19 [[ 0.99998641 -0.00323682 -0.00408647 0.33805379] [ 0.00324473 0.99999287 0.00193145 0.0229126 ] [ 0.00408019 -0.00194468 0.99998979 -0.18618594] [ 0. 0. 0. 1. ]] SLAMing on 2.22264 meters Centerline goodness [0,1] 0.1687962795737764 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.21 [[ 0.99998543 -0.00358638 0.00403409 0.35076746] [ 0.00357878 0.99999181 0.00188941 0.02044912] [-0.00404083 -0.00187494 0.99999008 -0.21004281] [ 0. 0. 0. 1. ]] SLAMing on 2.25264 meters Centerline goodness [0,1] 0.17005968997526155 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.21 [[ 0.99998814 -0.00338865 0.00349729 0.35560729] [ 0.00338064 0.99999166 0.00229313 0.01759989] [-0.00350503 -0.00228128 0.99999126 -0.21177525] [ 0. 0. 0. 1. ]] SLAMing on 2.2826400000000002 meters Centerline goodness [0,1] 0.17404412772372213 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:-0.21 [[ 0.99998916 -0.00336543 0.00321691 0.35780487] [ 0.00335825 0.99999187 0.00223285 0.01821692] [-0.0032244 -0.00222202 0.99999233 -0.21254988] [ 0. 0. 0. 1. ]] SLAMing on 2.31264 meters Centerline goodness [0,1] 0.17366285334372633 Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:-0.22 [[ 0.99999627 -0.00182021 0.00203605 0.36843992] [ 0.00181408 0.99999383 0.00300854 0.01760104] [-0.00204151 -0.00300484 0.9999934 -0.21759601] [ 0. 0. 0. 1. ]] SLAMing on 2.3426400000000003 meters Centerline goodness [0,1] 0.16863543788187374 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99999682 0.00199744 -0.00153958 0.39187637] [-0.00199446 0.99999614 0.00193611 0.01545863] [ 0.00154344 -0.00193304 0.99999694 -0.21708955] [ 0. 0. 0. 1. ]] SLAMing on 2.37264 meters Centerline goodness [0,1] 0.1699184591273537 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.22 [[ 0.99999588 0.00216526 -0.00188226 0.39422472] [-0.00216198 0.99999614 0.00174526 0.01709911] [ 0.00188603 -0.00174119 0.99999671 -0.21757588] [ 0. 0. 0. 1. ]] SLAMing on 2.4026400000000003 meters Centerline goodness [0,1] 0.17212270949145558 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 0.99999295 0.00294512 -0.00233142 0.39845854] [-0.00294112 0.99999421 0.00171431 0.01850396] [ 0.00233645 -0.00170744 0.99999581 -0.2179674 ] [ 0. 0. 0. 1. ]] SLAMing on 2.43264 meters Centerline goodness [0,1] 0.17050052279856343 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 0.99999164 0.00308392 -0.0026859 0.40090838] [-0.00307946 0.99999388 0.00166121 0.01930998] [ 0.002691 -0.00165292 0.99999501 -0.21857647] [ 0. 0. 0. 1. ]] SLAMing on 2.4626400000000004 meters Centerline goodness [0,1] 0.17008937708944527 Centerline is valid? [False, False] Translation: X:0.40, Y:0.02, Z:-0.22 [[ 0.99999068 0.00310485 -0.0030004 0.40304269] [-0.00310049 0.99999413 0.00145695 0.02086164] [ 0.00300491 -0.00144764 0.99999444 -0.21899441] [ 0. 0. 0. 1. ]] SLAMing on 2.49264 meters Centerline goodness [0,1] 0.1754309753532397 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 0.9999897 0.00312744 -0.00329042 0.40502659] [-0.00312333 0.99999434 0.00125402 0.02253962] [ 0.00329432 -0.00124373 0.9999938 -0.21942133] [ 0. 0. 0. 1. ]] SLAMing on 2.52264 meters Centerline goodness [0,1] 0.1755936073059361 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 0.99998768 0.00325919 -0.00374298 0.40875296] [-0.00325503 0.99999408 0.00111603 0.02386177] [ 0.0037466 -0.00110383 0.99999237 -0.21959306] [ 0. 0. 0. 1. ]] SLAMing on 2.5526400000000002 meters Centerline goodness [0,1] 0.17785227194452735 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 0.99998666 0.00329904 -0.0039738 0.41035258] [-0.00329425 0.99999384 0.00121117 0.02312214] [ 0.00397777 -0.00119807 0.99999137 -0.21993329] [ 0. 0. 0. 1. ]] SLAMing on 2.58264 meters Centerline goodness [0,1] 0.175385670209119 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.22 [[ 0.99998538 0.00332684 -0.00426274 0.41227471] [-0.00332135 0.99999365 0.00129468 0.02236192] [ 0.00426702 -0.00128051 0.99999008 -0.22031992] [ 0. 0. 0. 1. ]] SLAMing on 2.6126400000000003 meters Centerline goodness [0,1] 0.1750381905652204 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.22 [[ 0.99998342 0.00326281 -0.0047456 0.415725 ] [-0.00325591 0.99999363 0.00146018 0.02092224] [ 0.00475034 -0.0014447 0.99998767 -0.22048266] [ 0. 0. 0. 1. ]] SLAMing on 2.64264 meters Centerline goodness [0,1] 0.1779764230071007 Centerline is valid? [False, False] Translation: X:0.42, Y:0.02, Z:-0.22 [[ 0.9999823 0.00325822 -0.00497904 0.41701315] [-0.00325062 0.99999354 0.00153314 0.02033886] [ 0.00498401 -0.00151693 0.99998643 -0.22037747] [ 0. 0. 0. 1. ]] SLAMing on 2.6726400000000003 meters Centerline goodness [0,1] 0.17404405889738617 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.22 [[ 9.99980457e-01 1.98918826e-03 -5.92693534e-03 4.25199533e-01] [-1.98334734e-03 9.99997542e-01 9.91203463e-04 1.93271703e-02] [ 5.92889246e-03 -9.79428921e-04 9.99981944e-01 -2.23803590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70264 meters Centerline goodness [0,1] 0.17843164341299445 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.22 [[ 0.99997836 0.00196559 -0.00627784 0.42728741] [-0.00195603 0.99999692 0.00152892 0.01504816] [ 0.00628083 -0.0015166 0.99997913 -0.22421063] [ 0. 0. 0. 1. ]] SLAMing on 2.7326400000000004 meters Centerline goodness [0,1] 0.06968080213411831 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.22 [[ 0.99997607 0.0018944 -0.00665325 0.4294076 ] [-0.00188044 0.99999602 0.00210508 0.0101915 ] [ 0.00665721 -0.00209252 0.99997565 -0.22448123] [ 0. 0. 0. 1. ]] SLAMing on 2.76264 meters Centerline goodness [0,1] 0.06848653496768853 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.23 [[ 0.99997307 0.0010623 -0.00726139 0.43373585] [-0.00104375 0.99999618 0.00255811 0.00438082] [ 0.00726408 -0.00255046 0.99997036 -0.22537545] [ 0. 0. 0. 1. ]] SLAMing on 2.79264 meters Centerline goodness [0,1] 0.06812730627306274 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.23 [[ 0.99997085 0.0011446 -0.00754881 0.43544668] [-0.00112312 0.99999531 0.00284951 0.00251306] [ 0.00755203 -0.00284095 0.99996745 -0.2257158 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8226400000000003 meters Centerline goodness [0,1] 0.0683345181040611 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.23 [[ 0.99996869 0.00118057 -0.00782494 0.43733751] [-0.00115703 0.9999948 0.0030112 0.00142466] [ 0.00782846 -0.00300205 0.99996485 -0.22642674] [ 0. 0. 0. 1. ]] SLAMing on 2.85264 meters Centerline goodness [0,1] 0.0683345181040611 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.23 [[ 0.99996869 0.00118057 -0.00782494 0.43733751] [-0.00115703 0.9999948 0.0030112 0.00142466] [ 0.00782846 -0.00300205 0.99996485 -0.22642674] [ 0. 0. 0. 1. ]] SLAMing on 2.8826400000000003 meters Centerline goodness [0,1] 0.0676555550460819 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.23 [[ 9.99964813e-01 1.36935969e-03 -8.27633856e-03 4.40537878e-01] [-1.34317701e-03 9.99994079e-01 3.16828892e-03 9.10904621e-04] [ 8.28062808e-03 -3.15706085e-03 9.99960731e-01 -2.27031778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91264 meters Centerline goodness [0,1] 0.06840948525159052 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.23 [[ 0.99996227 0.00140831 -0.0085718 0.44211435] [-0.00138252 0.9999945 0.00301435 0.0021831 ] [ 0.008576 -0.00300239 0.99995872 -0.2271732 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9426400000000004 meters Centerline goodness [0,1] 0.06694560669456062 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:-0.25 [[ 0.99999436 0.00266645 -0.00203978 0.45596306] [-0.00265818 0.99998828 0.00404527 0.00178011] [ 0.00205055 -0.00403983 0.99998974 -0.24780376] [ 0. 0. 0. 1. ]] SLAMing on 2.97264 meters Centerline goodness [0,1] 0.06690189566901894 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:-0.25 [[ 0.99999063 0.00344189 -0.00262626 0.45967781] [-0.00343125 0.99998593 0.00404494 0.00331279] [ 0.00264015 -0.00403589 0.99998837 -0.24851278] [ 0. 0. 0. 1. ]] SLAMing on 3.0026400000000004 meters Centerline goodness [0,1] 0.06687062937062938 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:-0.25 [[ 0.9999895 0.00352218 -0.00293207 0.46137886] [-0.00351037 0.99998575 0.00402238 0.00345353] [ 0.00294619 -0.00401205 0.99998761 -0.24877408] [ 0. 0. 0. 1. ]] SLAMing on 3.0326400000000002 meters Centerline goodness [0,1] 0.06762238406932797 Centerline is valid? [False, False] Translation: X:0.46, Y:0.00, Z:-0.25 [[ 0.99998766 0.00367075 -0.00334676 0.46415377] [-0.00365778 0.99998582 0.00387172 0.00479091] [ 0.00336093 -0.00385943 0.9999869 -0.24942855] [ 0. 0. 0. 1. ]] SLAMing on 3.06264 meters Centerline goodness [0,1] 0.08823733277881751 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.25 [[ 0.9999871 0.00357259 -0.00360974 0.46556675] [-0.0035594 0.99998699 0.00365493 0.00628642] [ 0.00362275 -0.00364203 0.99998681 -0.24964473] [ 0. 0. 0. 1. ]] SLAMing on 3.0926400000000003 meters Centerline goodness [0,1] 0.0664536445308882 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.25 [[ 0.99998649 0.00347214 -0.00386916 0.46692581] [-0.00345875 0.99998803 0.00346016 0.00756739] [ 0.00388113 -0.00344673 0.99998653 -0.24976194] [ 0. 0. 0. 1. ]] SLAMing on 3.12264 meters Centerline goodness [0,1] 0.06561998624799448 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.25 [[ 0.99998551 0.00342595 -0.00415357 0.46842732] [-0.0034116 0.9999882 0.00345709 0.00763119] [ 0.00416536 -0.00344287 0.9999854 -0.24984532] [ 0. 0. 0. 1. ]] SLAMing on 3.1526400000000003 meters Centerline goodness [0,1] 0.06586179142232951 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.25 [[ 9.99988866e-01 -3.22635405e-04 -4.70794635e-03 4.71467745e-01] [ 3.17828952e-04 9.99999428e-01 -1.02163581e-03 1.09076396e-02] [ 4.70827327e-03 1.02012812e-03 9.99988396e-01 -2.50056232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18264 meters Centerline goodness [0,1] 0.06714589497041423 Centerline is valid? [False, False] Translation: X:0.47, Y:0.01, Z:-0.25 [[ 9.99987470e-01 -3.16681781e-04 -4.99587751e-03 4.72899422e-01] [ 3.12602959e-04 9.99999617e-01 -8.17197195e-04 9.38952220e-03] [ 4.99613439e-03 8.15625229e-04 9.99987187e-01 -2.50193361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2126400000000004 meters Centerline goodness [0,1] 0.06874527848362066 Centerline is valid? [False, False] Translation: X:0.48, Y:0.01, Z:-0.25 [[ 0.99998121 -0.00161658 -0.00591283 0.48056958] [ 0.0016059 0.99999707 -0.00181141 0.00940063] [ 0.00591574 0.00180188 0.99998088 -0.25361234] [ 0. 0. 0. 1. ]] SLAMing on 3.24264 meters Centerline goodness [0,1] 0.06659560663638886 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.26 [[ 9.99997950e-01 -2.01990809e-03 -1.43755357e-04 4.40797353e-01] [ 2.01963945e-03 9.99996259e-01 -1.84496653e-03 8.75925916e-03] [ 1.47481482e-04 1.84467241e-03 9.99998288e-01 -2.60360736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2726400000000004 meters Centerline goodness [0,1] 0.19267093079640707 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.26 [[ 9.99997900e-01 -2.00919793e-03 -4.03414060e-04 4.42148929e-01] [ 2.00849080e-03 9.99996459e-01 -1.74566545e-03 8.12085626e-03] [ 4.06920019e-04 1.74485154e-03 9.99998395e-01 -2.60551790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3026400000000002 meters Centerline goodness [0,1] 0.19576988938769846 Centerline is valid? [False, False] Translation: X:0.44, Y:0.01, Z:-0.26 [[ 9.99997171e-01 -2.24530655e-03 -7.84753116e-04 4.44285890e-01] [ 2.24389553e-03 9.99995873e-01 -1.79433024e-03 8.09136904e-03] [ 7.88778698e-04 1.79256426e-03 9.99998082e-01 -2.60520020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33264 meters Centerline goodness [0,1] 0.19405776023270305 Centerline is valid? [False, False] Translation: X:0.45, Y:0.01, Z:-0.26 [[ 0.99999681 -0.00228042 -0.00108761 0.44566443] [ 0.00227866 0.99999609 -0.00161817 0.0068291 ] [ 0.00109129 0.00161569 0.9999981 -0.26049519] [ 0. 0. 0. 1. ]] SLAMing on 3.3626400000000003 meters Centerline goodness [0,1] 0.19887138925507064 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.26 [[ 0.99999626 -0.00233741 -0.00141717 0.44719957] [ 0.00233562 0.99999647 -0.00126799 0.00436235] [ 0.00142013 0.00126468 0.99999819 -0.26067812] [ 0. 0. 0. 1. ]] SLAMing on 3.39264 meters Centerline goodness [0,1] 0.19794332511283796 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.26 [[ 9.99995509e-01 -2.42287921e-03 -1.76403500e-03 4.48699790e-01] [ 2.42124854e-03 9.99996640e-01 -9.25945468e-04 1.79586826e-03] [ 1.76627253e-03 9.21670142e-04 9.99998015e-01 -2.60794839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4226400000000003 meters Centerline goodness [0,1] 0.2004234626212802 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.26 [[ 9.99988269e-01 -4.49713420e-03 -1.79910962e-03 4.47137388e-01] [ 4.49354295e-03 9.99987914e-01 -1.99521408e-03 3.02502057e-04] [ 1.80806062e-03 1.98710630e-03 9.99996391e-01 -2.58464227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45264 meters Centerline goodness [0,1] 0.19759896171317326 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.00, Z:-0.26 [[ 0.99998739 -0.0045387 -0.00214949 0.44893243] [ 0.00453523 0.99998841 -0.00161682 -0.00228355] [ 0.00215681 0.00160705 0.99999638 -0.25904078] [ 0. 0. 0. 1. ]] SLAMing on 3.4826400000000004 meters Centerline goodness [0,1] 0.19317998292688554 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.26 [[ 0.99998242 -0.00523047 -0.00279395 0.45236939] [ 0.00522724 0.99998566 -0.00116174 -0.00744683] [ 0.00279999 0.00114711 0.99999542 -0.2595957 ] [ 0. 0. 0. 1. ]] SLAMing on 3.51264 meters Centerline goodness [0,1] 0.19371788343132268 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.26 [[ 9.99982094e-01 -5.12045553e-03 -3.09722517e-03 4.53553250e-01] [ 5.11827397e-03 9.99986648e-01 -7.11874370e-04 -1.02251512e-02] [ 3.10082894e-03 6.96009176e-04 9.99994950e-01 -2.59400694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5426400000000005 meters Centerline goodness [0,1] 0.19046080716247082 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.26 [[ 9.99981481e-01 -5.03334743e-03 -3.42086375e-03 4.54797630e-01] [ 5.03207718e-03 9.99987267e-01 -3.79829525e-04 -1.22368383e-02] [ 3.42273200e-03 3.62608441e-04 9.99994077e-01 -2.59218144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5726400000000003 meters Centerline goodness [0,1] 0.1921776141723226 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.26 [[ 9.99980711e-01 -4.84168264e-03 -3.89055341e-03 4.56775331e-01] [ 4.84205100e-03 9.99988274e-01 8.52685423e-05 -1.48881420e-02] [ 3.89009495e-03 -1.04105156e-04 9.99992428e-01 -2.58478241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60264 meters Centerline goodness [0,1] 0.19760924672666802 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.26 [[ 9.99980518e-01 -4.71281673e-03 -4.09292443e-03 4.57616285e-01] [ 4.71436545e-03 9.99988819e-01 3.68822903e-04 -1.65052535e-02] [ 4.09114048e-03 -3.88111259e-04 9.99991556e-01 -2.58500372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6326400000000003 meters Centerline goodness [0,1] 0.19419941809449037 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.26 [[ 9.99979790e-01 -4.48909820e-03 -4.50196798e-03 4.59668498e-01] [ 4.49326745e-03 9.99989485e-01 9.16408292e-04 -1.96610231e-02] [ 4.49780680e-03 -9.36618318e-04 9.99989446e-01 -2.58613281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66264 meters Centerline goodness [0,1] 0.1915402849055301 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.26 [[ 0.99997903 -0.00440788 -0.00474357 0.46070435] [ 0.00441316 0.99998965 0.00110335 -0.02065001] [ 0.00473866 -0.00112426 0.99998814 -0.2586921 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6926400000000004 meters Centerline goodness [0,1] 0.19220827178729694 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.26 [[ 0.99997835 -0.00430352 -0.00497774 0.4615706 ] [ 0.00431033 0.99998979 0.00135861 -0.02211018] [ 0.00497185 -0.00138004 0.99998669 -0.25862246] [ 0. 0. 0. 1. ]] SLAMing on 3.72264 meters Centerline goodness [0,1] 0.19315062119026571 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.02, Z:-0.26 [[ 0.99997788 -0.00414869 -0.00519878 0.46245698] [ 0.00415825 0.99998968 0.00183017 -0.02485104] [ 0.00519114 -0.00185174 0.99998481 -0.25868933] [ 0. 0. 0. 1. ]] SLAMing on 3.7526400000000004 meters Centerline goodness [0,1] 0.18957681503642632 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.26 [[ 0.99996382 -0.00287328 -0.00800643 0.49007956] [ 0.00283477 0.99998438 -0.00481691 -0.03018978] [ 0.00802014 0.00479404 0.99995635 -0.25954412] [ 0. 0. 0. 1. ]] SLAMing on 3.7826400000000002 meters Centerline goodness [0,1] 0.19362899647352816 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.03, Z:-0.26 [[ 0.99998949 -0.00330966 -0.00317338 0.4426323 ] [ 0.00329488 0.99998376 -0.00465029 -0.03207001] [ 0.00318872 0.00463979 0.99998415 -0.26045282] [ 0. 0. 0. 1. ]] SLAMing on 3.8126400000000005 meters Centerline goodness [0,1] 0.1916015354021181 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:-0.26 [[ 0.99998866 -0.00322379 -0.00350639 0.44377153] [ 0.00320928 0.9999863 -0.0041344 -0.03517647] [ 0.00351967 0.0041231 0.99998531 -0.26025942] [ 0. 0. 0. 1. ]] SLAMing on 3.8426400000000003 meters Centerline goodness [0,1] 0.19588083683562818 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:-0.26 [[ 0.9999826 -0.00483633 -0.00337821 0.44021115] [ 0.00481855 0.9999746 -0.00525185 -0.03829289] [ 0.00340353 0.00523548 0.9999805 -0.25631416] [ 0. 0. 0. 1. ]] SLAMing on 3.87264 meters Centerline goodness [0,1] 0.19487882519692357 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.04, Z:-0.26 [[ 0.9999824 -0.00466686 -0.00366251 0.44108007] [ 0.00465003 0.99997866 -0.00458884 -0.04203302] [ 0.00368385 0.00457173 0.99998276 -0.25611407] [ 0. 0. 0. 1. ]] SLAMing on 3.9026400000000003 meters Centerline goodness [0,1] 0.19363228907828434 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.26 [[ 0.99998225 -0.00445929 -0.00395118 0.44205683] [ 0.00444417 0.9999828 -0.00382762 -0.04631744] [ 0.00396818 0.00380999 0.99998487 -0.25610232] [ 0. 0. 0. 1. ]] SLAMing on 3.93264 meters Centerline goodness [0,1] 0.19158200290275762 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.26 [[ 0.99998014 -0.00438213 -0.00453027 0.44418031] [ 0.00437071 0.99998725 -0.00252838 -0.05470543] [ 0.00454129 0.00250853 0.99998654 -0.25557335] [ 0. 0. 0. 1. ]] SLAMing on 3.9626400000000004 meters Centerline goodness [0,1] 0.19498069498069504 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.06, Z:-0.26 [[ 0.99998038 -0.00405964 -0.00476968 0.44479134] [ 0.00405181 0.99999043 -0.00165114 -0.05948544] [ 0.00477634 0.00163178 0.99998726 -0.25517342] [ 0. 0. 0. 1. ]] SLAMing on 3.99264 meters Centerline goodness [0,1] 0.19361438028687017 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.26 [[ 0.99997701 -0.00129411 -0.00665629 0.47312845] [ 0.00124446 0.99997141 -0.00745831 -0.06724076] [ 0.00666575 0.00744985 0.99995003 -0.25724 ] [ 0. 0. 0. 1. ]] SLAMing on 4.022640000000001 meters Centerline goodness [0,1] 0.19461333949832393 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.26 [[ 9.99975867e-01 -1.04675617e-03 -6.86798191e-03 4.73799125e-01] [ 9.98753444e-04 9.99975077e-01 -6.98906003e-03 -6.95516518e-02] [ 6.87512658e-03 6.98203195e-03 9.99951991e-01 -2.57080874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052640000000001 meters Centerline goodness [0,1] 0.19515406291864923 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.08, Z:-0.26 [[ 0.99997027 0.00282203 -0.00717548 0.47467197] [-0.00283593 0.99999412 -0.00192705 -0.07609827] [ 0.00717 0.00194734 0.9999724 -0.25673632] [ 0. 0. 0. 1. ]] SLAMing on 4.0826400000000005 meters Centerline goodness [0,1] 0.1958703426000692 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.26 [[ 0.99996757 0.00307246 -0.00744502 0.47546764] [-0.00308431 0.99999399 -0.00158145 -0.07763364] [ 0.00744012 0.00160436 0.99997103 -0.25648807] [ 0. 0. 0. 1. ]] SLAMing on 4.112640000000001 meters Centerline goodness [0,1] 0.19820815771897093 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.26 [[ 9.99960062e-01 4.06402264e-03 -7.95974234e-03 4.77168216e-01] [-4.06992648e-03 9.99991455e-01 -7.25654834e-04 -8.04240428e-02] [ 7.95672524e-03 7.58021419e-04 9.99968057e-01 -2.56276724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142640000000001 meters Centerline goodness [0,1] 0.19927435755222778 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.26 [[ 9.99956751e-01 4.31467820e-03 -8.23891588e-03 4.78057791e-01] [-4.31897010e-03 9.99990547e-01 -5.03208234e-04 -8.11443099e-02] [ 8.23666681e-03 5.38770102e-04 9.99965933e-01 -2.56198289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17264 meters Centerline goodness [0,1] 0.1894990947495474 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.08, Z:-0.26 [[ 9.99953662e-01 4.59873222e-03 -8.45728827e-03 4.78524713e-01] [-4.60049411e-03 9.99989400e-01 -1.88885437e-04 -8.23785050e-02] [ 8.45632999e-03 2.27784389e-04 9.99964219e-01 -2.55731129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.202640000000001 meters Centerline goodness [0,1] 0.1927660753880266 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 9.99947764e-01 5.33149032e-03 -8.72029219e-03 4.79129615e-01] [-5.32703511e-03 9.99985669e-01 5.34048775e-04 -8.51123143e-02] [ 8.72301449e-03 -4.87567576e-04 9.99961835e-01 -2.54652377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.232640000000001 meters Centerline goodness [0,1] 0.22366277175178062 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 9.99945780e-01 5.47317856e-03 -8.85896996e-03 4.79583437e-01] [-5.46748217e-03 9.99984831e-01 6.67099221e-04 -8.55338456e-02] [ 8.86248673e-03 -6.18626790e-04 9.99960536e-01 -2.54709790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.262640000000001 meters Centerline goodness [0,1] 0.2217541260618967 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 0.99994083 0.00591009 -0.00913328 0.48050169] [-0.00590005 0.99998196 0.00112562 -0.08718299] [ 0.00913976 -0.00107167 0.99995766 -0.25486988] [ 0. 0. 0. 1. ]] SLAMing on 4.2926400000000005 meters Centerline goodness [0,1] 0.1940533530937384 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 0.99993947 0.00608911 -0.00916359 0.48050995] [-0.00607559 0.99998042 0.00150177 -0.08900557] [ 0.00917256 -0.00144601 0.99995689 -0.2547194 ] [ 0. 0. 0. 1. ]] SLAMing on 4.322640000000001 meters Centerline goodness [0,1] 0.3612255287638265 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 0.99993741 0.00627043 -0.00926642 0.48067083] [-0.0062528 0.99997859 0.0019306 -0.09117932] [ 0.00927833 -0.00187254 0.9999552 -0.25441706] [ 0. 0. 0. 1. ]] SLAMing on 4.352640000000001 meters Centerline goodness [0,1] 0.42536639577689794 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 9.99949906e-01 4.73013895e-03 -8.82103408e-03 4.75869091e-01] [-4.72532324e-03 9.99988675e-01 5.66696187e-04 -9.38345416e-02] [ 8.82361474e-03 -5.24985561e-04 9.99960933e-01 -2.50697939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382640000000001 meters Centerline goodness [0,1] 0.2372744473672066 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.09, Z:-0.25 [[ 9.99950766e-01 3.41787840e-03 -9.31576327e-03 4.80423762e-01] [-3.42494422e-03 9.99993859e-01 -7.42632616e-04 -9.45538460e-02] [ 9.31316783e-03 7.74502023e-04 9.99956332e-01 -2.53884118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.412640000000001 meters Centerline goodness [0,1] 0.38117744229798556 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.10, Z:-0.25 [[ 9.99988814e-01 7.62486468e-04 -4.66804585e-03 4.97129774e-01] [-7.28338089e-04 9.99972997e-01 7.31268251e-03 -1.00274922e-01] [ 4.67349562e-03 -7.30920079e-03 9.99962366e-01 -2.54565250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442640000000001 meters Centerline goodness [0,1] 0.4513892088651339 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.10, Z:-0.25 [[ 9.99991409e-01 -9.94393798e-04 -4.02402246e-03 4.91916177e-01] [ 1.01670380e-03 9.99984104e-01 5.54596049e-03 -1.03992976e-01] [ 4.01844363e-03 -5.55000408e-03 9.99976525e-01 -2.50758190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.472640000000001 meters Centerline goodness [0,1] 0.25206915578444 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 9.99991183e-01 -7.33353105e-04 -4.13478597e-03 4.91978366e-01] [ 7.58796479e-04 9.99980768e-01 6.15528511e-03 -1.07043365e-01] [ 4.13019246e-03 -6.15836830e-03 9.99972508e-01 -2.50157220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50264 meters Centerline goodness [0,1] 0.24523373052245645 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 9.99990850e-01 -5.35438073e-04 -4.24430904e-03 4.92005394e-01] [ 5.63123855e-04 9.99978556e-01 6.52452742e-03 -1.08806983e-01] [ 4.24072455e-03 -6.52685778e-03 9.99969708e-01 -2.49463407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.532640000000001 meters Centerline goodness [0,1] 0.22542400036620813 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 9.99991419e-01 2.52059407e-04 -4.13501441e-03 4.91249112e-01] [-2.23793213e-04 9.99976617e-01 6.83485419e-03 -1.08700261e-01] [ 4.13664051e-03 -6.83387015e-03 9.99968093e-01 -2.48576294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562640000000001 meters Centerline goodness [0,1] 0.21123946443745267 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.25 [[ 9.99990988e-01 3.70845242e-04 -4.22927811e-03 4.91483685e-01] [-3.43537702e-04 9.99979103e-01 6.45568481e-03 -1.06251064e-01] [ 4.23158379e-03 -6.45417371e-03 9.99970218e-01 -2.48531436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592640000000001 meters Centerline goodness [0,1] 0.21456594133479312 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.10, Z:-0.25 [[ 9.99992649e-01 3.82638485e-03 2.45190602e-04 5.10128784e-01] [-3.82598381e-03 9.99991376e-01 -1.61572020e-03 -1.00538917e-01] [-2.51370855e-04 1.61477023e-03 9.99998665e-01 -2.51787860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6226400000000005 meters Centerline goodness [0,1] 0.9636230524605917 Centerline is valid? [False, True] Translation: X:0.51, Y:-0.10, Z:-0.25 [[ 9.99992149e-01 3.95762067e-03 1.97421830e-04 5.10260605e-01] [-3.95717877e-03 9.99989771e-01 -2.19065816e-03 -9.69458803e-02] [-2.06089605e-04 2.18985973e-03 9.99997581e-01 -2.51774206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652640000000001 meters Centerline goodness [0,1] 0.9227512985378579 Centerline is valid? [True, False] Translation: X:0.51, Y:-0.09, Z:-0.25 [[ 9.99987895e-01 4.89993563e-03 4.47290464e-04 5.09471169e-01] [-4.89866560e-03 9.99984088e-01 -2.79764435e-03 -9.04810417e-02] [-4.60991624e-04 2.79541936e-03 9.99995987e-01 -2.51783521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682640000000001 meters Centerline goodness [0,1] 0.2828052232672815 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.09, Z:-0.25 [[ 9.99987709e-01 4.94874389e-03 3.01823980e-04 5.09954700e-01] [-4.94769703e-03 9.99982062e-01 -3.37579985e-03 -8.70800631e-02] [-3.18524535e-04 3.37426503e-03 9.99994256e-01 -2.51965142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71264 meters Centerline goodness [0,1] 0.9343842141075074 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.25 [[ 9.99958284e-01 9.12957222e-03 2.83859143e-04 5.09852093e-01] [-9.12970972e-03 9.99958205e-01 4.86956775e-04 -8.46903009e-02] [-2.79401572e-04 -4.89528013e-04 9.99999841e-01 -2.51420275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.742640000000001 meters Centerline goodness [0,1] 0.9343842141075074 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.08, Z:-0.25 [[ 9.99958284e-01 9.12957222e-03 2.83859143e-04 5.09852093e-01] [-9.12970972e-03 9.99958205e-01 4.86956775e-04 -8.46903009e-02] [-2.79401572e-04 -4.89528013e-04 9.99999841e-01 -2.51420275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772640000000001 meters Centerline goodness [0,1] 0.9545878976975107 Centerline is valid? [False, True] Translation: X:0.51, Y:-0.08, Z:-0.25 [[ 9.99960299e-01 8.90622113e-03 2.82061253e-04 5.10001109e-01] [-8.90605831e-03 9.99960176e-01 -5.73320340e-04 -7.91072945e-02] [-2.87156138e-04 5.70785525e-04 9.99999796e-01 -2.51737160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802640000000001 meters Centerline goodness [0,1] 0.9356756878970811 Centerline is valid? [True, False] Translation: X:0.51, Y:-0.07, Z:-0.25 [[ 9.99963108e-01 8.58864180e-03 1.33931777e-04 5.10576465e-01] [-8.58840901e-03 9.99961755e-01 -1.65131803e-03 -7.36096522e-02] [-1.48109234e-04 1.65010685e-03 9.99998628e-01 -2.52115796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8326400000000005 meters Centerline goodness [0,1] 0.9529181640358458 Centerline is valid? [False, True] Translation: X:0.51, Y:-0.07, Z:-0.25 [[ 9.99950161e-01 9.96791726e-03 5.62443033e-04 5.06066678e-01] [-9.96771474e-03 9.99950256e-01 -3.61720763e-04 -6.99735972e-02] [-5.66020657e-04 3.56096463e-04 9.99999776e-01 -2.48434869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862640000000001 meters Centerline goodness [0,1] 0.9761126990608412 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.07, Z:-0.25 [[ 9.99965580e-01 8.25926548e-03 7.89962091e-04 5.37937040e-01] [-8.25928052e-03 9.99965891e-01 1.57861512e-05 -7.23686565e-02] [-7.89804765e-04 -2.23101264e-05 9.99999688e-01 -2.46340978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892640000000001 meters Centerline goodness [0,1] 0.9966189384828338 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.08, Z:-0.24 [[ 9.99988944e-01 3.66210098e-03 2.94963407e-03 5.69208324e-01] [-3.66227550e-03 9.99993292e-01 5.37701215e-05 -7.72754220e-02] [-2.94941737e-03 -6.45718996e-05 9.99995648e-01 -2.40407933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922640000000001 meters Centerline goodness [0,1] 0.9972834699144293 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.08, Z:-0.24 [[ 9.99991609e-01 8.40782100e-04 4.00938103e-03 5.99965933e-01] [-8.41085292e-04 9.99999644e-01 7.39349819e-05 -7.73129047e-02] [-4.00931743e-03 -7.73065929e-05 9.99991960e-01 -2.43058124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952640000000001 meters Centerline goodness [0,1] 0.9972007133665937 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.08, Z:-0.24 [[ 9.99985930e-01 -1.84347456e-03 4.97412746e-03 6.31512396e-01] [ 1.84304290e-03 9.99998297e-01 9.13625841e-05 -7.90167759e-02] [-4.97428742e-03 -8.21937683e-05 9.99987625e-01 -2.42487518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982640000000001 meters Centerline goodness [0,1] 0.9972760018009905 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.08, Z:-0.24 [[ 9.99977569e-01 -4.18107381e-03 5.23253929e-03 6.63346822e-01] [ 4.18060296e-03 9.99991256e-01 1.00918972e-04 -8.03032294e-02] [-5.23291548e-03 -7.90415386e-05 9.99986305e-01 -2.43147076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012640000000001 meters Centerline goodness [0,1] 0.9976853412436234 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.08, Z:-0.25 [[ 9.99927380e-01 -6.02477324e-03 -1.04372514e-02 6.90972558e-01] [ 6.02127244e-03 9.99981805e-01 -3.66805591e-04 -8.38667008e-02] [ 1.04392714e-02 3.03933420e-04 9.99945463e-01 -2.45457881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0426400000000005 meters Centerline goodness [0,1] 0.9988074344088925 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.08, Z:-0.25 [[ 9.99935811e-01 -1.00233566e-02 5.28262899e-03 7.24232289e-01] [ 1.00214113e-02 9.99949707e-01 3.94582069e-04 -8.39302160e-02] [-5.28631834e-03 -3.41617344e-04 9.99985969e-01 -2.47228184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072640000000001 meters Centerline goodness [0,1] 0.9989439151536941 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.08, Z:-0.25 [[ 9.99924264e-01 -1.10445728e-02 5.42982528e-03 7.55655112e-01] [ 1.10442021e-02 9.99939006e-01 9.82582300e-05 -8.46971750e-02] [-5.43057931e-03 -3.82827009e-05 9.99985254e-01 -2.48524321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102640000000001 meters Centerline goodness [0,1] 0.9995057512580877 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.08, Z:-0.24 [[ 9.99928013e-01 -1.06225280e-02 5.57941443e-03 7.86731940e-01] [ 1.06221306e-02 9.99943578e-01 1.00843346e-04 -8.26370722e-02] [-5.58017085e-03 -4.15708175e-05 9.99984430e-01 -2.44667725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132640000000001 meters Centerline goodness [0,1] 0.9977307110438729 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.08, Z:-0.25 [[ 0.99991905 -0.00710214 -0.01055715 0.81437878] [ 0.00707799 0.99997225 -0.00232366 -0.07609294] [ 0.01057336 0.00224875 0.99994157 -0.24941587] [ 0. 0. 0. 1. ]] SLAMing on 5.162640000000001 meters Centerline goodness [0,1] 0.9973880430414788 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.06, Z:-0.25 [[ 0.99993577 -0.00190118 -0.0111732 0.84352722] [ 0.00182035 0.99997214 -0.00723921 -0.0578759 ] [ 0.01118665 0.00721841 0.99991137 -0.24724344] [ 0. 0. 0. 1. ]] SLAMing on 5.192640000000001 meters Centerline goodness [0,1] 0.9964697470730182 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.05, Z:-0.25 [[ 9.99938271e-01 1.44260020e-03 -1.10169638e-02 8.71604390e-01] [-1.45023120e-03 9.99998714e-01 -6.84702185e-04 -5.23457072e-02] [ 1.10159619e-02 7.00637064e-04 9.99939077e-01 -2.46609774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222640000000001 meters Centerline goodness [0,1] 0.9995534219046556 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.05, Z:-0.24 [[ 0.99995518 0.00139788 0.0093636 0.90566818] [-0.00149192 0.99994845 0.01004364 -0.05025709] [-0.00934908 -0.01005716 0.99990572 -0.24205393] [ 0. 0. 0. 1. ]] SLAMing on 5.25264 meters Centerline goodness [0,1] 0.9989770048481075 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.03, Z:-0.24 [[ 9.99923417e-01 7.09934210e-03 1.01370598e-02 9.35317438e-01] [-7.10155309e-03 9.99974767e-01 1.82130593e-04 -2.91616375e-02] [-1.01355110e-02 -2.54105513e-04 9.99948602e-01 -2.44272025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282640000000001 meters Centerline goodness [0,1] 0.9966941048567816 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.02, Z:-0.25 [[ 9.99909590e-01 8.92977830e-03 1.00533525e-02 9.66200607e-01] [-8.93209294e-03 9.99960091e-01 1.85357847e-04 -2.23810498e-02] [-1.00512960e-02 -2.75138567e-04 9.99949447e-01 -2.46551693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312640000000001 meters Centerline goodness [0,1] 0.9691541186891054 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.01, Z:-0.25 [[ 0.99991022 0.01183726 -0.00627954 0.99253895] [-0.01188636 0.99989862 -0.0078402 -0.01167872] [ 0.0061861 0.00791414 0.99994955 -0.25100565] [ 0. 0. 0. 1. ]] SLAMing on 5.342640000000001 meters Centerline goodness [0,1] 0.962520393315402 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.01, Z:-0.25 [[ 0.99989646 0.01186175 -0.00814616 1.02079093] [-0.01191335 0.99990909 -0.00631498 -0.00800567] [ 0.00807052 0.00641138 0.99994688 -0.25232515] [ 0. 0. 0. 1. ]] SLAMing on 5.3726400000000005 meters Centerline goodness [0,1] 0.9980358403954802 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.02, Z:-0.25 [[ 0.99992567 0.00649819 0.01031649 1.05478121] [-0.00664498 0.99987627 0.01425809 -0.01832068] [-0.01022256 -0.01432559 0.99984513 -0.2501132 ] [ 0. 0. 0. 1. ]] SLAMing on 5.402640000000001 meters Centerline goodness [0,1] 0.9828636793594228 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.00, Z:-0.25 [[ 0.99992942 0.00767351 -0.00907057 1.08071196] [-0.00779058 0.99988589 -0.01294293 -0.00144361] [ 0.00897021 0.01301268 0.99987509 -0.25418176] [ 0. 0. 0. 1. ]] SLAMing on 5.432640000000001 meters Centerline goodness [0,1] 0.9799083538949594 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.01, Z:-0.26 [[ 0.99988964 0.00646649 -0.01337472 1.11033983] [-0.0064991 0.99997601 -0.00239628 -0.00600387] [ 0.0133589 0.00248294 0.99990768 -0.25684787] [ 0. 0. 0. 1. ]] SLAMing on 5.462640000000001 meters Centerline goodness [0,1] 0.9999340064673662 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.01, Z:-0.24 [[ 0.99999385 0.00192947 -0.00292785 1.1429727 ] [-0.00192465 0.99999679 0.00165024 -0.0126092 ] [ 0.00293102 -0.00164459 0.99999435 -0.24476687] [ 0. 0. 0. 1. ]] SLAMing on 5.492640000000001 meters Centerline goodness [0,1] 0.9998900978129465 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.02, Z:-0.25 [[ 9.99952533e-01 -6.21020640e-04 9.72348698e-03 1.17319991e+00] [ 4.74958949e-04 9.99887131e-01 1.50166440e-02 -1.57666791e-02] [-9.73171514e-03 -1.50113129e-02 9.99839964e-01 -2.49758453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.522640000000001 meters Centerline goodness [0,1] 0.999978098512889 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.01, Z:-0.25 [[ 9.99932410e-01 -4.02238211e-03 1.09085420e-02 1.20463335e+00] [ 4.02055609e-03 9.99991900e-01 1.89318522e-04 -6.65923194e-03] [-1.09092151e-02 -1.45447321e-04 9.99940482e-01 -2.49682568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552640000000001 meters Centerline goodness [0,1] 0.9999781334732791 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.01, Z:-0.26 [[ 9.99916266e-01 -6.40285468e-03 1.12456826e-02 1.23581855e+00] [ 6.40103153e-03 9.99979494e-01 1.98106537e-04 -5.70835512e-03] [-1.12467204e-02 -1.26105980e-04 9.99936746e-01 -2.56256756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5826400000000005 meters Centerline goodness [0,1] 0.9999783019072623 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.01, Z:-0.26 [[ 9.99893647e-01 -8.85772883e-03 1.15859707e-02 1.26811244e+00] [ 8.85601701e-03 9.99960765e-01 1.99046766e-04 -7.82135762e-03] [-1.15872793e-02 -9.64200432e-05 9.99932861e-01 -2.57174382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612640000000001 meters Centerline goodness [0,1] 0.9984370251378457 Centerline is valid? [True, True] Translation: X:1.30, Y:0.00, Z:-0.25 [[ 0.99988951 -0.01136601 -0.00958026 1.29507031] [ 0.01111761 0.99961058 -0.02559476 0.00151467] [ 0.00986744 0.02548542 0.99962649 -0.25448086] [ 0. 0. 0. 1. ]] SLAMing on 5.642640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.03, Z:-0.26 [[ 0.99977775 -0.01824309 0.01056579 1.3302238 ] [ 0.01796732 0.99950996 0.02563232 -0.02861061] [-0.01102822 -0.02543679 0.9996156 -0.25587465] [ 0. 0. 0. 1. ]] SLAMing on 5.672640000000001 meters Centerline goodness [0,1] 0.9999347641724835 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.01, Z:-0.26 [[ 9.99724158e-01 -1.95193360e-02 1.30615223e-02 1.36196495e+00] [ 1.95180818e-02 9.99809479e-01 2.23496819e-04 -1.38545741e-02] [-1.30633963e-02 3.15006919e-05 9.99914670e-01 -2.57197321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.02, Z:-0.26 [[ 9.99662517e-01 -2.35758031e-02 1.09102572e-02 1.39425070e+00] [ 2.35751712e-02 9.99722050e-01 1.86540469e-04 -1.64502060e-02] [-1.09116225e-02 7.07336665e-05 9.99940464e-01 -2.56162035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.02, Z:-0.26 [[ 9.99635678e-01 -2.46476300e-02 1.10002184e-02 1.42614702e+00] [ 2.46470586e-02 9.99696198e-01 1.87527620e-04 -1.72001181e-02] [-1.10014986e-02 8.36637277e-05 9.99939478e-01 -2.56873214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.02, Z:-0.26 [[ 9.99609446e-01 -2.54585404e-02 1.15247005e-02 1.45791141e+00] [ 2.54579745e-02 9.99675874e-01 1.95834298e-04 -1.73529927e-02] [-1.15259507e-02 9.76377162e-05 9.99933569e-01 -2.55908127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7926400000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.02, Z:-0.26 [[ 9.99597998e-01 -2.57677470e-02 1.18264898e-02 1.48990607e+00] [ 2.57671800e-02 9.99667951e-01 2.00336527e-04 -1.68296918e-02] [-1.18277251e-02 1.04479300e-04 9.99930045e-01 -2.55823859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.02, Z:-0.26 [[ 9.99570982e-01 -2.64616996e-02 1.25550796e-02 1.52067282e+00] [ 2.64611292e-02 9.99649821e-01 2.11571134e-04 -1.75671361e-02] [-1.25562816e-02 1.20741219e-04 9.99921159e-01 -2.60603159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.02, Z:-0.26 [[ 9.99550862e-01 -2.71271256e-02 1.27355082e-02 1.55275521e+00] [ 2.71265953e-02 9.99631983e-01 2.14411309e-04 -1.69002394e-02] [-1.27366377e-02 1.31155969e-04 9.99918877e-01 -2.59786220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882640000000001 meters Centerline goodness [0,1] 0.9999783183730108 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.02, Z:-0.26 [[ 9.99505531e-01 -2.82974289e-02 1.37094778e-02 1.58473479e+00] [ 2.82969357e-02 9.99599535e-01 2.29992606e-04 -1.90264626e-02] [-1.37104958e-02 1.58057330e-04 9.99905994e-01 -2.59431788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.02, Z:-0.26 [[ 9.99503689e-01 -2.80876129e-02 1.42639697e-02 1.61720961e+00] [ 2.80870688e-02 9.99605452e-01 2.38514312e-04 -1.99587248e-02] [-1.42650411e-02 1.62237162e-04 9.99898236e-01 -2.59954584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942640000000001 meters Centerline goodness [0,1] 0.9937494536235685 Centerline is valid? [True, True] Translation: X:1.65, Y:0.03, Z:-0.25 [[ 0.99948641 -0.02509634 -0.01992691 1.64896468] [ 0.02328372 0.9959797 -0.08650032 0.03018166] [ 0.02201763 0.08599192 0.99605252 -0.25412153] [ 0. 0. 0. 1. ]] SLAMing on 5.972640000000001 meters Centerline goodness [0,1] 0.999978281171948 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.07, Z:-0.26 [[ 0.99944687 -0.03070652 0.0127694 1.68236024] [ 0.02948442 0.99578523 0.08684721 -0.07478853] [-0.01538235 -0.08642268 0.9961398 -0.25550285] [ 0. 0. 0. 1. ]] SLAMing on 6.002640000000001 meters Centerline goodness [0,1] 0.9999781253417915 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.02, Z:-0.26 [[ 9.99518764e-01 -2.67448733e-02 1.57147107e-02 1.71382670e+00] [ 2.67440442e-02 9.99642279e-01 2.62941037e-04 -2.41241225e-02] [-1.57161216e-02 1.57460417e-04 9.99876482e-01 -2.62470281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.02, Z:-0.26 [[ 9.99558299e-01 -2.56423897e-02 1.50224959e-02 1.74460818e+00] [ 2.56415290e-02 9.99671171e-01 2.49939586e-04 -2.35987782e-02] [-1.50239651e-02 1.35370576e-04 9.99887125e-01 -2.63975292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.02, Z:-0.26 [[ 9.99602571e-01 -2.32645615e-02 1.59204349e-02 1.77535334e+00] [ 2.32632829e-02 9.99729338e-01 2.65522005e-04 -2.20363996e-02] [-1.59223031e-02 1.04945103e-04 9.99873227e-01 -2.64954712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.02, Z:-0.27 [[ 9.99629138e-01 -2.17849743e-02 1.63401647e-02 1.80733902e+00] [ 2.17834726e-02 9.99762676e-01 2.69897813e-04 -2.11876234e-02] [-1.63421665e-02 8.61478135e-05 9.99866454e-01 -2.65699068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.02, Z:-0.27 [[ 9.99655428e-01 -2.03078221e-02 1.66318533e-02 1.83928270e+00] [ 2.03060755e-02 9.99793773e-01 2.73902446e-04 -1.98770430e-02] [-1.66339857e-02 6.39196022e-05 9.99861644e-01 -2.65362277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.02, Z:-0.27 [[ 9.99690934e-01 -1.82459180e-02 1.68855623e-02 1.87003232e+00] [ 1.82438427e-02 9.99833529e-01 2.76948727e-04 -1.80856953e-02] [-1.68878045e-02 3.11944116e-05 9.99857390e-01 -2.68771152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.01, Z:-0.27 [[ 9.99773778e-01 -1.34691994e-02 1.64612654e-02 1.90199481e+00] [ 1.34665842e-02 9.99909285e-01 2.69706760e-04 -1.27863557e-02] [-1.64634049e-02 -4.79687289e-05 9.99864468e-01 -2.69961674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.01, Z:-0.27 [[ 9.99812530e-01 -1.06945512e-02 1.61409840e-02 1.93436933e+00] [ 1.06916873e-02 9.99942808e-01 2.63717299e-04 -9.46337595e-03] [-1.61428812e-02 -9.10935072e-05 9.99869691e-01 -2.71205134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.00, Z:-0.28 [[ 9.99863417e-01 -4.46461925e-03 1.59127326e-02 1.96538050e+00] [ 4.46106369e-03 9.99990016e-01 2.58930687e-04 -6.99357425e-04] [-1.59137297e-02 -1.87907608e-04 9.99873351e-01 -2.76360283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.00, Y:0.00, Z:-0.27 [[ 9.99870803e-01 -1.62233682e-03 1.59920643e-02 1.99807888e+00] [ 1.61838658e-03 9.99998657e-01 2.59951456e-04 2.30336956e-04] [-1.59924645e-02 -2.34036529e-04 9.99872085e-01 -2.72960429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302640000000001 meters Centerline goodness [0,1] 0.999934964989486 Centerline is valid? [True, True] Translation: X:2.03, Y:0.01, Z:-0.28 [[ 9.99876117e-01 4.18361810e-04 1.57345565e-02 2.02832830e+00] [-4.22440307e-04 9.99999878e-01 2.55883626e-04 6.62177755e-03] [-1.57344475e-02 -2.62498837e-04 9.99876171e-01 -2.80424804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3326400000000005 meters Centerline goodness [0,1] 0.9999570455960998 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:-0.28 [[ 9.99875454e-01 1.63298434e-03 1.56974303e-02 2.06027149e+00] [-1.63715665e-03 9.99998628e-01 2.52949062e-04 7.22724146e-03] [-1.56969957e-02 -2.78616711e-04 9.99876756e-01 -2.80566201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362640000000001 meters Centerline goodness [0,1] 0.9999570529751551 Centerline is valid? [True, True] Translation: X:2.09, Y:0.01, Z:-0.28 [[ 9.99872706e-01 1.32142740e-03 1.59005208e-02 2.09109639e+00] [-1.32569579e-03 9.99999088e-01 2.57906474e-04 7.31549231e-03] [-1.59001655e-02 -2.78952898e-04 9.99873545e-01 -2.83255699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392640000000001 meters Centerline goodness [0,1] 0.9999565302440827 Centerline is valid? [True, True] Translation: X:2.12, Y:0.01, Z:-0.29 [[ 9.99871062e-01 3.21329633e-04 1.60548028e-02 2.12294960e+00] [-3.25516584e-04 9.99999914e-01 2.58178667e-04 7.09266625e-03] [-1.60547185e-02 -2.63371482e-04 9.99871080e-01 -2.85189683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.16, Y:0.00, Z:-0.28 [[ 9.99826358e-01 -2.97277358e-03 1.83961246e-02 2.15522240e+00] [ 2.96794689e-03 9.99995554e-01 2.89671508e-04 2.04716224e-04] [-1.83969039e-02 -2.35022488e-04 9.99830735e-01 -2.79994140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.00, Z:-0.28 [[ 9.99840993e-01 -4.90417201e-03 1.71446268e-02 2.18744639e+00] [ 4.90022586e-03 9.99987957e-01 2.72170322e-04 -1.20690831e-03] [-1.71457551e-02 -1.88114501e-04 9.99852983e-01 -2.84350689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.00, Z:-0.29 [[ 9.99831384e-01 -6.72843324e-03 1.70860255e-02 2.21952066e+00] [ 6.72488937e-03 9.99977353e-01 2.64860603e-04 -3.12615265e-03] [-1.70874206e-02 -1.49914312e-04 9.99853988e-01 -2.85212018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.00, Z:-0.29 [[ 9.99811103e-01 -7.95124236e-03 1.77351764e-02 2.25068380e+00] [ 7.94759122e-03 9.99968379e-01 2.76343318e-04 -4.25242812e-03] [-1.77368129e-02 -1.35339185e-04 9.99842681e-01 -2.85407136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.00, Z:-0.28 [[ 9.99703519e-01 -9.44572166e-03 2.24421945e-02 2.28118428e+00] [ 9.44039934e-03 9.99955380e-01 3.43092667e-04 -4.75205403e-03] [-2.24444339e-02 -1.31127669e-04 9.99748083e-01 -2.81304500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.01, Z:-0.28 [[ 9.99722040e-01 -9.94231507e-03 2.13774013e-02 2.31366593e+00] [ 9.93763874e-03 9.99950568e-01 3.24974952e-04 -5.42082589e-03] [-2.13795755e-02 -1.12443731e-04 9.99771424e-01 -2.81442210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.00, Z:-0.28 [[ 9.99637123e-01 -9.63019238e-03 2.51571341e-02 2.34528780e+00] [ 9.62366416e-03 9.99953619e-01 3.80558666e-04 -4.40842900e-03] [-2.51596321e-02 -1.38316761e-04 9.99683437e-01 -2.78276619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.38, Y:0.00, Z:-0.28 [[ 9.99637499e-01 -8.80325676e-03 2.54435423e-02 2.37723664e+00] [ 8.79627101e-03 9.99961237e-01 3.86470454e-04 2.45914680e-04] [-2.54459583e-02 -1.62522065e-04 9.99676186e-01 -2.80257391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.41, Y:0.00, Z:-0.28 [[ 9.99638133e-01 -8.73063910e-03 2.54436341e-02 2.40971734e+00] [ 8.72378649e-03 9.99961875e-01 3.80315224e-04 5.96660769e-04] [-2.54459845e-02 -1.58212769e-04 9.99676186e-01 -2.81542433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.44, Y:0.00, Z:-0.29 [[ 9.99706255e-01 -8.82287141e-03 2.25734402e-02 2.44103049e+00] [ 8.81749932e-03 9.99961068e-01 3.37507218e-04 3.01000867e-03] [-2.25755391e-02 -1.38366783e-04 9.99745130e-01 -2.86587552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.47, Y:0.00, Z:-0.29 [[ 9.99680860e-01 -9.35365216e-03 2.34667242e-02 2.47335145e+00] [ 9.34812467e-03 9.99956246e-01 3.45237268e-04 4.43585807e-03] [-2.34689267e-02 -1.25757226e-04 9.99724559e-01 -2.87091070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.51, Y:0.00, Z:-0.29 [[ 9.99647391e-01 -9.95186300e-03 2.46181509e-02 2.50544628e+00] [ 9.94599204e-03 9.99950472e-01 3.60917148e-04 4.50969377e-03] [-2.46205234e-02 -1.15937952e-04 9.99696862e-01 -2.88029566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.54, Y:0.00, Z:-0.29 [[ 9.99620757e-01 -1.05870935e-02 2.54215740e-02 2.53786552e+00] [ 1.05810700e-02 9.99943950e-01 3.71451282e-04 3.95512485e-03] [-2.54240817e-02 -1.02322959e-04 9.99676751e-01 -2.87524831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812640000000001 meters Centerline goodness [0,1] 0.9999556894718185 Centerline is valid? [True, True] Translation: X:2.57, Y:0.00, Z:-0.29 [[ 9.99594168e-01 -1.15902346e-02 2.60224202e-02 2.56962550e+00] [ 1.15842975e-02 9.99932828e-01 3.78895958e-04 4.42339262e-03] [-2.60250637e-02 -7.72907314e-05 9.99661288e-01 -2.90106531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.60, Y:0.00, Z:-0.29 [[ 9.99562947e-01 -1.34374153e-02 2.63315461e-02 2.60103671e+00] [ 1.34319738e-02 9.99909713e-01 3.83526709e-04 2.75806470e-03] [-2.63343223e-02 -2.96744521e-05 9.99653191e-01 -2.90434438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8726400000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.63, Y:0.00, Z:-0.29 [[ 9.99577111e-01 -1.46792185e-02 2.51021949e-02 2.63177557e+00] [ 1.46747584e-02 9.99892254e-01 3.61894917e-04 1.15923712e-03] [-2.51048026e-02 6.62676880e-06 9.99684825e-01 -2.93195205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.66, Y:0.00, Z:-0.29 [[ 9.99519606e-01 -1.60789029e-02 2.64957759e-02 2.66376245e+00] [ 1.60745836e-02 9.99870725e-01 3.76015271e-04 4.54368232e-06] [-2.64983965e-02 5.00739280e-05 9.99648855e-01 -2.92224154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.00, Z:-0.30 [[ 9.99498460e-01 -1.84420421e-02 2.57433311e-02 2.69488057e+00] [ 1.84387406e-02 9.99829925e-01 3.65635921e-04 -1.49831643e-03] [-2.57456959e-02 1.09222065e-04 9.99668519e-01 -2.95143079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.00, Z:-0.29 [[ 9.99437904e-01 -1.95151025e-02 2.72587101e-02 2.72710921e+00] [ 1.95119684e-02 9.99809551e-01 3.80982966e-04 -1.14831586e-03] [-2.72609537e-02 1.51102274e-04 9.99628340e-01 -2.94454899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992640000000001 meters Centerline goodness [0,1] 0.9999558108705259 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.00, Z:-0.30 [[ 9.99406996e-01 -2.09787174e-02 2.73047409e-02 2.75931001e+00] [ 2.09761544e-02 9.99779904e-01 3.80321271e-04 -5.68871705e-04] [-2.73067099e-02 1.92652724e-04 9.99627084e-01 -2.96639431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.79, Y:0.00, Z:-0.30 [[ 9.99407864e-01 -2.10820061e-02 2.71931917e-02 2.79212062e+00] [ 2.10795292e-02 9.99777731e-01 3.77776514e-04 9.89771208e-05] [-2.71951118e-02 1.95666859e-04 9.99630125e-01 -2.96096979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.82, Y:0.00, Z:-0.30 [[ 9.99431001e-01 -2.05254521e-02 2.67652629e-02 2.82447088e+00] [ 2.05228710e-02 9.99789315e-01 3.71160434e-04 1.60562615e-03] [-2.67672421e-02 1.78350794e-04 9.99641677e-01 -2.98204722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.86, Y:0.01, Z:-0.30 [[ 9.99486054e-01 -1.90139496e-02 2.58088536e-02 2.85685604e+00] [ 1.90112016e-02 9.99819209e-01 3.51863315e-04 6.19771118e-03] [-2.58108779e-02 1.38974842e-04 9.99666834e-01 -3.01840743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.89, Y:0.01, Z:-0.30 [[ 9.99507952e-01 -1.82667304e-02 2.54986304e-02 2.88970218e+00] [ 1.82638272e-02 9.99833142e-01 3.46759033e-04 8.47076777e-03] [-2.55007099e-02 1.19114168e-04 9.99674797e-01 -3.03553596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.92, Y:0.01, Z:-0.30 [[ 9.99517290e-01 -1.76041246e-02 2.55984641e-02 2.92187965e+00] [ 1.76010399e-02 9.99845030e-01 3.45832295e-04 1.07048252e-02] [-2.56005851e-02 1.04894229e-04 9.99672246e-01 -3.04679644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172640000000001 meters Centerline goodness [0,1] 0.9999781573544188 Centerline is valid? [True, True] Translation: X:2.95, Y:0.01, Z:-0.31 [[ 9.99538567e-01 -1.63200331e-02 2.56185536e-02 2.95336495e+00] [ 1.63165595e-02 9.99866817e-01 3.44633996e-04 1.48275232e-02] [-2.56207661e-02 7.35316852e-05 9.99671732e-01 -3.06354185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.98, Y:0.02, Z:-0.31 [[ 9.99537451e-01 -1.60178810e-02 2.58517149e-02 2.98481081e+00] [ 1.60142686e-02 9.99871703e-01 3.46774727e-04 1.62197393e-02] [-2.58539528e-02 6.73819800e-05 9.99665728e-01 -3.07844006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232640000000001 meters Centerline goodness [0,1] 0.99989034606781 Centerline is valid? [True, True] Translation: X:3.02, Y:0.02, Z:-0.31 [[ 9.99547659e-01 -1.57182227e-02 2.56401106e-02 3.01765750e+00] [ 1.57145818e-02 9.99876459e-01 3.43500538e-04 1.84925886e-02] [-2.56423422e-02 5.95784573e-05 9.99671179e-01 -3.10841328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.05, Y:0.02, Z:-0.31 [[ 9.99555922e-01 -1.57154073e-02 2.53176733e-02 3.04986553e+00] [ 1.57119107e-02 9.99876504e-01 3.37041636e-04 1.98757544e-02] [-2.53198434e-02 6.08970582e-05 9.99679400e-01 -3.09938059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.08, Y:0.02, Z:-0.31 [[ 9.99562455e-01 -1.63409068e-02 2.46550874e-02 3.08193842e+00] [ 1.63378095e-02 9.99866476e-01 3.27068868e-04 2.13260038e-02] [-2.46571399e-02 7.58843598e-05 9.99695964e-01 -3.10614182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.11, Y:0.02, Z:-0.31 [[ 9.99521928e-01 -1.72924817e-02 2.56297611e-02 3.11282247e+00] [ 1.72894425e-02 9.99850469e-01 3.40190999e-04 1.95791036e-02] [-2.56318114e-02 1.03095918e-04 9.99671446e-01 -3.14436050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.14, Y:0.02, Z:-0.31 [[ 9.99430039e-01 -2.10678900e-02 2.63769033e-02 3.14489522e+00] [ 2.10661507e-02 9.99778025e-01 3.43848414e-04 1.62362358e-02] [-2.63782925e-02 2.12007387e-04 9.99652010e-01 -3.13553618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.18, Y:0.01, Z:-0.32 [[ 9.99388141e-01 -2.35681637e-02 2.58434822e-02 3.17567446e+00] [ 2.35673654e-02 9.99722195e-01 3.35511941e-04 1.24518825e-02] [-2.58442102e-02 2.73756134e-04 9.99665945e-01 -3.16524198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.21, Y:0.01, Z:-0.32 [[ 9.99333133e-01 -2.62063045e-02 2.54267234e-02 3.20736564e+00] [ 2.62063898e-02 9.99656499e-01 3.29926394e-04 9.43229931e-03] [-2.54266355e-02 3.36636249e-04 9.99676634e-01 -3.17842089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.24, Y:0.01, Z:-0.32 [[ 9.99219136e-01 -3.02001400e-02 2.54768387e-02 3.23961695e+00] [ 3.02015924e-02 9.99543774e-01 3.27860139e-04 5.52366659e-03] [-2.54751169e-02 4.41836974e-04 9.99675359e-01 -3.16200269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.00, Z:-0.32 [[ 9.99190463e-01 -3.11807434e-02 2.54200501e-02 3.27083347e+00] [ 3.11825234e-02 9.99513654e-01 3.26461801e-04 -1.13347513e-03] [-2.54178665e-02 4.66463791e-04 9.99676805e-01 -3.20996420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502640000000001 meters Centerline goodness [0,1] 0.99995626981524 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.00, Z:-0.32 [[ 9.99196662e-01 -3.15636265e-02 2.46934775e-02 3.30321856e+00] [ 3.15654976e-02 9.99501636e-01 3.14113743e-04 -1.35171554e-04] [-2.46910857e-02 4.65600499e-04 9.99695020e-01 -3.20977233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.34, Y:0.00, Z:-0.32 [[ 9.99251242e-01 -3.01636480e-02 2.42303478e-02 3.33559963e+00] [ 3.01650656e-02 9.99544884e-01 3.07081938e-04 9.93602444e-04] [-2.42285829e-02 4.24058024e-04 9.99706355e-01 -3.20860184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562640000000001 meters Centerline goodness [0,1] 0.9999342782658225 Centerline is valid? [True, True] Translation: X:3.37, Y:0.00, Z:-0.32 [[ 9.99301896e-01 -2.86409560e-02 2.39878247e-02 3.36801775e+00] [ 2.86419355e-02 9.99589690e-01 3.02813519e-04 3.54374874e-03] [-2.39866552e-02 3.84455606e-04 9.99712205e-01 -3.22713626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.40, Y:0.00, Z:-0.33 [[ 9.99365898e-01 -2.63265477e-02 2.39732145e-02 3.39906795e+00] [ 2.63268710e-02 9.99653342e-01 3.02182043e-04 3.70621704e-03] [-2.39728595e-02 3.29149299e-04 9.99712556e-01 -3.25451446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622640000000001 meters Centerline goodness [0,1] 0.9999562956164503 Centerline is valid? [True, True] Translation: X:3.43, Y:0.01, Z:-0.33 [[ 9.99505633e-01 -2.13727723e-02 2.30585052e-02 3.43103487e+00] [ 2.13718247e-02 9.99771555e-01 2.87558176e-04 1.11409009e-02] [-2.30593835e-02 2.05386312e-04 9.99734076e-01 -3.27722452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.46, Y:0.01, Z:-0.33 [[ 9.99533928e-01 -1.90539278e-02 2.38510846e-02 3.46180824e+00] [ 1.90522898e-02 9.99818445e-01 2.95935891e-04 1.23782059e-02] [-2.38523931e-02 1.58619812e-04 9.99715479e-01 -3.29003630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.49, Y:0.01, Z:-0.33 [[ 9.99574208e-01 -1.70916741e-02 2.36490256e-02 3.49376329e+00] [ 1.70895316e-02 9.99853920e-01 2.92713264e-04 1.41898265e-02] [-2.36505740e-02 1.11562142e-04 9.99720280e-01 -3.29501144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.52, Y:0.02, Z:-0.33 [[ 9.99608349e-01 -1.40709887e-02 2.41899851e-02 3.52468911e+00] [ 1.40678980e-02 9.99900998e-01 2.97946613e-04 1.69669118e-02] [-2.41917827e-02 4.24723221e-05 9.99707335e-01 -3.30560845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:0.02, Z:-0.33 [[ 9.99633249e-01 -1.25736779e-02 2.39848026e-02 3.55813659e+00] [ 1.25702158e-02 9.99920948e-01 2.95114608e-04 1.89307014e-02] [-2.39866172e-02 6.48776940e-06 9.99712280e-01 -3.31344928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.59, Y:0.02, Z:-0.33 [[ 9.99656701e-01 -9.31269645e-03 2.44898804e-02 3.58965750e+00] [ 9.30816992e-03 9.99956633e-01 2.98823806e-04 2.43337009e-02] [-2.44916012e-02 -7.07652516e-05 9.99700033e-01 -3.33086866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.62, Y:0.03, Z:-0.33 [[ 9.99661966e-01 -7.39291346e-03 2.49258779e-02 3.62257379e+00] [ 7.38763810e-03 9.99972665e-01 3.03722591e-04 2.77825937e-02] [-2.49274420e-02 -1.19476557e-04 9.99689256e-01 -3.33211705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.65, Y:0.03, Z:-0.33 [[ 9.99676060e-01 -5.69725588e-03 2.48055736e-02 3.65486693e+00] [ 5.69156384e-03 9.99983758e-01 3.00063101e-04 3.10507630e-02] [-2.48068803e-02 -1.58783392e-04 9.99692249e-01 -3.33343002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.69, Y:0.04, Z:-0.34 [[ 9.99686751e-01 -3.70624229e-03 2.47520331e-02 3.68581034e+00] [ 3.69995418e-03 9.99993110e-01 2.99837267e-04 3.52947511e-02] [-2.47529738e-02 -2.08161955e-04 9.99693577e-01 -3.36291995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.72, Y:0.04, Z:-0.34 [[ 9.99695812e-01 -2.04179047e-03 2.45787498e-02 3.71741132e+00] [ 2.03518776e-03 9.99997886e-01 2.93646658e-04 3.76588059e-02] [-2.45792974e-02 -2.43534964e-04 9.99697854e-01 -3.37737462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.75, Y:0.04, Z:-0.34 [[ 9.99716989e-01 -1.16522402e-03 2.37609851e-02 3.74924865e+00] [ 1.15888728e-03 9.99999289e-01 2.80455146e-04 3.90556103e-02] [-2.37612950e-02 -2.52839470e-04 9.99717629e-01 -3.40366788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9526400000000015 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.78, Y:0.04, Z:-0.34 [[ 9.99716013e-01 -2.43084544e-03 2.37061889e-02 3.78142300e+00] [ 2.42499116e-03 9.99997022e-01 2.75695868e-04 3.72853062e-02] [-2.37067885e-02 -2.18130276e-04 9.99718931e-01 -3.41350401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.81, Y:0.03, Z:-0.34 [[ 9.99686894e-01 -8.02380573e-03 2.37008790e-02 3.81281937e+00] [ 8.01965404e-03 9.99967806e-01 2.70216542e-04 2.85166839e-02] [-2.37022842e-02 -8.00590852e-05 9.99719058e-01 -3.43908794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.84, Y:0.02, Z:-0.35 [[ 9.99635411e-01 -1.15825878e-02 2.43903586e-02 3.84400634e+00] [ 1.15792909e-02 9.99932920e-01 2.76407864e-04 2.21672926e-02] [-2.43919240e-02 6.11596857e-06 9.99702473e-01 -3.45438241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.88, Y:0.02, Z:-0.35 [[ 9.99586622e-01 -1.53529231e-02 2.43078616e-02 3.87583610e+00] [ 1.53508551e-02 9.99882132e-01 2.71687901e-04 1.53827923e-02] [-2.43091676e-02 1.01570869e-04 9.99704483e-01 -3.45734537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.91, Y:0.01, Z:-0.35 [[ 9.99511363e-01 -1.91210318e-02 2.47269196e-02 3.90655190e+00] [ 1.91201847e-02 9.99817156e-01 2.70709036e-04 8.56586091e-03] [-2.47275746e-02 2.02206511e-04 9.99694206e-01 -3.46362680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.00, Z:-0.35 [[ 9.99368282e-01 -2.43732844e-02 2.58646592e-02 3.93874305e+00] [ 2.43741905e-02 9.99702866e-01 2.80282126e-04 -1.21909619e-03] [-2.58638053e-02 3.50325063e-04 9.99665414e-01 -3.45060291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.00, Z:-0.35 [[ 9.99330234e-01 -2.56020057e-02 2.61461255e-02 3.97027817e+00] [ 2.56033706e-02 9.99672140e-01 2.82620855e-04 -4.74174989e-03] [-2.61447888e-02 3.86997376e-04 9.99658092e-01 -3.45687335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.01, Z:-0.35 [[ 9.99330493e-01 -2.60898426e-02 2.56492904e-02 4.00239130e+00] [ 2.60913915e-02 9.99659524e-01 2.74337279e-04 -7.03360997e-03] [-2.56477149e-02 3.95072070e-04 9.99670965e-01 -3.46435681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19264 meters Centerline goodness [0,1] 0.9999129772653106 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.01, Z:-0.35 [[ 9.99361630e-01 -2.56236984e-02 2.48949705e-02 4.03306787e+00] [ 2.56250464e-02 9.99671589e-01 2.64922014e-04 -1.03245457e-02] [-2.48935830e-02 3.73181878e-04 9.99690037e-01 -3.50281167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.01, Z:-0.35 [[ 9.99364682e-01 -2.45754586e-02 2.58123918e-02 4.06576341e+00] [ 2.45765754e-02 9.99697913e-01 2.74023378e-04 -1.04121535e-02] [-2.58113284e-02 3.60530907e-04 9.99666767e-01 -3.48155283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.01, Z:-0.35 [[ 9.99383471e-01 -2.27586861e-02 2.67342457e-02 4.09667087e+00] [ 2.27592891e-02 9.99740934e-01 2.81762124e-04 -1.04099734e-02] [-2.67337323e-02 3.26864018e-04 9.99642536e-01 -3.49039871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.01, Z:-0.35 [[ 9.99400330e-01 -2.22898843e-02 2.64979538e-02 4.12990692e+00] [ 2.22903252e-02 9.99751501e-01 2.78775331e-04 -9.62037280e-03] [-2.64975830e-02 3.12039850e-04 9.99648829e-01 -3.49805034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.01, Z:-0.35 [[ 9.99401959e-01 -2.17986923e-02 2.68429091e-02 4.16211569e+00] [ 2.17990291e-02 9.99762334e-01 2.80114312e-04 -9.66309249e-03] [-2.68426355e-02 3.05202563e-04 9.99639625e-01 -3.50406764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.01, Z:-0.35 [[ 9.99412487e-01 -2.15073014e-02 2.66855200e-02 4.19359935e+00] [ 2.15075404e-02 9.99768647e-01 2.78101275e-04 -1.31796167e-02] [-2.66853274e-02 2.96002011e-04 9.99643839e-01 -3.53042540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.02, Z:-0.36 [[ 9.99428582e-01 -2.21086607e-02 2.55678649e-02 4.22533601e+00] [ 2.21091789e-02 9.99755528e-01 2.62454803e-04 -2.01859126e-02] [-2.55674168e-02 3.02979667e-04 9.99673054e-01 -3.56067496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.02, Z:-0.36 [[ 9.99450230e-01 -2.23916582e-02 2.44510079e-02 4.25587446e+00] [ 2.23922308e-02 9.99749231e-01 2.50410513e-04 -2.42938218e-02] [-2.44504835e-02 2.97239768e-04 9.99700998e-01 -3.61624509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432640000000001 meters Centerline goodness [0,1] 0.9998925932290772 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.02, Z:-0.37 [[ 9.99476959e-01 -2.26095183e-02 2.31218088e-02 4.28748567e+00] [ 2.26101284e-02 9.99744331e-01 2.35078290e-04 -2.40956052e-02] [-2.31212122e-02 2.87831730e-04 9.99732628e-01 -3.65217935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46264 meters Centerline goodness [0,1] 0.9999135714440051 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.03, Z:-0.37 [[ 9.99486202e-01 -2.28570472e-02 2.24697189e-02 4.31807221e+00] [ 2.28577327e-02 9.99738702e-01 2.26362300e-04 -2.94799434e-02] [-2.24690216e-02 2.87360833e-04 9.99747498e-01 -3.69662341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.03, Z:-0.37 [[ 9.99491244e-01 -2.19523036e-02 2.31376292e-02 4.35064961e+00] [ 2.19528507e-02 9.99758981e-01 2.30386504e-04 -2.99983660e-02] [-2.31371101e-02 2.77667627e-04 9.99732263e-01 -3.67340950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.03, Z:-0.37 [[ 9.99511989e-01 -2.01289218e-02 2.38874488e-02 4.38290488e+00] [ 2.01290124e-02 9.99797363e-01 2.36678212e-04 -2.82980736e-02] [-2.38873724e-02 2.44268044e-04 9.99714626e-01 -3.65934190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.03, Z:-0.37 [[ 9.99513480e-01 -2.00547469e-02 2.38874566e-02 4.41538528e+00] [ 2.00548351e-02 9.99798854e-01 2.35895186e-04 -2.81129614e-02] [-2.38873825e-02 2.43278583e-04 9.99714626e-01 -3.67219058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters Centerline goodness [0,1] 0.9999568584309412 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.02, Z:-0.37 [[ 9.99576708e-01 -1.45227411e-02 2.52090080e-02 4.44574875e+00] [ 1.45211540e-02 9.99894532e-01 2.46025417e-04 -2.47705010e-02] [-2.52099222e-02 1.20142611e-04 9.99682172e-01 -3.65544528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61264 meters Centerline goodness [0,1] 0.9999361049582552 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.02, Z:-0.37 [[ 9.99620142e-01 -1.04756238e-02 2.54918109e-02 4.47740629e+00] [ 1.04726803e-02 9.99945129e-01 2.48973219e-04 -2.05472341e-02] [-2.54930203e-02 1.80889415e-05 9.99675000e-01 -3.68399948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.01, Z:-0.37 [[ 9.99693935e-01 -2.43834521e-03 2.46189014e-02 4.50896903e+00] [ 2.43319503e-03 9.99997011e-01 2.39149872e-04 -8.17503709e-03] [-2.46194109e-02 -1.79174088e-04 9.99696880e-01 -3.69088734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.00, Z:-0.37 [[ 9.99724459e-01 1.43173009e-03 2.34297960e-02 4.54051109e+00] [-1.43748524e-03 9.99998941e-01 2.28793266e-04 -1.94602984e-03] [-2.34294436e-02 -2.62410210e-04 9.99725458e-01 -3.71985449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.57, Y:0.00, Z:-0.38 [[ 9.99727822e-01 4.78008534e-03 2.28349063e-02 4.57140186e+00] [-4.78634475e-03 9.99988521e-01 2.19468545e-04 4.48944167e-03] [-2.28335951e-02 -3.28704544e-04 9.99739225e-01 -3.76137927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.60, Y:0.01, Z:-0.38 [[ 9.99689611e-01 1.00745211e-02 2.27856285e-02 4.60227048e+00] [-1.00819993e-02 9.99949153e-01 2.13339137e-04 1.30875910e-02] [-2.27823206e-02 -4.42997608e-04 9.99740351e-01 -3.76882513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762640000000001 meters Centerline goodness [0,1] 0.9999783951950914 Centerline is valid? [True, True] Translation: X:4.63, Y:0.02, Z:-0.38 [[ 9.99665626e-01 1.20724833e-02 2.28668280e-02 4.63487053e+00] [-1.20805718e-02 9.99927004e-01 2.15607475e-04 1.56513866e-02] [-2.28625559e-02 -4.91779738e-04 9.99738497e-01 -3.76310170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.67, Y:0.02, Z:-0.38 [[ 9.99633050e-01 1.36185684e-02 2.34158265e-02 4.66586554e+00] [-1.36273691e-02 9.99907120e-01 2.16306700e-04 2.34820120e-02] [-2.34107058e-02 -5.35323435e-04 9.99725789e-01 -3.78888515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters Centerline goodness [0,1] 0.9999361824331511 Centerline is valid? [True, True] Translation: X:4.70, Y:0.03, Z:-0.38 [[ 9.99602679e-01 1.47617373e-02 2.40119647e-02 4.69689631e+00] [-1.47712219e-02 9.99890876e-01 2.17663343e-04 2.73413220e-02] [-2.40061314e-02 -5.72262920e-04 9.99711648e-01 -3.79262998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852640000000001 meters Centerline goodness [0,1] 0.9999357367778421 Centerline is valid? [True, True] Translation: X:4.73, Y:0.03, Z:-0.38 [[ 9.99579208e-01 1.52041720e-02 2.47030365e-02 4.72961114e+00] [-1.52142645e-02 9.99884232e-01 2.20644400e-04 2.79685772e-02] [-2.46968219e-02 -5.96390085e-04 9.99694809e-01 -3.77255309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88264 meters Centerline goodness [0,1] 0.9998724733788178 Centerline is valid? [True, True] Translation: X:4.76, Y:0.03, Z:-0.38 [[ 9.99564531e-01 1.52458440e-02 2.52648391e-02 4.76044072e+00] [-1.52562734e-02 9.99883592e-01 2.20091999e-04 3.36749104e-02] [-2.52585426e-02 -6.05443450e-04 9.99680769e-01 -3.79892368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91264 meters Centerline goodness [0,1] 0.999978286830963 Centerline is valid? [True, True] Translation: X:4.79, Y:0.03, Z:-0.38 [[ 9.99532747e-01 1.48297345e-02 2.67276229e-02 4.79243362e+00] [-1.48411440e-02 9.99889838e-01 2.28550946e-04 3.35054238e-02] [-2.67212891e-02 -6.25112655e-04 9.99642727e-01 -3.75609773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94264 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:4.82, Y:0.04, Z:-0.38 [[ 9.99508515e-01 1.45682498e-02 2.77577894e-02 4.82351548e+00] [-1.45803109e-02 9.99893675e-01 2.32156818e-04 4.00535928e-02] [-2.77514559e-02 -6.36759916e-04 9.99614651e-01 -3.77401232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97264 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:4.86, Y:0.04, Z:-0.38 [[ 9.99513769e-01 1.39787060e-02 2.78715329e-02 4.85555337e+00] [-1.39905154e-02 9.99902102e-01 2.28735947e-04 3.77806176e-02] [-2.78656069e-02 -6.18561838e-04 9.99611487e-01 -3.76696719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:4.89, Y:0.04, Z:-0.38 [[ 9.99558874e-01 1.19402302e-02 2.71935234e-02 4.88641201e+00] [-1.19505912e-02 9.99928565e-01 2.18516211e-04 4.06705535e-02] [-2.71889717e-02 -5.43398498e-04 9.99630164e-01 -3.79260483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03264 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:4.92, Y:0.04, Z:-0.38 [[ 9.99587601e-01 1.07190255e-02 2.66407848e-02 4.91752458e+00] [-1.07284270e-02 9.99942427e-01 2.09988204e-04 4.17736993e-02] [-2.66370001e-02 -4.95715320e-04 9.99645049e-01 -3.81789734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters Centerline goodness [0,1] 0.9997844966920242 Centerline is valid? [True, True] Translation: X:4.95, Y:0.04, Z:-0.39 [[ 9.99621642e-01 9.27527836e-03 2.58948264e-02 4.94847738e+00] [-9.28357422e-03 9.99956887e-01 2.00164633e-04 4.25314381e-02] [-2.58918534e-02 -4.40485442e-04 9.99664653e-01 -3.87473170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09264 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:4.98, Y:0.04, Z:-0.39 [[ 9.99656053e-01 7.33238005e-03 2.51796100e-02 4.97988310e+00] [-7.33951312e-03 9.99973047e-01 1.90880558e-04 4.16159966e-02] [-2.51775317e-02 -3.75620983e-04 9.99682925e-01 -3.88446346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.01, Y:0.04, Z:-0.39 [[ 9.99710502e-01 2.32795324e-03 2.39477224e-02 5.01237698e+00] [-2.33285316e-03 9.99997263e-01 1.76673592e-04 3.52949985e-02] [-2.39472455e-02 -2.32488965e-04 9.99713197e-01 -3.91617108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15264 meters Centerline goodness [0,1] 0.9999141925519135 Centerline is valid? [True, True] Translation: X:5.04, Y:0.03, Z:-0.39 [[ 9.99716571e-01 2.76048383e-04 2.38055127e-02 5.04499842e+00] [-2.80286960e-04 9.99999945e-01 1.74713732e-04 3.26210281e-02] [-2.38054632e-02 -1.81336588e-04 9.99716593e-01 -3.94440631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182640000000001 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:5.08, Y:0.03, Z:-0.39 [[ 9.99720171e-01 -2.89441798e-03 2.34776967e-02 5.07626039e+00] [ 2.89121701e-03 9.99995806e-01 1.70283912e-04 3.18165718e-02] [-2.34780911e-02 -1.02357146e-04 9.99724346e-01 -3.94855036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.11, Y:0.03, Z:-0.40 [[ 9.99722473e-01 -3.47833373e-03 2.32997542e-02 5.10919617e+00] [ 3.47535620e-03 9.99993947e-01 1.68284112e-04 3.33846985e-02] [-2.33001985e-02 -8.72624637e-05 9.99728510e-01 -3.96580472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters Centerline goodness [0,1] 0.9998285726530525 Centerline is valid? [True, True] Translation: X:5.14, Y:0.04, Z:-0.40 [[ 9.99712715e-01 -3.52456597e-03 2.37079007e-02 5.14093441e+00] [ 3.52161308e-03 9.99993785e-01 1.66302775e-04 3.51629359e-02] [-2.37083396e-02 -8.27649451e-05 9.99718914e-01 -3.99015055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.17, Y:0.03, Z:-0.40 [[ 9.99698451e-01 -3.87247289e-03 2.42489379e-02 5.17346981e+00] [ 3.86958692e-03 9.99992499e-01 1.65936880e-04 3.30613245e-02] [-2.42493986e-02 -7.20534692e-05 9.99705938e-01 -3.96145216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.21, Y:0.03, Z:-0.40 [[ 9.99690628e-01 -4.02539901e-03 2.45447571e-02 5.20647209e+00] [ 4.02258561e-03 9.99991896e-01 1.63996416e-04 3.16725320e-02] [-2.45452183e-02 -6.52122933e-05 9.99698719e-01 -3.96418710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.24, Y:0.03, Z:-0.40 [[ 9.99692327e-01 -4.26865881e-03 2.44342027e-02 5.23839379e+00] [ 4.26606637e-03 9.99990888e-01 1.58225050e-04 3.05526905e-02] [-2.44346555e-02 -5.39384384e-05 9.99701428e-01 -3.98087135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36264 meters Centerline goodness [0,1] 0.9999784904605192 Centerline is valid? [True, True] Translation: X:5.27, Y:0.03, Z:-0.40 [[ 9.99675333e-01 -4.98323390e-03 2.49879347e-02 5.27093273e+00] [ 4.98087044e-03 9.99987583e-01 1.56824213e-04 2.94835085e-02] [-2.49884060e-02 -3.23116317e-05 9.99687741e-01 -3.99618729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.30, Y:0.03, Z:-0.40 [[ 9.99679778e-01 -4.70680597e-03 2.48633895e-02 5.30382600e+00] [ 4.70447726e-03 9.99988922e-01 1.52153262e-04 2.98347556e-02] [-2.48638303e-02 -3.51352882e-05 9.99690847e-01 -3.99426629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.34, Y:0.03, Z:-0.40 [[ 9.99683001e-01 -4.14191570e-03 2.48342991e-02 5.33608267e+00] [ 4.13954586e-03 9.99991421e-01 1.46834879e-04 3.07141403e-02] [-2.48346942e-02 -4.39856127e-05 9.99691570e-01 -4.02954538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.37, Y:0.03, Z:-0.40 [[ 9.99688434e-01 -3.35470146e-03 2.47342171e-02 5.36910785e+00] [ 3.35221877e-03 9.99994371e-01 1.41837902e-04 2.98742265e-02] [-2.47345537e-02 -5.88792028e-05 9.99694052e-01 -4.03215230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.40, Y:0.03, Z:-0.40 [[ 9.99689695e-01 -2.62846959e-03 2.47710406e-02 5.40203541e+00] [ 2.62587678e-03 9.99996543e-01 1.37198451e-04 2.90879181e-02] [-2.47713156e-02 -7.21101774e-05 9.99693141e-01 -4.04010517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.43, Y:0.03, Z:-0.41 [[ 9.99690341e-01 -1.86717280e-03 2.48140120e-02 5.43383654e+00] [ 1.86446451e-03 9.99998253e-01 1.32279290e-04 2.85260923e-02] [-2.48142156e-02 -8.59734841e-05 9.99692076e-01 -4.06080036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.47, Y:0.03, Z:-0.41 [[ 9.99704110e-01 -1.37557913e-03 2.42858222e-02 5.46619485e+00] [ 1.37295059e-03 9.99999050e-01 1.24907236e-04 2.77962623e-02] [-2.42859709e-02 -9.15270432e-05 9.99705048e-01 -4.07051740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57264 meters Centerline goodness [0,1] 0.9998702814891685 Centerline is valid? [True, True] Translation: X:5.50, Y:0.03, Z:-0.41 [[ 9.99693659e-01 -1.88305054e-04 2.47498012e-02 5.49826185e+00] [ 1.85339112e-04 9.99999975e-01 1.22130854e-04 2.87728883e-02] [-2.47498236e-02 -1.17506334e-04 9.99693669e-01 -4.10884264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.53, Y:0.03, Z:-0.41 [[ 9.99684206e-01 1.57049880e-04 2.51289326e-02 5.53159017e+00] [-1.60162824e-04 9.99999980e-01 1.21866257e-04 2.84214123e-02] [-2.51289130e-02 -1.25852493e-04 9.99684211e-01 -4.07893433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.56, Y:0.03, Z:-0.41 [[ 9.99685191e-01 8.09018059e-04 2.50771682e-02 5.56490638e+00] [-8.12199863e-04 9.99999663e-01 1.16695314e-04 2.87325732e-02] [-2.50770654e-02 -1.37026250e-04 9.99685512e-01 -4.09302415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters Centerline goodness [0,1] 0.9999564725341691 Centerline is valid? [True, True] Translation: X:5.60, Y:0.03, Z:-0.41 [[ 9.99676938e-01 1.96889580e-03 2.53405305e-02 5.59750656e+00] [-1.97239260e-03 9.99998048e-01 1.12998386e-04 2.83953916e-02] [-2.53402586e-02 -1.62943356e-04 9.99678871e-01 -4.10376293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.63, Y:0.03, Z:-0.41 [[ 9.99672849e-01 2.69345315e-03 2.54350358e-02 5.62925064e+00] [-2.69704883e-03 9.99996357e-01 1.07063183e-04 2.84035604e-02] [-2.54346548e-02 -1.75627691e-04 9.99676471e-01 -4.10499506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.66, Y:0.03, Z:-0.41 [[ 9.99676515e-01 4.26924523e-03 2.50726534e-02 5.66044429e+00] [-4.27314390e-03 9.99990865e-01 1.01918810e-04 2.95328628e-02] [-2.50719892e-02 -2.09024897e-04 9.99685626e-01 -4.12532150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.69, Y:0.03, Z:-0.41 [[ 9.99671414e-01 5.26072179e-03 2.50876316e-02 5.69192394e+00] [-5.26491031e-03 9.99986135e-01 1.00905564e-04 3.15990514e-02] [-2.50867529e-02 -2.32956538e-04 9.99685251e-01 -4.14418960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.72, Y:0.03, Z:-0.42 [[ 9.99668250e-01 6.20033981e-03 2.49989258e-02 5.72389613e+00] [-6.20467512e-03 9.99980746e-01 9.58555879e-05 3.34819590e-02] [-2.49978501e-02 -2.50934000e-04 9.99687473e-01 -4.15530067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.76, Y:0.04, Z:-0.42 [[ 9.99657352e-01 7.22105921e-03 2.51602006e-02 5.75623721e+00] [-7.22566931e-03 9.99973890e-01 9.23194928e-05 3.60066348e-02] [-2.51588771e-02 -2.74087149e-04 9.99683428e-01 -4.17458446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842640000000001 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:5.79, Y:0.04, Z:-0.42 [[ 9.99650778e-01 7.32531902e-03 2.53901952e-02 5.78965672e+00] [-7.32993227e-03 9.99973132e-01 8.86284313e-05 3.62292044e-02] [-2.53888638e-02 -2.74705891e-04 9.99677613e-01 -4.17703150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87264 meters Centerline goodness [0,1] 0.9999135004216855 Centerline is valid? [True, True] Translation: X:5.82, Y:0.04, Z:-0.42 [[ 9.99638955e-01 6.99804791e-03 2.59420003e-02 5.82220970e+00] [-7.00261348e-03 9.99975478e-01 8.51483938e-05 3.59596466e-02] [-2.59407683e-02 -2.66779452e-04 9.99663446e-01 -4.19676336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters Centerline goodness [0,1] 0.9998495788206979 Centerline is valid? [True, True] Translation: X:5.85, Y:0.03, Z:-0.42 [[ 9.99630862e-01 4.49649848e-03 2.67940596e-02 5.85304092e+00] [-4.50033606e-03 9.99989870e-01 8.29243496e-05 3.29234705e-02] [-2.67934153e-02 -2.03476011e-04 9.99640971e-01 -4.20549384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.88, Y:0.03, Z:-0.42 [[ 9.99642910e-01 2.82041078e-03 2.65725028e-02 5.88436309e+00] [-2.82348167e-03 9.99996011e-01 7.80469550e-05 2.87398576e-02] [-2.65721767e-02 -1.53046060e-04 9.99646886e-01 -4.19655221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.92, Y:0.03, Z:-0.42 [[ 9.99648539e-01 1.04088070e-03 2.64898983e-02 5.91527046e+00] [-1.04319731e-03 9.99999453e-01 7.36333356e-05 2.52805324e-02] [-2.64898072e-02 -1.01241647e-04 9.99649078e-01 -4.21971168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.95, Y:0.02, Z:-0.42 [[ 9.99645715e-01 -6.25203518e-04 2.66092915e-02 5.94780808e+00] [ 6.23562703e-04 9.99999803e-01 6.99609268e-05 2.21435243e-02] [-2.66093300e-02 -5.33435789e-05 9.99645908e-01 -4.21513414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.98, Y:0.02, Z:-0.42 [[ 9.99646964e-01 -3.75635520e-03 2.63027900e-02 5.98075745e+00] [ 3.75594539e-03 9.99992944e-01 6.49851570e-05 1.81537889e-02] [-2.63028486e-02 3.38296280e-05 9.99654020e-01 -4.23945130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.01, Y:0.02, Z:-0.43 [[ 9.99663143e-01 -5.15831000e-03 2.54360614e-02 6.01267520e+00] [ 5.15851117e-03 9.99986693e-01 5.77085039e-05 1.60523913e-02] [-2.54360206e-02 7.35231423e-05 9.99676449e-01 -4.26813345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters Centerline goodness [0,1] 0.9999347343688814 Centerline is valid? [True, True] Translation: X:6.04, Y:0.01, Z:-0.43 [[ 9.99670318e-01 -6.26772704e-03 2.48992246e-02 6.04451015e+00] [ 6.26836640e-03 9.99980352e-01 5.23737640e-05 1.44955540e-02] [-2.48990637e-02 1.03720966e-04 9.99689965e-01 -4.30548247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.08, Y:0.01, Z:-0.43 [[ 9.99650715e-01 -7.32059338e-03 2.53940412e-02 6.07661776e+00] [ 7.32170955e-03 9.99973195e-01 4.90260099e-05 1.05458109e-02] [-2.53937194e-02 1.36918908e-04 9.99677518e-01 -4.31707099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.11, Y:0.01, Z:-0.43 [[ 9.99647377e-01 -9.30200233e-03 2.48715393e-02 6.10841972e+00] [ 9.30380288e-03 9.99956718e-01 4.33256948e-05 5.53468549e-03] [-2.48708658e-02 1.88089481e-04 9.99690654e-01 -4.32045203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17264 meters Centerline goodness [0,1] 0.999892683136228 Centerline is valid? [True, True] Translation: X:6.14, Y:0.00, Z:-0.44 [[ 9.99647325e-01 -1.00912346e-02 2.45640587e-02 6.13945528e+00] [ 1.00933590e-02 9.99949060e-01 3.75057614e-05 3.86610450e-03] [-2.45631859e-02 2.10441328e-04 9.99698257e-01 -4.37008881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.17, Y:0.00, Z:-0.44 [[ 9.99640725e-01 -1.06823723e-02 2.45826833e-02 6.17195650e+00] [ 1.06847036e-02 9.99942916e-01 3.65142273e-05 1.74495187e-03] [-2.45816701e-02 2.26157576e-04 9.99697800e-01 -4.35428731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.20, Y:0.00, Z:-0.44 [[ 9.99641721e-01 -1.03795413e-02 2.46717523e-02 6.20454000e+00] [ 1.03819556e-02 9.99946106e-01 3.02346549e-05 1.75258120e-03] [-2.46707365e-02 2.25917215e-04 9.99695606e-01 -4.35446292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262640000000001 meters Centerline goodness [0,1] 0.9998921925871623 Centerline is valid? [True, True] Translation: X:6.24, Y:0.00, Z:-0.44 [[ 9.99651795e-01 -9.53234849e-03 2.46053406e-02 6.23659857e+00] [ 9.53452245e-03 9.99954545e-01 2.89659851e-05 2.21815720e-03] [-2.46044982e-02 2.05644273e-04 9.99697242e-01 -4.38852118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29264 meters Centerline goodness [0,1] 0.9999783371604349 Centerline is valid? [True, True] Translation: X:6.27, Y:0.01, Z:-0.44 [[ 9.99675032e-01 -6.39921026e-03 2.46754933e-02 6.26855748e+00] [ 6.40046817e-03 9.99979516e-01 2.80016098e-05 5.48294716e-03] [-2.46751670e-02 1.29942199e-04 9.99695513e-01 -4.38755514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.30, Y:0.01, Z:-0.44 [[ 9.99682807e-01 -4.75469452e-03 2.47321228e-02 6.30037859e+00] [ 4.75549814e-03 9.99988692e-01 2.63228720e-05 7.86427384e-03] [-2.47319683e-02 9.12990413e-05 9.99694114e-01 -4.38080357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.33, Y:0.01, Z:-0.44 [[ 9.99684024e-01 -3.16552944e-03 2.49365633e-02 6.33181046e+00] [ 3.16584330e-03 9.99994988e-01 2.68922632e-05 9.21125805e-03] [-2.49365234e-02 5.20614859e-05 9.99689035e-01 -4.39313061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.36, Y:0.01, Z:-0.44 [[ 9.99704452e-01 -1.00982715e-03 2.42896870e-02 6.36430767e+00] [ 1.00962147e-03 9.99999490e-01 2.07310408e-05 1.10083383e-02] [-2.42896955e-02 3.79847568e-06 9.99704962e-01 -4.41495559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.39, Y:0.01, Z:-0.45 [[ 9.99726511e-01 -4.08483914e-05 2.33859276e-02 6.39477661e+00] [ 4.03854256e-05 9.99999999e-01 2.02690592e-05 1.24839677e-02] [-2.33859284e-02 -1.93190652e-05 9.99726512e-01 -4.47045839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.43, Y:0.01, Z:-0.45 [[ 9.99759571e-01 6.15316469e-04 2.19185262e-02 6.42663957e+00] [-6.15835934e-04 9.99999810e-01 1.69499020e-05 1.37833395e-02] [-2.19185116e-02 -3.04440427e-05 9.99759760e-01 -4.48990262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.46, Y:0.01, Z:-0.45 [[ 9.99759430e-01 8.12209818e-04 2.19185281e-02 6.45912845e+00] [-8.12703756e-04 9.99999670e-01 1.36274988e-05 1.36086439e-02] [-2.19185098e-02 -3.14374905e-05 9.99759760e-01 -4.50275589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.49, Y:0.01, Z:-0.45 [[ 9.99787164e-01 1.02107979e-03 2.06054174e-02 6.49090329e+00] [-1.02147798e-03 9.99999478e-01 8.79924466e-06 1.39779694e-02] [-2.06053976e-02 -2.98453519e-05 9.99787686e-01 -4.53740487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.52, Y:0.01, Z:-0.46 [[ 9.99811831e-01 1.05505088e-03 1.93697953e-02 6.52252069e+00] [-1.05534650e-03 9.99999443e-01 5.04008653e-06 1.31139366e-02] [-1.93697792e-02 -2.54809839e-05 9.99812388e-01 -4.57653976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.55, Y:0.01, Z:-0.46 [[ 9.99807967e-01 1.34054444e-03 1.95507737e-02 6.55433028e+00] [-1.34084681e-03 9.99999101e-01 2.35717961e-06 1.26381284e-02] [-1.95507529e-02 -2.85713194e-05 9.99808865e-01 -4.60576741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.59, Y:0.01, Z:-0.46 [[ 9.99797760e-01 1.49834549e-03 2.00547544e-02 6.58692824e+00] [-1.49861120e-03 9.99998877e-01 -1.77944998e-06 1.23802255e-02] [-2.00547345e-02 -2.82751894e-05 9.99798883e-01 -4.58925547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.62, Y:0.01, Z:-0.46 [[ 9.99758075e-01 1.50139611e-03 2.19439640e-02 6.61938918e+00] [-1.50161787e-03 9.99998873e-01 -6.37190067e-06 1.17765209e-02] [-2.19439488e-02 -2.65810894e-05 9.99759202e-01 -4.56116945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.65, Y:0.01, Z:-0.46 [[ 9.99742936e-01 1.40751123e-03 2.26292133e-02 6.65050485e+00] [-1.40760093e-03 9.99999009e-01 -1.19648155e-05 1.18871297e-02] [-2.26292077e-02 -1.98911619e-05 9.99743926e-01 -4.56234838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.68, Y:0.01, Z:-0.46 [[ 9.99719095e-01 1.48244643e-03 2.36544526e-02 6.68286561e+00] [-1.48253480e-03 9.99998901e-01 -1.38009371e-05 1.26205980e-02] [-2.36544470e-02 -2.12714887e-05 9.99720194e-01 -4.55699028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71264 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:6.71, Y:0.01, Z:-0.46 [[ 9.99698449e-01 1.51958473e-03 2.45092414e-02 6.71353611e+00] [-1.51955303e-03 9.99998845e-01 -1.99178325e-05 1.33630504e-02] [-2.45092434e-02 -1.73312657e-05 9.99699603e-01 -4.57588874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.75, Y:0.01, Z:-0.46 [[ 9.99687991e-01 2.65454598e-03 2.48369391e-02 6.74644991e+00] [-2.65483833e-03 9.99996476e-01 -2.12036294e-05 1.27370865e-02] [-2.48369078e-02 -4.47410442e-05 9.99691515e-01 -4.55546506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.78, Y:0.01, Z:-0.46 [[ 9.99682240e-01 3.91285559e-03 2.49019768e-02 6.77838001e+00] [-3.91338911e-03 9.99992342e-01 -2.73085212e-05 1.31284253e-02] [-2.49018930e-02 -7.01512814e-05 9.99689897e-01 -4.56534583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.81, Y:0.01, Z:-0.46 [[ 9.99658078e-01 5.45333358e-03 2.55731757e-02 6.81048306e+00] [-5.45433718e-03 9.99985125e-01 -3.05098998e-05 1.48642774e-02] [-2.55729617e-02 -1.08985255e-04 9.99672952e-01 -4.57297159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.84, Y:0.02, Z:-0.46 [[ 9.99638248e-01 8.96418499e-03 2.53577751e-02 6.84108391e+00] [-8.96612822e-03 9.99959803e-01 -3.70674402e-05 2.39944366e-02] [-2.53570881e-02 -1.90307032e-04 9.99678439e-01 -4.59215077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.87, Y:0.03, Z:-0.46 [[ 9.99639578e-01 1.12503482e-02 2.43750653e-02 6.87354554e+00] [-1.12528639e-02 9.99936684e-01 -3.39550962e-05 2.72135303e-02] [-2.43739040e-02 -2.40346436e-04 9.99702883e-01 -4.60766772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89264 meters Centerline goodness [0,1] 0.9999348944204518 Centerline is valid? [True, True] Translation: X:6.91, Y:0.03, Z:-0.46 [[ 9.99626592e-01 1.33643665e-02 2.38342139e-02 6.90613935e+00] [-1.33672808e-02 9.99910653e-01 -3.70514846e-05 2.95158811e-02] [-2.38325796e-02 -2.81560981e-04 9.99715924e-01 -4.61594940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.94, Y:0.04, Z:-0.46 [[ 9.99556021e-01 1.78590824e-02 2.38498080e-02 6.93764483e+00] [-1.78631739e-02 9.99840440e-01 -4.15002691e-05 3.91679074e-02] [-2.38467436e-02 -3.84551423e-04 9.99715552e-01 -4.63742559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95264 meters Centerline goodness [0,1] 0.999978286359491 Centerline is valid? [True, True] Translation: X:6.97, Y:0.04, Z:-0.47 [[ 9.99530269e-01 2.01796686e-02 2.30656219e-02 6.96932992e+00] [-2.01840307e-02 9.99796281e-01 -4.37021843e-05 4.38657674e-02] [-2.30618049e-02 -4.21875566e-04 9.99733952e-01 -4.66080694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters Centerline goodness [0,1] 0.9999354005167959 Centerline is valid? [True, True] Translation: X:7.00, Y:0.05, Z:-0.47 [[ 9.99508680e-01 2.18956645e-02 2.24272015e-02 6.99991421e+00] [-2.19000915e-02 9.99760163e-01 -4.82255789e-05 4.95842803e-02] [-2.24228786e-02 -4.42955882e-04 9.99748478e-01 -4.70378143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012640000000001 meters Centerline goodness [0,1] 0.9999360272950208 Centerline is valid? [True, True] Translation: X:7.03, Y:0.05, Z:-0.47 [[ 9.99462573e-01 2.42101749e-02 2.21005024e-02 7.03233860e+00] [-2.42150809e-02 9.99706771e-01 -4.56394590e-05 5.45967310e-02] [-2.20951269e-02 -4.89550524e-04 9.99755753e-01 -4.71438815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04264 meters Centerline goodness [0,1] 0.9999569494371139 Centerline is valid? [True, True] Translation: X:7.06, Y:0.06, Z:-0.47 [[ 9.99455983e-01 2.47900183e-02 2.17530034e-02 7.06409788e+00] [-2.47948358e-02 9.99692560e-01 -4.82602878e-05 5.76401764e-02] [-2.17475120e-02 -4.91128115e-04 9.99763374e-01 -4.72752177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07264 meters Centerline goodness [0,1] 0.9999568686650852 Centerline is valid? [True, True] Translation: X:7.10, Y:0.06, Z:-0.48 [[ 9.99458659e-01 2.49449313e-02 2.14508677e-02 7.09681163e+00] [-2.49495850e-02 9.99688709e-01 -5.06924430e-05 6.03310832e-02] [-2.14454548e-02 -4.84525247e-04 9.99769902e-01 -4.76358272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102640000000001 meters Centerline goodness [0,1] 0.9999567539516077 Centerline is valid? [True, True] Translation: X:7.13, Y:0.06, Z:-0.47 [[ 9.99470664e-01 2.42571581e-02 2.16790574e-02 7.12917312e+00] [-2.42616494e-02 9.99705641e-01 -5.58600725e-05 5.89482261e-02] [-2.16740310e-02 -4.70139187e-04 9.99764980e-01 -4.74335129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13264 meters Centerline goodness [0,1] 0.999828108549451 Centerline is valid? [True, True] Translation: X:7.16, Y:0.06, Z:-0.48 [[ 9.99489986e-01 2.16906556e-02 2.34367900e-02 7.15915534e+00] [-2.16950310e-02 9.99764633e-01 -6.75898321e-05 6.05754498e-02] [-2.34327398e-02 -4.40906524e-04 9.99725318e-01 -4.76368323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters Centerline goodness [0,1] 0.9999567165148138 Centerline is valid? [True, True] Translation: X:7.19, Y:0.06, Z:-0.47 [[ 9.99525537e-01 1.99861948e-02 2.34361605e-02 7.19105131e+00] [-1.99901545e-02 9.99800175e-01 -6.53309324e-05 6.04828139e-02] [-2.34327831e-02 -4.03192534e-04 9.99725333e-01 -4.74452733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19264 meters Centerline goodness [0,1] 0.999978304731738 Centerline is valid? [True, True] Translation: X:7.22, Y:0.06, Z:-0.47 [[ 9.99585584e-01 1.61559703e-02 2.38253068e-02 7.22237990e+00] [-1.61588209e-02 9.99869435e-01 -7.28857453e-05 5.81514211e-02] [-2.38233736e-02 -3.12133324e-04 9.99716134e-01 -4.74138840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22264 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:7.25, Y:0.06, Z:-0.48 [[ 9.99595649e-01 1.48339137e-02 2.42588992e-02 7.25299734e+00] [-1.48365155e-02 9.99889930e-01 -7.27405549e-05 5.93175994e-02] [-2.42573081e-02 -2.87206392e-04 9.99705707e-01 -4.78237483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25264 meters Centerline goodness [0,1] 0.9999785361665593 Centerline is valid? [True, True] Translation: X:7.29, Y:0.06, Z:-0.48 [[ 9.99610703e-01 1.34201449e-02 2.44610341e-02 7.28552678e+00] [-1.34222718e-02 9.99909914e-01 -7.72433687e-05 5.92156502e-02] [-2.44598671e-02 -2.51109349e-04 9.99700781e-01 -4.76375179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28264 meters Centerline goodness [0,1] 0.999978784342845 Centerline is valid? [True, True] Translation: X:7.32, Y:0.06, Z:-0.48 [[ 9.99617919e-01 1.21875136e-02 2.48088957e-02 7.31655300e+00] [-1.21891858e-02 9.99925706e-01 -8.38252268e-05 6.02525767e-02] [-2.48080742e-02 -2.18607039e-04 9.99692208e-01 -4.78215000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.35, Y:0.06, Z:-0.48 [[ 9.99662998e-01 9.82129562e-03 2.40298408e-02 7.34736954e+00] [-9.82214889e-03 9.99951758e-01 -8.25228911e-05 5.95644830e-02] [-2.40294920e-02 -1.53529593e-04 9.99711238e-01 -4.81328389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.38, Y:0.06, Z:-0.48 [[ 9.99683617e-01 8.65696719e-03 2.36161742e-02 7.38013936e+00] [-8.65739704e-03 9.99962521e-01 -8.40418126e-05 5.81023445e-02] [-2.36160167e-02 -1.20439374e-04 9.99721096e-01 -4.81759756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.41, Y:0.06, Z:-0.48 [[ 9.99694032e-01 7.74135294e-03 2.34928416e-02 7.41250567e+00] [-7.74138984e-03 9.99970031e-01 -8.93767270e-05 5.81745312e-02] [-2.34928294e-02 -9.25178647e-05 9.99724001e-01 -4.84471385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.45, Y:0.06, Z:-0.49 [[ 9.99701466e-01 7.00610964e-03 2.34071409e-02 7.44524624e+00] [-7.00590302e-03 9.99975454e-01 -9.08337174e-05 5.74972496e-02] [-2.34072028e-02 -7.31815588e-05 9.99726011e-01 -4.86107608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.48, Y:0.06, Z:-0.49 [[ 9.99727368e-01 5.83363423e-03 2.26088309e-02 7.47619224e+00] [-5.83303660e-03 9.99982983e-01 -9.23816393e-05 5.72917850e-02] [-2.26089851e-02 -3.95216849e-05 9.99744383e-01 -4.88709432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.51, Y:0.06, Z:-0.49 [[ 9.99718163e-01 5.79045420e-03 2.30231456e-02 7.50861538e+00] [-5.78974447e-03 9.99983235e-01 -9.74851907e-05 5.89261039e-02] [-2.30233241e-02 -3.58404142e-05 9.99734927e-01 -4.88489865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.54, Y:0.06, Z:-0.49 [[ 9.99715398e-01 6.54020962e-03 2.29422969e-02 7.54125958e+00] [-6.53962561e-03 9.99978611e-01 -1.00483222e-04 6.16604586e-02] [-2.29424633e-02 -4.95794076e-05 9.99736786e-01 -4.89617363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.57, Y:0.06, Z:-0.49 [[ 9.99712178e-01 6.96473819e-03 2.29576285e-02 7.57276786e+00] [-6.96415829e-03 9.99975744e-01 -1.05211376e-04 6.17098596e-02] [-2.29578045e-02 -5.46994652e-05 9.99736433e-01 -4.91253792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.60, Y:0.06, Z:-0.49 [[ 9.99710322e-01 7.64796804e-03 2.28206076e-02 7.60471835e+00] [-7.64747916e-03 9.99970752e-01 -1.08694994e-04 6.31998720e-02] [-2.28207714e-02 -6.58566134e-05 9.99739570e-01 -4.93280110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.64, Y:0.07, Z:-0.49 [[ 9.99699436e-01 8.73873315e-03 2.29057257e-02 7.63819203e+00] [-8.73843677e-03 9.99961813e-01 -1.13034169e-04 6.62420426e-02] [-2.29058388e-02 -8.71600412e-05 9.99737623e-01 -4.93167764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.67, Y:0.07, Z:-0.49 [[ 9.99687522e-01 9.33299219e-03 2.31895233e-02 7.67107016e+00] [-9.33274554e-03 9.99956442e-01 -1.18864181e-04 6.92083061e-02] [-2.31896226e-02 -9.75948821e-05 9.99731080e-01 -4.92755406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.70, Y:0.07, Z:-0.49 [[ 9.99657718e-01 9.56938416e-03 2.43489944e-02 7.70325429e+00] [-9.56904771e-03 9.99954207e-01 -1.30335971e-04 7.22584916e-02] [-2.43491267e-02 -1.02705330e-04 9.99703511e-01 -4.91503926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.73, Y:0.07, Z:-0.49 [[ 9.99658378e-01 8.95479259e-03 2.45547994e-02 7.73437296e+00] [-8.95415167e-03 9.99959902e-01 -1.36053888e-04 7.15884375e-02] [-2.45550331e-02 -8.38599889e-05 9.99698476e-01 -4.93052097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.77, Y:0.07, Z:-0.50 [[ 9.99673422e-01 7.81964532e-03 2.43290564e-02 7.76616420e+00] [-7.81857101e-03 9.99969425e-01 -1.39282187e-04 6.98183123e-02] [-2.43294017e-02 -5.09817541e-05 9.99703995e-01 -4.95524264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73264 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:7.80, Y:0.06, Z:-0.50 [[ 9.99711147e-01 4.63821166e-03 2.35819629e-02 7.79694268e+00] [-4.63626458e-03 9.99989243e-01 -1.37239805e-04 6.45482646e-02] [-2.35823458e-02 2.78679434e-05 9.99721897e-01 -5.01432520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.83, Y:0.06, Z:-0.50 [[ 9.99721759e-01 2.60565812e-03 2.34438887e-02 7.82998734e+00] [-2.60310611e-03 9.99996602e-01 -1.39372882e-04 6.05292702e-02] [-2.34441722e-02 7.83071728e-05 9.99725145e-01 -4.99301314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.86, Y:0.06, Z:-0.50 [[ 9.99714787e-01 2.96833503e-04 2.38800487e-02 7.86201135e+00] [-2.93380973e-04 9.99999946e-01 -1.48081349e-04 5.55321785e-02] [-2.38800914e-02 1.41033163e-04 9.99714820e-01 -5.00849666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.89, Y:0.05, Z:-0.50 [[ 9.99695596e-01 -5.00616972e-03 2.41589321e-02 7.89366092e+00] [ 5.01133867e-03 9.99987431e-01 -1.53417311e-04 4.51914012e-02] [-2.41578604e-02 2.74439200e-04 9.99708119e-01 -5.01052699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.93, Y:0.04, Z:-0.50 [[ 9.99681959e-01 -7.53760619e-03 2.40658651e-02 7.92558353e+00] [ 7.54348893e-03 9.99971536e-01 -1.53668068e-04 3.84523962e-02] [-2.40640218e-02 3.35159782e-04 9.99710363e-01 -5.02520501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88264 meters Centerline goodness [0,1] 0.9998710204432597 Centerline is valid? [True, True] Translation: X:7.96, Y:0.03, Z:-0.51 [[ 9.99660748e-01 -1.19951827e-02 2.31193354e-02 7.95647240e+00] [ 1.20019434e-02 9.99927962e-01 -1.53683495e-04 2.57433879e-02] [-2.31158264e-02 4.31108311e-04 9.99732701e-01 -5.08409749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91264 meters Centerline goodness [0,1] 0.9999783493548108 Centerline is valid? [True, True] Translation: X:7.99, Y:0.02, Z:-0.51 [[ 9.99656479e-01 -1.36207421e-02 2.23919598e-02 7.98898378e+00] [ 1.36274935e-02 9.99907130e-01 -1.48941294e-04 2.02992770e-02] [-2.23878516e-02 4.54036418e-04 9.99749258e-01 -5.06784585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.02, Y:0.02, Z:-0.51 [[ 9.99654006e-01 -1.41153576e-02 2.21951369e-02 8.02001503e+00] [ 1.41221197e-02 9.99900267e-01 -1.47944657e-04 1.51850448e-02] [-2.21908351e-02 4.61335849e-04 9.99753647e-01 -5.08655330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.05, Y:0.01, Z:-0.51 [[ 9.99679855e-01 -1.27962638e-02 2.18275679e-02 8.05174084e+00] [ 1.28025496e-02 9.99918033e-01 -1.48252468e-04 1.07274460e-02] [-2.18238817e-02 4.27653526e-04 9.99761739e-01 -5.09679872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002640000000001 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:8.08, Y:0.01, Z:-0.51 [[ 9.99698419e-01 -1.10595086e-02 2.19261922e-02 8.08309225e+00] [ 1.10654621e-02 9.99938765e-01 -1.50216304e-04 6.59981544e-03] [-2.19231882e-02 3.92794451e-04 9.99759581e-01 -5.13053790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.12, Y:0.01, Z:-0.51 [[ 9.99729717e-01 -8.96761244e-03 2.14493701e-02 8.11577162e+00] [ 8.97283895e-03 9.99959732e-01 -1.47435927e-04 9.32603032e-03] [-2.14471843e-02 3.39857821e-04 9.99769925e-01 -5.10339044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.15, Y:0.01, Z:-0.51 [[ 9.99750285e-01 -6.19921542e-03 2.14694422e-02 8.14658401e+00] [ 6.20384198e-03 9.99980745e-01 -1.48896748e-04 7.75862614e-03] [-2.14681057e-02 2.82052593e-04 9.99769494e-01 -5.13135561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.18, Y:0.01, Z:-0.51 [[ 9.99762257e-01 -2.84320852e-03 2.16181895e-02 8.17860377e+00] [ 2.84712850e-03 9.99995936e-01 -1.50551348e-04 9.00951185e-03] [-2.16176736e-02 2.12065318e-04 9.99766288e-01 -5.13709676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.21, Y:0.02, Z:-0.52 [[ 9.99755414e-01 5.30176313e-03 2.14709838e-02 8.21035930e+00] [-5.29975171e-03 9.99985945e-01 -1.50582179e-04 1.55607332e-02] [-2.14714804e-02 3.67544651e-05 9.99769461e-01 -5.15795890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.24, Y:0.02, Z:-0.52 [[ 9.99727834e-01 1.00819963e-02 2.10383445e-02 8.24262849e+00] [-1.00811022e-02 9.99949173e-01 -1.48557624e-04 2.04627711e-02] [-2.10387729e-02 -6.35725089e-05 9.99778659e-01 -5.17991470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182640000000001 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:8.28, Y:0.03, Z:-0.52 [[ 9.99576196e-01 1.99089160e-02 2.12382311e-02 8.27513091e+00] [-1.99102001e-02 9.99801761e-01 -1.51012278e-04 3.07621984e-02] [-2.12370273e-02 -2.71909152e-04 9.99774432e-01 -5.18799144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.31, Y:0.03, Z:-0.52 [[ 9.99465863e-01 2.46377068e-02 2.14702648e-02 8.30751637e+00] [-2.46400869e-02 9.99696375e-01 -1.53723053e-04 3.43427521e-02] [-2.14675333e-02 -3.75388247e-04 9.99769475e-01 -5.18935195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters Centerline goodness [0,1] 0.9999359467076607 Centerline is valid? [True, True] Translation: X:8.34, Y:0.04, Z:-0.52 [[ 9.99354752e-01 2.90292080e-02 2.11514898e-02 8.33810511e+00] [-2.90324647e-02 9.99578457e-01 -1.53153550e-04 3.98368082e-02] [-2.11470195e-02 -4.61025153e-04 9.99776270e-01 -5.21348038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27264 meters Centerline goodness [0,1] 0.9995526966004942 Centerline is valid? [True, True] Translation: X:8.37, Y:0.05, Z:-0.53 [[ 9.99241466e-01 3.30455727e-02 2.06029743e-02 8.36806671e+00] [-3.30495059e-02 9.99453705e-01 -1.49655063e-04 4.72487339e-02] [-2.05966644e-02 -5.31376575e-04 9.99787725e-01 -5.25808604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30264 meters Centerline goodness [0,1] 0.9943700252378179 Centerline is valid? [True, True] Translation: X:8.40, Y:0.05, Z:-0.53 [[ 9.99032225e-01 3.91931682e-02 1.99626707e-02 8.39802022e+00] [-3.91980900e-02 9.99231449e-01 -1.44827170e-04 5.45146035e-02] [-1.99530047e-02 -6.37811555e-04 9.99800716e-01 -5.31029130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332640000000001 meters Centerline goodness [0,1] 0.9980915621314463 Centerline is valid? [True, True] Translation: X:8.43, Y:0.06, Z:-0.53 [[ 9.98964987e-01 4.10465169e-02 1.95994276e-02 8.43052613e+00] [-4.10516293e-02 9.99157017e-01 -1.41584642e-04 5.51750999e-02] [-1.95887172e-02 -6.63150338e-04 9.99807903e-01 -5.27881916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36264 meters Centerline goodness [0,1] 0.9980915621314463 Centerline is valid? [True, True] Translation: X:8.46, Y:0.05, Z:-0.53 [[ 9.98957081e-01 4.12384769e-02 1.95994421e-02 8.46304397e+00] [-4.12436641e-02 9.99149108e-01 -1.39655531e-04 5.47488040e-02] [-1.95885243e-02 -6.68842925e-04 9.99807903e-01 -5.29168152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39264 meters Centerline goodness [0,1] 0.9961127099351402 Centerline is valid? [True, True] Translation: X:8.50, Y:0.06, Z:-0.53 [[ 9.98907804e-01 4.25467241e-02 1.93125808e-02 8.49507095e+00] [-4.25519254e-02 9.99094247e-01 -1.41720529e-04 5.67477243e-02] [-1.93011181e-02 -6.80221755e-04 9.99813485e-01 -5.31260654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422640000000001 meters Centerline goodness [0,1] 0.9884749281034445 Centerline is valid? [True, True] Translation: X:8.53, Y:0.06, Z:-0.54 [[ 9.98877599e-01 4.32272644e-02 1.93634993e-02 8.52564918e+00] [-4.32325435e-02 9.99065026e-01 -1.46089043e-04 5.87249495e-02] [-1.93517099e-02 -6.91208251e-04 9.99812499e-01 -5.36272179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45264 meters Centerline goodness [0,1] 0.9953537623719584 Centerline is valid? [True, True] Translation: X:8.56, Y:0.06, Z:-0.53 [[ 9.98920209e-01 4.22205268e-02 1.93866691e-02 8.55762900e+00] [-4.22255929e-02 9.99108091e-01 -1.48130810e-04 5.68126380e-02] [-1.93756322e-02 -6.70642740e-04 9.99812050e-01 -5.33826287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters Centerline goodness [0,1] 0.9975272007912958 Centerline is valid? [True, True] Translation: X:8.59, Y:0.06, Z:-0.53 [[ 9.98948520e-01 4.09725523e-02 2.05694921e-02 8.58908044e+00] [-4.09778591e-02 9.99160041e-01 -1.63609726e-04 5.56895358e-02] [-2.05589181e-02 -6.79456054e-04 9.99788412e-01 -5.33458481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512640000000001 meters Centerline goodness [0,1] 0.9996545321069223 Centerline is valid? [True, True] Translation: X:8.62, Y:0.05, Z:-0.53 [[ 9.99039761e-01 3.76211556e-02 2.24544842e-02 8.61896302e+00] [-3.76266115e-02 9.99291852e-01 -1.79617908e-04 5.32768332e-02] [-2.24453405e-02 -6.65440720e-04 9.99747850e-01 -5.30866923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54264 meters Centerline goodness [0,1] 0.9998928395379241 Centerline is valid? [True, True] Translation: X:8.65, Y:0.05, Z:-0.53 [[ 9.99107411e-01 3.56412665e-02 2.26733848e-02 8.65079967e+00] [-3.56463333e-02 9.99364451e-01 -1.80782210e-04 5.19080481e-02] [-2.26654180e-02 -6.27602186e-04 9.99742909e-01 -5.31667414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57264 meters Centerline goodness [0,1] 0.9998695311820475 Centerline is valid? [True, True] Translation: X:8.68, Y:0.05, Z:-0.53 [[ 9.99157944e-01 3.40287935e-02 2.29225801e-02 8.68287999e+00] [-3.40335783e-02 9.99420673e-01 -1.81464140e-04 5.04645763e-02] [-2.29154755e-02 -5.98826090e-04 9.99737227e-01 -5.32617797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602640000000001 meters Centerline goodness [0,1] 0.9999357161223965 Centerline is valid? [True, True] Translation: X:8.71, Y:0.05, Z:-0.53 [[ 9.99224729e-01 3.07759649e-02 2.45515878e-02 8.71242273e+00] [-3.07803000e-02 9.99526154e-01 -2.01411697e-04 4.98577406e-02] [-2.45461528e-02 -5.54449690e-04 9.99698544e-01 -5.31673004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63264 meters Centerline goodness [0,1] 0.9999355143802932 Centerline is valid? [True, True] Translation: X:8.74, Y:0.05, Z:-0.53 [[ 9.99259765e-01 2.92301193e-02 2.50104248e-02 8.74430236e+00] [-2.92342039e-02 9.99572569e-01 -2.02382678e-04 4.80139332e-02] [-2.50056503e-02 -5.28926991e-04 9.99687170e-01 -5.31638349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters Centerline goodness [0,1] 0.999956648964994 Centerline is valid? [True, True] Translation: X:8.78, Y:0.04, Z:-0.53 [[ 9.99283050e-01 2.79682371e-02 2.55179180e-02 8.77697835e+00] [-2.79719347e-02 9.99608686e-01 -2.12105933e-04 4.35603350e-02] [-2.55138647e-02 -5.01831674e-04 9.99674342e-01 -5.31738490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.81, Y:0.04, Z:-0.53 [[ 9.99370556e-01 2.49801832e-02 2.51889220e-02 8.80956559e+00] [-2.49827998e-02 9.99687859e-01 -2.10859224e-04 4.14325028e-02] [-2.51863268e-02 -4.18563297e-04 9.99682687e-01 -5.30508765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72264 meters Centerline goodness [0,1] 0.9999783872571268 Centerline is valid? [True, True] Translation: X:8.84, Y:0.04, Z:-0.53 [[ 9.99414041e-01 2.40978277e-02 2.43077957e-02 8.84132755e+00] [-2.41000145e-02 9.99709532e-01 -2.03028398e-04 4.11516698e-02] [-2.43056276e-02 -3.82908798e-04 9.99704501e-01 -5.33049224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752640000000001 meters Centerline goodness [0,1] 0.9999569030534187 Centerline is valid? [True, True] Translation: X:8.87, Y:0.04, Z:-0.54 [[ 9.99435748e-01 2.34292492e-02 2.40677296e-02 8.87231754e+00] [-2.34310838e-02 9.99725433e-01 -2.05818952e-04 4.31406008e-02] [-2.40659436e-02 -3.58230170e-04 9.99710309e-01 -5.36717754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.90, Y:0.05, Z:-0.54 [[ 9.99454415e-01 2.28803859e-02 2.38193183e-02 8.90439428e+00] [-2.28819419e-02 9.99738153e-01 -2.07264375e-04 4.55626594e-02] [-2.38178236e-02 -3.37880963e-04 9.99716258e-01 -5.37373147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.94, Y:0.05, Z:-0.54 [[ 9.99473111e-01 2.28740681e-02 2.30277418e-02 8.93644600e+00] [-2.28754372e-02 9.99738302e-01 -2.04000503e-04 4.64925143e-02] [-2.30263818e-02 -3.22876642e-04 9.99734806e-01 -5.39444105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842640000000001 meters Centerline goodness [0,1] 0.9999355877616747 Centerline is valid? [True, True] Translation: X:8.97, Y:0.05, Z:-0.55 [[ 9.99488917e-01 2.28738018e-02 2.23314518e-02 8.96760963e+00] [-2.28750022e-02 9.99738313e-01 -2.01724587e-04 4.81890848e-02] [-2.23302222e-02 -3.09210521e-04 9.99750602e-01 -5.46137093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87264 meters Centerline goodness [0,1] 0.9999568956227505 Centerline is valid? [True, True] Translation: X:9.00, Y:0.05, Z:-0.54 [[ 9.99512532e-01 2.24684646e-02 2.16764012e-02 9.00052663e+00] [-2.24694437e-02 9.99747510e-01 -1.98417960e-04 4.60994499e-02] [-2.16753863e-02 -2.88735440e-04 9.99765020e-01 -5.44515268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters Centerline goodness [0,1] 0.9999575209209465 Centerline is valid? [True, True] Translation: X:9.03, Y:0.05, Z:-0.55 [[ 9.99506220e-01 2.21375445e-02 2.22990069e-02 9.03139172e+00] [-2.21383804e-02 9.99754894e-01 -2.09408736e-04 5.10574069e-02] [-2.22981771e-02 -2.84358562e-04 9.99751324e-01 -5.45902178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.06, Y:0.05, Z:-0.55 [[ 9.99508334e-01 2.19281522e-02 2.24108575e-02 9.06391049e+00] [-2.19288675e-02 9.99759511e-01 -2.13866721e-04 5.20596026e-02] [-2.24101576e-02 -2.77683154e-04 9.99748822e-01 -5.45617065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96264 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:9.10, Y:0.05, Z:-0.55 [[ 9.99521908e-01 2.12369383e-02 2.24710662e-02 9.09630460e+00] [-2.12373960e-02 9.99774437e-01 -2.18301914e-04 5.27450497e-02] [-2.24706336e-02 -2.59029385e-04 9.99747470e-01 -5.47149160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.13, Y:0.05, Z:-0.55 [[ 9.99537249e-01 2.01636280e-02 2.27753208e-02 9.12866263e+00] [-2.01637295e-02 9.99796666e-01 -2.25217739e-04 5.24501782e-02] [-2.27752310e-02 -2.34121889e-04 9.99740583e-01 -5.47464593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.16, Y:0.05, Z:-0.55 [[ 9.99568593e-01 1.73589130e-02 2.36916801e-02 9.16034060e+00] [-1.73581307e-02 9.99849308e-01 -2.38684178e-04 5.18695737e-02] [-2.36922533e-02 -1.72662073e-04 9.99719284e-01 -5.47433840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.19, Y:0.05, Z:-0.55 [[ 9.99593794e-01 1.56764278e-02 2.38011706e-02 9.19226048e+00] [-1.56750647e-02 9.99877109e-01 -2.43850379e-04 4.85450226e-02] [-2.38020684e-02 -1.29333564e-04 9.99716682e-01 -5.46747851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.22, Y:0.04, Z:-0.55 [[ 9.99649862e-01 1.20155601e-02 2.35749705e-02 9.22284246e+00] [-1.20131027e-02 9.99927810e-01 -2.45864320e-04 4.32761864e-02] [-2.35762228e-02 -3.74303090e-05 9.99722042e-01 -5.49879366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.25, Y:0.04, Z:-0.55 [[ 9.99682683e-01 1.04440858e-02 2.29227730e-02 9.25414091e+00] [-1.04412663e-02 9.99945459e-01 -2.42684018e-04 4.05296551e-02] [-2.29240574e-02 3.26423164e-06 9.99737209e-01 -5.53003663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.29, Y:0.04, Z:-0.55 [[ 9.99700685e-01 9.02744857e-03 2.27386386e-02 9.28667424e+00] [-9.02424067e-03 9.99959251e-01 -2.43687910e-04 3.78270545e-02] [-2.27399119e-02 3.84160234e-05 9.99741414e-01 -5.53868650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.32, Y:0.03, Z:-0.55 [[ 9.99687525e-01 7.40809270e-03 2.38741067e-02 9.31911157e+00] [-7.40396347e-03 9.99972556e-01 -2.61349085e-04 3.38336908e-02] [-2.38753876e-02 8.45044063e-05 9.99714939e-01 -5.52926302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.35, Y:0.03, Z:-0.55 [[ 9.99688882e-01 7.03217702e-03 2.39308983e-02 9.35213148e+00] [-7.02783067e-03 9.99975269e-01 -2.65719848e-04 3.12327800e-02] [-2.39321751e-02 9.74548769e-05 9.99713580e-01 -5.54107473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.38, Y:0.03, Z:-0.56 [[ 9.99702759e-01 6.75007963e-03 2.34271096e-02 9.38411294e+00] [-6.74568338e-03 9.99977212e-01 -2.66679350e-04 2.87521198e-02] [-2.34283759e-02 1.08568218e-04 9.99725512e-01 -5.55771856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.42, Y:0.02, Z:-0.56 [[ 9.99704882e-01 6.84509219e-03 2.33086609e-02 9.41712006e+00] [-6.84078481e-03 9.99976567e-01 -2.64528762e-04 2.43689769e-02] [-2.33099254e-02 1.05001162e-04 9.99728281e-01 -5.56792123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29264 meters Centerline goodness [0,1] 0.9999346590290332 Centerline is valid? [True, True] Translation: X:9.45, Y:0.02, Z:-0.56 [[ 9.99690512e-01 7.63619871e-03 2.36763186e-02 9.44888384e+00] [-7.63185225e-03 9.99970839e-01 -2.73934258e-04 2.26613866e-02] [-2.36777200e-02 9.31553132e-05 9.99719639e-01 -5.59570916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.48, Y:0.02, Z:-0.56 [[ 9.99684805e-01 8.39667656e-03 2.36598269e-02 9.48117665e+00] [-8.39245595e-03 9.99964744e-01 -2.77679050e-04 2.03660942e-02] [-2.36613243e-02 7.90274720e-05 9.99720029e-01 -5.58791744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.51, Y:0.02, Z:-0.56 [[ 9.99675878e-01 9.29691886e-03 2.37003567e-02 9.51398049e+00] [-9.29283658e-03 9.99956781e-01 -2.82379334e-04 1.81695313e-02] [-2.37019576e-02 6.20442670e-05 9.99719067e-01 -5.60048516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.55, Y:0.01, Z:-0.56 [[ 9.99651311e-01 1.13531263e-02 2.38403654e-02 9.54722666e+00] [-1.13494671e-02 9.99935551e-01 -2.88793989e-04 1.46260479e-02] [-2.38421076e-02 1.81178462e-05 9.99715736e-01 -5.61005533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412640000000001 meters Centerline goodness [0,1] 0.9998706506273445 Centerline is valid? [True, True] Translation: X:9.58, Y:0.01, Z:-0.56 [[ 9.99636341e-01 1.29693071e-02 2.36428194e-02 9.57986784e+00] [-1.29660517e-02 9.99915895e-01 -2.90990387e-04 1.37692132e-02] [-2.36446049e-02 -1.56694529e-05 9.99720427e-01 -5.64546746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44264 meters Centerline goodness [0,1] 0.9998920925414365 Centerline is valid? [True, True] Translation: X:9.61, Y:0.01, Z:-0.57 [[ 9.99625909e-01 1.42142990e-02 2.33665438e-02 9.61154218e+00] [-1.42113481e-02 9.99898971e-01 -2.92346258e-04 1.27835859e-02] [-2.33683386e-02 -3.98331950e-05 9.99726922e-01 -5.66950476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.64, Y:0.01, Z:-0.57 [[ 9.99573978e-01 1.72252744e-02 2.35616873e-02 9.64350555e+00] [-1.72230054e-02 9.99851628e-01 -2.99241001e-04 1.02186669e-02] [-2.35633459e-02 -1.06689549e-04 9.99722340e-01 -5.66339574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.68, Y:0.01, Z:-0.57 [[ 9.99527553e-01 1.95071408e-02 2.37516904e-02 9.67680925e+00] [-1.95053793e-02 9.99809705e-01 -3.05859217e-04 8.53197952e-03] [-2.37531370e-02 -1.57571016e-04 9.99717842e-01 -5.66475903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53264 meters Centerline goodness [0,1] 0.9998077662437524 Centerline is valid? [True, True] Translation: X:9.71, Y:0.01, Z:-0.57 [[ 9.99456856e-01 2.24565039e-02 2.41184407e-02 9.70890531e+00] [-2.24554206e-02 9.99747795e-01 -3.15781294e-04 8.57696695e-03] [-2.41194493e-02 -2.25979952e-04 9.99709058e-01 -5.69840856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56264 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:9.74, Y:0.01, Z:-0.57 [[ 9.99385977e-01 2.53114026e-02 2.42281088e-02 9.74139561e+00] [-2.53110472e-02 9.99679572e-01 -3.21382708e-04 9.02877396e-03] [-2.42284801e-02 -2.92053433e-04 9.99706405e-01 -5.66881020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.77, Y:0.01, Z:-0.57 [[ 9.99172405e-01 3.19748516e-02 2.51418761e-02 9.77181607e+00] [-3.19764126e-02 9.99488566e-01 -3.40047033e-04 1.43745608e-02] [-2.51398906e-02 -4.64181393e-04 9.99683835e-01 -5.66851974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62264 meters Centerline goodness [0,1] 0.9999569466569079 Centerline is valid? [True, True] Translation: X:9.80, Y:0.02, Z:-0.57 [[ 9.99055558e-01 3.56505590e-02 2.48400624e-02 9.80421659e+00] [-3.56532029e-02 9.99364166e-01 -3.36579787e-04 1.62556389e-02] [-2.48362675e-02 -5.49365877e-04 9.99691381e-01 -5.67182820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65264 meters Centerline goodness [0,1] 0.9999145207821348 Centerline is valid? [True, True] Translation: X:9.83, Y:0.03, Z:-0.57 [[ 9.98776868e-01 4.30332414e-02 2.43496872e-02 9.83408424e+00] [-4.30379303e-02 9.99073384e-01 -3.31705920e-04 2.60788672e-02] [-2.43413987e-02 -7.16659937e-04 9.99703447e-01 -5.68974293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682640000000001 meters Centerline goodness [0,1] 0.9994631967705918 Centerline is valid? [True, True] Translation: X:9.86, Y:0.03, Z:-0.57 [[ 9.98601951e-01 4.67704643e-02 2.46305985e-02 9.86405347e+00] [-4.67763878e-02 9.98905329e-01 -3.35920006e-04 3.25800604e-02] [-2.46193472e-02 -8.16680052e-04 9.99696564e-01 -5.73784074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71264 meters Centerline goodness [0,1] 0.9997842363043994 Centerline is valid? [True, True] Translation: X:9.90, Y:0.03, Z:-0.57 [[ 9.98456232e-01 4.96866079e-02 2.48272987e-02 9.89575213e+00] [-4.96935357e-02 9.98764456e-01 -3.38237796e-04 3.26407255e-02] [-2.48134294e-02 -8.96040620e-04 9.99691698e-01 -5.70837723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters Centerline goodness [0,1] 0.9979706925278763 Centerline is valid? [True, True] Translation: X:9.93, Y:0.04, Z:-0.57 [[ 9.98244543e-01 5.36726086e-02 2.50416491e-02 9.92538985e+00] [-5.36808837e-02 9.98558083e-01 -3.42148175e-04 4.25282094e-02] [-2.50239052e-02 -1.00271031e-03 9.99686350e-01 -5.73218801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77264 meters Centerline goodness [0,1] 0.9990114967228968 Centerline is valid? [True, True] Translation: X:9.96, Y:0.04, Z:-0.57 [[ 9.98177564e-01 5.50206534e-02 2.47846506e-02 9.95788739e+00] [-5.50291921e-02 9.98484689e-01 -3.37915321e-04 4.35215247e-02] [-2.47656864e-02 -1.02657980e-03 9.99692756e-01 -5.73811827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80264 meters Centerline goodness [0,1] 0.9917519605119768 Centerline is valid? [True, True] Translation: X:9.99, Y:0.05, Z:-0.58 [[ 9.98124382e-01 5.61142151e-02 2.44727164e-02 9.98895341e+00] [-5.61228793e-02 9.98423814e-01 -3.33205107e-04 5.39598350e-02] [-2.44528403e-02 -1.04089916e-03 9.99700443e-01 -5.77791746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832640000000001 meters Centerline goodness [0,1] 0.9917304421768708 Centerline is valid? [True, True] Translation: X:10.02, Y:0.06, Z:-0.58 [[ 9.98110344e-01 5.66828958e-02 2.37232181e-02 1.00208118e+01] [-5.66911157e-02 9.98391712e-01 -3.26447050e-04 5.78580496e-02] [-2.37035683e-02 -1.01906552e-03 9.99718512e-01 -5.80604273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86264 meters Centerline goodness [0,1] 0.9977922077922078 Centerline is valid? [True, True] Translation: X:10.05, Y:0.05, Z:-0.58 [[ 9.98157449e-01 5.61180249e-02 2.30753873e-02 1.00530991e+01] [-5.61255703e-02 9.98423666e-01 -3.21033830e-04 5.41923710e-02] [-2.30570285e-02 -9.74676962e-04 9.99733676e-01 -5.81333191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89264 meters Centerline goodness [0,1] 0.9987832699619772 Centerline is valid? [True, True] Translation: X:10.08, Y:0.05, Z:-0.58 [[ 9.98268129e-01 5.42239351e-02 2.28146491e-02 1.00843132e+01] [-5.42306754e-02 9.98528382e-01 -3.23624892e-04 5.33479270e-02] [-2.27986228e-02 -9.14189412e-04 9.99739660e-01 -5.83302119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922640000000001 meters Centerline goodness [0,1] 0.9990837612665402 Centerline is valid? [True, True] Translation: X:10.11, Y:0.05, Z:-0.59 [[ 9.98616670e-01 4.74793403e-02 2.25933123e-02 1.01134087e+01] [-4.74841993e-02 9.98871937e-01 -3.21669777e-04 5.05696246e-02] [-2.25830983e-02 -7.51600542e-04 9.99744687e-01 -5.89027005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95264 meters Centerline goodness [0,1] 0.999785890161653 Centerline is valid? [True, True] Translation: X:10.14, Y:0.05, Z:-0.59 [[ 9.98827673e-01 4.26728924e-02 2.28539694e-02 1.01436215e+01] [-4.26766191e-02 9.99088885e-01 -3.24861481e-04 4.85470570e-02] [-2.28470096e-02 -6.50849510e-04 9.99738761e-01 -5.88265341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98264 meters Centerline goodness [0,1] 0.9999567548866978 Centerline is valid? [True, True] Translation: X:10.17, Y:0.04, Z:-0.59 [[ 9.99034060e-01 3.75682632e-02 2.27941312e-02 1.01748257e+01] [-3.75706472e-02 9.99293922e-01 -3.23800711e-04 3.84762018e-02] [-2.27902014e-02 -5.32902324e-04 9.99740128e-01 -5.86208979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012640000000001 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:10.21, Y:0.04, Z:-0.59 [[ 9.99227833e-01 3.22992044e-02 2.23718549e-02 1.02051066e+01] [-3.23001795e-02 9.99478163e-01 -3.17859394e-04 3.74108238e-02] [-2.23704471e-02 -4.05000977e-04 9.99749668e-01 -5.91479242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.24, Y:0.03, Z:-0.59 [[ 9.99513895e-01 2.22867389e-02 2.18008107e-02 1.02356447e+01] [-2.22852712e-02 9.99751604e-01 -3.10294923e-04 2.55060540e-02] [-2.18023110e-02 -1.75692894e-04 9.99762286e-01 -5.93268890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.27, Y:0.02, Z:-0.59 [[ 9.99592217e-01 1.78981375e-02 2.22498786e-02 1.02683763e+01] [-1.78955245e-02 9.99839812e-01 -3.16557275e-04 1.86080938e-02] [-2.22519802e-02 -8.17450599e-05 9.99752391e-01 -5.91157166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102640000000001 meters Centerline goodness [0,1] 0.9999570446735395 Centerline is valid? [True, True] Translation: X:10.30, Y:0.01, Z:-0.59 [[ 9.99637989e-01 1.42011927e-02 2.28520896e-02 1.02999067e+01] [-1.41974783e-02 9.99899158e-01 -3.24783194e-04 1.31474324e-02] [-2.28543975e-02 2.23572453e-07 9.99738804e-01 -5.93827077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.33, Y:0.00, Z:-0.59 [[ 9.99698236e-01 7.64019464e-03 2.33466180e-02 1.03307439e+01] [-7.63440069e-03 9.99970801e-01 -3.37293079e-04 4.20225054e-03] [-2.33485133e-02 1.58953860e-04 9.99727374e-01 -5.92443770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.36, Y:0.00, Z:-0.59 [[ 9.99712824e-01 5.53087687e-03 2.33169048e-02 1.03631622e+01] [-5.52450253e-03 9.99984683e-01 -3.37785841e-04 1.11444144e-03] [-2.33184159e-02 2.08874538e-04 9.99728067e-01 -5.92946274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19264 meters Centerline goodness [0,1] 0.999806563930621 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.00, Z:-0.60 [[ 9.99707877e-01 2.49169847e-03 2.40406303e-02 1.03948576e+01] [-2.48394139e-03 9.99996853e-01 -3.52522114e-04 -3.48967081e-03] [-2.40414330e-02 2.92703617e-04 9.99710920e-01 -5.96017141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22264 meters Centerline goodness [0,1] 0.999956741791755 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.01, Z:-0.59 [[ 9.99703598e-01 1.36965288e-03 2.43071967e-02 1.04271108e+01] [-1.36128959e-03 9.99999008e-01 -3.60609886e-04 -5.37368562e-03] [-2.43076665e-02 3.27413867e-04 9.99704471e-01 -5.94794670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.01, Z:-0.59 [[ 9.99708057e-01 5.91802130e-04 2.41547200e-02 1.04585596e+01] [-5.83211192e-04 9.99999764e-01 -3.62706041e-04 -8.58054671e-03] [-2.41549290e-02 3.48512848e-04 9.99708166e-01 -5.94483212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.01, Z:-0.60 [[ 9.99707924e-01 7.86712676e-04 2.41546699e-02 1.04910493e+01] [-7.78098927e-04 9.99999630e-01 -3.66004660e-04 -9.25808324e-03] [-2.41549490e-02 3.47103036e-04 9.99708166e-01 -5.95768655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.01, Z:-0.60 [[ 9.99720406e-01 4.35164299e-04 2.36414787e-02 1.05233099e+01] [-4.26700753e-04 9.99999843e-01 -3.63039110e-04 -1.16774321e-02] [-2.36416330e-02 3.52849770e-04 9.99720435e-01 -5.97341436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.02, Z:-0.60 [[ 9.99723716e-01 5.99400614e-04 2.34975160e-02 1.05557055e+01] [-5.90995567e-04 9.99999759e-01 -3.64642180e-04 -1.66712134e-02] [-2.34977289e-02 3.50654507e-04 9.99723829e-01 -5.99107845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37264 meters Centerline goodness [0,1] 0.999978462201163 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.02, Z:-0.60 [[ 9.99724245e-01 1.44045708e-03 2.34384135e-02 1.05865578e+01] [-1.43221509e-03 9.99998907e-01 -3.68427357e-04 -1.83536952e-02] [-2.34389186e-02 3.34756912e-04 9.99725215e-01 -6.02251133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.02, Z:-0.60 [[ 9.99733113e-01 2.27341817e-03 2.29898908e-02 1.06182096e+01] [-2.26561395e-03 9.99997367e-01 -3.65503985e-04 -1.96132694e-02] [-2.29906612e-02 3.13320219e-04 9.99735631e-01 -6.02463306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.02, Z:-0.60 [[ 9.99745416e-01 3.59203348e-03 2.22755510e-02 1.06513591e+01] [-3.58500501e-03 9.99993511e-01 -3.55449970e-04 -1.96048208e-02] [-2.22766832e-02 2.75501516e-04 9.99751806e-01 -6.04483504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46264 meters Centerline goodness [0,1] 0.999652052887961 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.02, Z:-0.61 [[ 9.99717662e-01 7.01987189e-03 2.27006081e-02 1.06838949e+01] [-7.01331511e-03 9.99975339e-01 -3.68438915e-04 -1.88549346e-02] [-2.27026347e-02 2.09128373e-04 9.99742240e-01 -6.07371204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.02, Z:-0.61 [[ 9.99708882e-01 8.83576735e-03 2.24517345e-02 1.07150098e+01] [-8.82978966e-03 9.99960950e-01 -3.65368456e-04 -2.02403276e-02] [-2.24540861e-02 1.67017998e-04 9.99747861e-01 -6.05947564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52264 meters Centerline goodness [0,1] 0.9999350382191811 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.02, Z:-0.61 [[ 9.99650118e-01 1.39721120e-02 2.24593488e-02 1.07470285e+01] [-1.39673488e-02 9.99902384e-01 -3.68942358e-04 -1.71891337e-02] [-2.24623113e-02 5.51157121e-05 9.99747689e-01 -6.09055055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.02, Z:-0.61 [[ 9.99596937e-01 1.66751946e-02 2.29761172e-02 1.07782112e+01] [-1.66708221e-02 9.99860959e-01 -3.81848212e-04 -1.59338113e-02] [-2.29792900e-02 -1.33645826e-06 9.99735941e-01 -6.07826960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.02, Z:-0.61 [[ 9.99539529e-01 1.94086001e-02 2.33245772e-02 1.08102961e+01] [-1.94047326e-02 9.99811634e-01 -3.92154842e-04 -1.52453436e-02] [-2.33277948e-02 -6.06329178e-05 9.99727868e-01 -6.08657788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.01, Z:-0.61 [[ 9.99416490e-01 2.46666424e-02 2.36270177e-02 1.08423807e+01] [-2.46640919e-02 9.99695715e-01 -3.99394971e-04 -1.32379474e-02] [-2.36296800e-02 -1.83577016e-04 9.99720763e-01 -6.08816318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64264 meters Centerline goodness [0,1] 0.9999350846063964 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.01, Z:-0.61 [[ 9.99347907e-01 2.72207492e-02 2.37232382e-02 1.08738739e+01] [-2.72187926e-02 9.99629418e-01 -4.05439404e-04 -1.13232305e-02] [-2.37254832e-02 -2.40542880e-04 9.99718482e-01 -6.11090835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.01, Z:-0.61 [[ 9.99234826e-01 3.04937704e-02 2.44927122e-02 1.09058532e+01] [-3.04925695e-02 9.99534904e-01 -4.22595174e-04 -1.14677958e-02] [-2.44942072e-02 -3.24573912e-04 9.99699919e-01 -6.10936015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.01, Z:-0.61 [[ 9.99185248e-01 3.15609008e-02 2.51545044e-02 1.09383203e+01] [-3.15598630e-02 9.99501767e-01 -4.38356065e-04 -1.17176160e-02] [-2.51558065e-02 -3.55873798e-04 9.99683479e-01 -6.11705663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.01, Z:-0.61 [[ 9.99148680e-01 3.25737891e-02 2.53152653e-02 1.09708882e+01] [-3.25729410e-02 9.99469261e-01 -4.45972426e-04 -1.26469807e-02] [-2.53163565e-02 -3.78999880e-04 9.99679418e-01 -6.10895806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.01, Z:-0.61 [[ 9.99124345e-01 3.34946928e-02 2.50728568e-02 1.10022962e+01] [-3.34940389e-02 9.99438818e-01 -4.46161263e-04 -1.13584396e-02] [-2.50737304e-02 -3.94020661e-04 9.99685527e-01 -6.12819210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79264 meters Centerline goodness [0,1] 0.9998704327545996 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.01, Z:-0.62 [[ 9.99083550e-01 3.57830601e-02 2.34868768e-02 1.10329760e+01] [-3.57830394e-02 9.99359493e-01 -4.21291382e-04 -9.21320428e-03] [-2.34869084e-02 -4.19526549e-04 9.99724056e-01 -6.19633246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.01, Z:-0.62 [[ 9.99045429e-01 3.68912373e-02 2.33937309e-02 1.10656694e+01] [-3.68914394e-02 9.99319190e-01 -4.23080958e-04 -8.27651663e-03] [-2.33934121e-02 -4.40351306e-04 9.99726240e-01 -6.19099327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852640000000001 meters Centerline goodness [0,1] 0.9999574386584665 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.00, Z:-0.62 [[ 9.98991504e-01 3.83976161e-02 2.32722686e-02 1.10970618e+01] [-3.83981287e-02 9.99262430e-01 -4.25006018e-04 -4.82522625e-03] [-2.32714229e-02 -4.69034163e-04 9.99729074e-01 -6.20735294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88264 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.00, Z:-0.62 [[ 9.98924383e-01 4.00475245e-02 2.33724713e-02 1.11288426e+01] [-4.00483814e-02 9.99197649e-01 -4.31600727e-04 -1.50681702e-03] [-2.33710029e-02 -5.04893156e-04 9.99726733e-01 -6.21006215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912640000000001 meters Centerline goodness [0,1] 0.9999575200186912 Centerline is valid? [True, True] Translation: X:11.16, Y:0.01, Z:-0.62 [[ 9.98767478e-01 4.35829332e-02 2.37498095e-02 1.11603765e+01] [-4.35847607e-02 9.99049636e-01 -4.40931104e-04 8.31868509e-03] [-2.37464555e-02 -5.94742115e-04 9.99717836e-01 -6.23570299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94264 meters Centerline goodness [0,1] 0.999956971665842 Centerline is valid? [True, True] Translation: X:11.19, Y:0.01, Z:-0.62 [[ 9.98706918e-01 4.48992808e-02 2.38442192e-02 1.11929134e+01] [-4.49014873e-02 9.98991321e-01 -4.43119566e-04 6.42862648e-03] [-2.38400638e-02 -6.28094332e-04 9.99715588e-01 -6.22301217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97264 meters Centerline goodness [0,1] 0.9998719945384337 Centerline is valid? [True, True] Translation: X:11.22, Y:0.01, Z:-0.62 [[ 9.98685649e-01 4.53977768e-02 2.37911159e-02 1.12236050e+01] [-4.54000034e-02 9.98968788e-01 -4.46819642e-04 9.27271734e-03] [-2.37868668e-02 -6.33884377e-04 9.99716851e-01 -6.24370069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.25, Y:0.01, Z:-0.62 [[ 9.98785552e-01 4.28437116e-02 2.43276948e-02 1.12547100e+01] [-4.28451590e-02 9.99081618e-01 -4.61981658e-04 1.00004576e-02] [-2.43251456e-02 -5.80903344e-04 9.99703931e-01 -6.24730307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03264 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:11.29, Y:0.01, Z:-0.63 [[ 9.98880856e-01 4.02340690e-02 2.48647356e-02 1.12865708e+01] [-4.02347616e-02 9.99190142e-01 -4.72638304e-04 8.19455900e-03] [-2.48636148e-02 -5.28317354e-04 9.99690713e-01 -6.25530572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.32, Y:0.00, Z:-0.63 [[ 9.98989236e-01 3.69798329e-02 2.55538126e-02 1.13183850e+01] [-3.69794810e-02 9.99315907e-01 -4.86495245e-04 3.86486807e-03] [-2.55543220e-02 -4.58963215e-04 9.99673330e-01 -6.25813183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.00, Z:-0.63 [[ 9.99233880e-01 2.95453623e-02 2.56656162e-02 1.13493078e+01] [-2.95425098e-02 9.99563405e-01 -4.90390852e-04 -4.78078376e-03] [-2.56688995e-02 -2.68211566e-04 9.99670464e-01 -6.26878709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.01, Z:-0.63 [[ 9.99328402e-01 2.61954107e-02 2.56231424e-02 1.13811125e+01] [-2.61915037e-02 9.99656825e-01 -4.88137018e-04 -9.43620227e-03] [-2.56271362e-02 -1.83299443e-04 9.99671554e-01 -6.28564970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.01, Z:-0.63 [[ 9.99446146e-01 2.16003032e-02 2.53145721e-02 1.14124800e+01] [-2.15949017e-02 9.99766684e-01 -4.86764414e-04 -1.32549561e-02] [-2.53191801e-02 -6.01708781e-05 9.99679416e-01 -6.30359089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.01, Z:-0.63 [[ 9.99471457e-01 2.07815298e-02 2.49987001e-02 1.14455826e+01] [-2.07759205e-02 9.99784040e-01 -4.84117913e-04 -1.33462389e-02] [-2.50033621e-02 -3.55089710e-05 9.99687366e-01 -6.31752874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.01, Z:-0.63 [[ 9.99484783e-01 2.04053758e-02 2.47747494e-02 1.14783087e+01] [-2.03996314e-02 9.99791788e-01 -4.84605265e-04 -1.34748715e-02] [-2.47794796e-02 -2.10401684e-05 9.99692941e-01 -6.33428910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.01, Z:-0.63 [[ 9.99487203e-01 1.95068148e-02 2.53932212e-02 1.15094704e+01] [-1.95003223e-02 9.99809724e-01 -5.03307110e-04 -1.43944901e-02] [-2.53982074e-02 7.87301988e-06 9.99677413e-01 -6.33748636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.01, Z:-0.63 [[ 9.99480826e-01 1.90622004e-02 2.59752096e-02 1.15413917e+01] [-1.90552169e-02 9.99818300e-01 -5.16374091e-04 -1.48383892e-02] [-2.59803331e-02 2.11427502e-05 9.99662454e-01 -6.32768745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30264 meters Centerline goodness [0,1] 0.9999566987096216 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.02, Z:-0.64 [[ 9.99481599e-01 1.85736716e-02 2.62973670e-02 1.15736352e+01] [-1.85662239e-02 9.99827494e-01 -5.27369055e-04 -1.52660827e-02] [-2.63026257e-02 3.88528645e-05 9.99654025e-01 -6.35627539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.02, Z:-0.64 [[ 9.99505789e-01 1.70380767e-02 2.64174520e-02 1.16056975e+01] [-1.70298896e-02 9.99854838e-01 -5.34880667e-04 -1.60608477e-02] [-2.64227305e-02 8.47300312e-05 9.99650855e-01 -6.35741152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36264 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.02, Z:-0.64 [[ 9.99520710e-01 1.37930103e-02 2.77146773e-02 1.16372462e+01] [-1.37825986e-02 9.99904855e-01 -5.66675206e-04 -1.88443559e-02] [-2.77198565e-02 1.84423333e-04 9.99615714e-01 -6.37773330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.02, Z:-0.64 [[ 9.99546185e-01 1.16313802e-02 2.77873291e-02 1.16697860e+01] [-1.16199333e-02 9.99932322e-01 -5.73391420e-04 -2.14775663e-02] [-2.77921179e-02 2.50244294e-04 9.99613693e-01 -6.36313670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422640000000001 meters Centerline goodness [0,1] 0.9999566264015094 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.02, Z:-0.64 [[ 9.99550700e-01 9.68791787e-03 2.83644645e-02 1.17009310e+01] [-9.67504108e-03 9.99953021e-01 -5.91185325e-04 -2.45680145e-02] [-2.83688593e-02 3.16492346e-04 9.99597473e-01 -6.38419781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45264 meters Centerline goodness [0,1] 0.9998274672187716 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.03, Z:-0.64 [[ 9.99562755e-01 7.79725907e-03 2.85219651e-02 1.17333908e+01] [-7.78341767e-03 9.99969531e-01 -5.96280140e-04 -2.81010007e-02] [-2.85257454e-02 3.74021052e-04 9.99592988e-01 -6.39709137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48264 meters Centerline goodness [0,1] 0.9999787310972627 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.04, Z:-0.64 [[ 9.99584867e-01 3.94562833e-03 2.85399061e-02 1.17641404e+01] [-3.93005734e-03 9.99992096e-01 -6.01659440e-04 -3.74489612e-02] [-2.85420545e-02 4.89246204e-04 9.99592473e-01 -6.40048235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.04, Z:-0.64 [[ 9.99597569e-01 2.25673590e-03 2.82773317e-02 1.17965422e+01] [-2.24065530e-03 9.99997310e-01 -6.00347967e-04 -3.92817966e-02] [-2.82786105e-02 5.36746615e-04 9.99599936e-01 -6.40434787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.05, Z:-0.64 [[ 9.99602576e-01 -1.91679218e-03 2.81249950e-02 1.18267258e+01] [ 1.93453771e-03 9.99997947e-01 -6.03756142e-04 -4.64444032e-02] [-2.81237800e-02 6.57925058e-04 9.99604232e-01 -6.42747531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572640000000002 meters Centerline goodness [0,1] 0.9996960948184167 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.05, Z:-0.65 [[ 9.99595011e-01 -3.79851444e-03 2.82025668e-02 1.18572597e+01] [ 3.81709301e-03 9.99992532e-01 -6.04946853e-04 -5.19744936e-02] [-2.82000583e-02 7.12353677e-04 9.99602045e-01 -6.46626876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602640000000001 meters Centerline goodness [0,1] 0.9999354616642285 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.06, Z:-0.65 [[ 9.99599516e-01 -5.61106492e-03 2.77366693e-02 1.18881253e+01] [ 5.62977230e-03 9.99983975e-01 -5.96418708e-04 -5.90618807e-02] [-2.77328783e-02 7.52330985e-04 9.99615087e-01 -6.47512687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63264 meters Centerline goodness [0,1] 0.9997602702408195 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.06, Z:-0.65 [[ 9.99633716e-01 -7.94048499e-03 2.58724245e-02 1.19189270e+01] [ 7.95768498e-03 9.99968179e-01 -5.61906756e-04 -6.46103246e-02] [-2.58671394e-02 7.67585542e-04 9.99665095e-01 -6.51662100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662640000000001 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.07, Z:-0.66 [[ 9.99643672e-01 -8.30904708e-03 2.53670678e-02 1.19497305e+01] [ 8.32565413e-03 9.99965190e-01 -5.49122126e-04 -7.34629969e-02] [-2.53616221e-02 7.60123891e-04 9.99678053e-01 -6.55102970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69264 meters Centerline goodness [0,1] 0.9998915095363118 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.08, Z:-0.66 [[ 9.99641447e-01 -7.58867685e-03 2.56785635e-02 1.19819079e+01] [ 7.60560635e-03 9.99970919e-01 -5.61681475e-04 -7.72324809e-02] [-2.56735544e-02 7.56781129e-04 9.99670094e-01 -6.55063974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72264 meters Centerline goodness [0,1] 0.9998067093337915 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.08, Z:-0.66 [[ 9.99645308e-01 -5.59399553e-03 2.60377537e-02 1.20122169e+01] [ 5.61077296e-03 9.99984096e-01 -5.71335833e-04 -7.99568583e-02] [-2.60341435e-02 7.17225109e-04 9.99660797e-01 -6.57045680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.04, Y:-0.08, Z:-0.65 [[ 9.99641981e-01 -2.81923265e-03 2.66075445e-02 1.20441192e+01] [ 2.83576585e-03 9.99995809e-01 -5.83660200e-04 -7.60133222e-02] [-2.66057875e-02 6.58904004e-04 9.99645786e-01 -6.54164334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78264 meters Centerline goodness [0,1] 0.9999784021943371 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.07, Z:-0.66 [[ 9.99637245e-01 1.23634587e-03 2.69044623e-02 1.20761666e+01] [-1.22086565e-03 9.99999080e-01 -5.91796163e-04 -7.26909726e-02] [-2.69051692e-02 5.58734752e-04 9.99637834e-01 -6.55200322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.07, Z:-0.65 [[ 9.99597157e-01 6.01134208e-03 2.77378467e-02 1.21081531e+01] [-5.99670110e-03 9.99981833e-01 -6.10988206e-04 -6.72271255e-02] [-2.77410157e-02 4.44406497e-04 9.99615045e-01 -6.53475739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.06, Z:-0.65 [[ 9.99456933e-01 1.63195472e-02 2.86271037e-02 1.21380569e+01] [-1.63081152e-02 9.99866814e-01 -6.32784966e-04 -5.60179962e-02] [-2.86336177e-02 1.65587217e-04 9.99589960e-01 -6.53862714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.05, Z:-0.66 [[ 9.99349051e-01 2.15019196e-02 2.89679577e-02 1.21690756e+01] [-2.14924387e-02 9.99768807e-01 -6.38647373e-04 -5.11013713e-02] [-2.89749926e-02 1.56395911e-05 9.99580137e-01 -6.55182018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.04, Z:-0.66 [[ 9.99109058e-01 3.06833669e-02 2.89762203e-02 1.22012535e+01] [-3.06776104e-02 9.99529124e-01 -6.43300736e-04 -4.16202778e-02] [-2.89823147e-02 -2.46193604e-04 9.99579894e-01 -6.57314113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932640000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.23, Y:-0.04, Z:-0.66 [[ 9.99001999e-01 3.44740033e-02 2.83998086e-02 1.22331736e+01] [-3.44698710e-02 9.99405536e-01 -6.35202834e-04 -3.76029229e-02] [-2.84048239e-02 -3.44368839e-04 9.99596442e-01 -6.59420973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.03, Z:-0.66 [[ 9.98925793e-01 3.75419169e-02 2.71636733e-02 1.22655815e+01] [-3.75391104e-02 9.99294971e-01 -6.13431796e-04 -3.34606325e-02] [-2.71675515e-02 -4.06927288e-04 9.99630811e-01 -6.62993423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992640000000002 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.02, Z:-0.67 [[ 9.98805357e-01 4.15565136e-02 2.57082749e-02 1.22961102e+01] [-4.15552857e-02 9.99136036e-01 -5.82239419e-04 -2.41537447e-02] [-2.57102597e-02 -4.86770857e-04 9.99669318e-01 -6.70309775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.02, Z:-0.67 [[ 9.98744567e-01 4.26608735e-02 2.62552686e-02 1.23285199e+01] [-4.26600212e-02 9.99089471e-01 -5.92838732e-04 -2.48466175e-02] [-2.62566534e-02 -5.27955852e-04 9.99655095e-01 -6.68174303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05264 meters Centerline goodness [0,1] 0.9999351239133255 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.02, Z:-0.67 [[ 9.98705784e-01 4.28246382e-02 2.74373520e-02 1.23602407e+01] [-4.28236309e-02 9.99082452e-01 -6.24573250e-04 -2.18185071e-02] [-2.74389241e-02 -5.51202120e-04 9.99623330e-01 -6.68915141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.02, Z:-0.67 [[ 9.98711001e-01 4.20531640e-02 2.84230188e-02 1.23926527e+01] [-4.20516240e-02 9.99115226e-01 -6.52182113e-04 -2.41506120e-02] [-2.84252972e-02 -5.43892649e-04 9.99595772e-01 -6.68333393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.03, Z:-0.67 [[ 9.98744244e-01 4.06435505e-02 2.92922593e-02 1.24248024e+01] [-4.06411626e-02 9.99173577e-01 -6.77126420e-04 -2.90583448e-02] [-2.92955723e-02 -5.14195356e-04 9.99570660e-01 -6.67168161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.03, Z:-0.67 [[ 9.98736178e-01 4.08413627e-02 2.92921466e-02 1.24572896e+01] [-4.08389181e-02 9.99165511e-01 -6.81958541e-04 -2.99965813e-02] [-2.92955548e-02 -5.15162911e-04 9.99570660e-01 -6.68453598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.03, Z:-0.67 [[ 9.98808786e-01 3.87665393e-02 2.96338530e-02 1.24887001e+01] [-3.87629367e-02 9.99248192e-01 -6.96253360e-04 -3.33846617e-02] [-2.96385653e-02 -4.53271192e-04 9.99560578e-01 -6.69726934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.04, Z:-0.67 [[ 9.99021802e-01 3.27566516e-02 2.97059201e-02 1.25198887e+01] [-3.27501938e-02 9.99463321e-01 -7.04039970e-04 -4.28735500e-02] [-2.97130396e-02 -2.69523363e-04 9.99558434e-01 -6.70954626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23264 meters Centerline goodness [0,1] 0.9998706589924335 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.05, Z:-0.67 [[ 9.99109078e-01 2.98249615e-02 2.98583809e-02 1.25515079e+01] [-2.98171488e-02 9.99555120e-01 -7.06966888e-04 -4.76839968e-02] [-2.98661827e-02 -1.83954751e-04 9.99553889e-01 -6.73570826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.05, Z:-0.67 [[ 9.99194059e-01 2.66995991e-02 2.99727076e-02 1.25833443e+01] [-2.66901647e-02 9.99643498e-01 -7.14873120e-04 -5.25953051e-02] [-2.99811091e-02 -8.56795276e-05 9.99550462e-01 -6.73359398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.06, Z:-0.67 [[ 9.99324755e-01 2.11697286e-02 3.00312605e-02 1.26160228e+01] [-2.11576121e-02 9.99775893e-01 -7.21208427e-04 -6.24320766e-02] [-3.00397980e-02 8.53316737e-05 9.99548700e-01 -6.74690907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.07, Z:-0.68 [[ 9.99362879e-01 1.92387827e-02 3.00616812e-02 1.26482176e+01] [-1.92255813e-02 9.99814906e-01 -7.28152833e-04 -6.63304804e-02] [-3.00701258e-02 1.49735616e-04 9.99547780e-01 -6.75741199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.07, Z:-0.68 [[ 9.99411235e-01 1.76715863e-02 2.94091561e-02 1.26804541e+01] [-1.76581298e-02 9.99843826e-01 -7.17228361e-04 -7.02380613e-02] [-2.94172378e-02 1.97495385e-04 9.99567200e-01 -6.77770763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.07, Z:-0.68 [[ 9.99418574e-01 1.77405568e-02 2.91167740e-02 1.27131062e+01] [-1.77272594e-02 9.99842604e-01 -7.14783836e-04 -7.26384989e-02] [-2.91248718e-02 1.98207637e-04 9.99575761e-01 -6.79056526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.07, Z:-0.68 [[ 9.99402625e-01 1.82135340e-02 2.93710891e-02 1.27445577e+01] [-1.82000055e-02 9.99834101e-01 -7.27899170e-04 -7.48906772e-02] [-2.93794741e-02 1.92910358e-04 9.99568311e-01 -6.80056510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.08, Z:-0.68 [[ 9.99370742e-01 1.91955374e-02 2.98270108e-02 1.27765672e+01] [-1.91819563e-02 9.99815734e-01 -7.41425338e-04 -7.64742823e-02] [-2.98357468e-02 1.68818373e-04 9.99554801e-01 -6.80062552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.08, Z:-0.68 [[ 9.99286860e-01 2.16886694e-02 3.09091130e-02 1.28077686e+01] [-2.16751022e-02 9.99764768e-01 -7.73970006e-04 -7.64570502e-02] [-3.09186286e-02 1.03459872e-04 9.99521900e-01 -6.80372741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.08, Z:-0.68 [[ 9.99251622e-01 2.33355029e-02 3.08488145e-02 1.28407225e+01] [-2.33226341e-02 9.99727688e-01 -7.76962495e-04 -7.51744282e-02] [-3.08585448e-02 5.69054194e-05 9.99523760e-01 -6.79804328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53264 meters Centerline goodness [0,1] 0.9999350185197219 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.07, Z:-0.68 [[ 9.99212411e-01 2.53423587e-02 3.05339451e-02 1.28734301e+01] [-2.53305064e-02 9.99678831e-01 -7.74979497e-04 -7.38618756e-02] [-3.05437784e-02 9.28840315e-07 9.99533430e-01 -6.83277372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.07, Z:-0.68 [[ 9.99090324e-01 3.01668906e-02 3.01410632e-02 1.29048667e+01] [-3.01573486e-02 9.99544866e-01 -7.71223737e-04 -6.78330054e-02] [-3.01506104e-02 -1.38452375e-04 9.99545357e-01 -6.84477104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.07, Z:-0.69 [[ 9.99022692e-01 3.25215943e-02 2.99333679e-02 1.29358850e+01] [-3.25130788e-02 9.99471012e-01 -7.71287415e-04 -6.53805104e-02] [-2.99426170e-02 -2.02692318e-04 9.99551599e-01 -6.86907709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.06, Z:-0.69 [[ 9.98963053e-01 3.45324558e-02 2.96703383e-02 1.29677500e+01] [-3.45249177e-02 9.99403543e-01 -7.66474576e-04 -6.47532422e-02] [-2.96791095e-02 -2.58686206e-04 9.99559445e-01 -6.87777636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.06, Z:-0.69 [[ 9.98868308e-01 3.78657055e-02 2.87800550e-02 1.29984278e+01] [-3.78598308e-02 9.99282779e-01 -7.49209248e-04 -5.93427060e-02] [-2.87877827e-02 -3.41246638e-04 9.99585488e-01 -6.91868475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters Centerline goodness [0,1] 0.9999787202349286 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.06, Z:-0.69 [[ 9.98810256e-01 3.96110991e-02 2.84435018e-02 1.30310269e+01] [-3.96060243e-02 9.99215098e-01 -7.41995193e-04 -5.72043917e-02] [-2.84505677e-02 -3.85421615e-04 9.99595126e-01 -6.93651726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.05, Z:-0.69 [[ 9.98706145e-01 4.20640316e-02 2.85771350e-02 1.30628917e+01] [-4.20597746e-02 9.99114814e-01 -7.50313233e-04 -5.42080678e-02] [-2.85834002e-02 -4.52605422e-04 9.99591309e-01 -6.93681980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.05, Z:-0.69 [[ 9.98670358e-01 4.28326707e-02 2.86858723e-02 1.30960524e+01] [-4.28285781e-02 9.99082148e-01 -7.57350171e-04 -5.33740757e-02] [-2.86919823e-02 -4.72231957e-04 9.99588189e-01 -6.94908327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.05, Z:-0.70 [[ 9.98669565e-01 4.29044049e-02 2.86061546e-02 1.31284587e+01] [-4.29002018e-02 9.99079073e-01 -7.60924867e-04 -5.29935021e-02] [-2.86124574e-02 -4.67297301e-04 9.99590471e-01 -6.96812251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters Centerline goodness [0,1] 0.9999788018823929 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.06, Z:-0.70 [[ 9.98729751e-01 4.16647359e-02 2.83360849e-02 1.31598577e+01] [-4.16599615e-02 9.99131559e-01 -7.59086356e-04 -5.61547575e-02] [-2.83431038e-02 -4.22358078e-04 9.99598164e-01 -6.99968288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.06, Z:-0.70 [[ 9.98785828e-01 4.05150684e-02 2.80249712e-02 1.31918562e+01] [-4.05098292e-02 9.99178855e-01 -7.54907942e-04 -6.05765222e-02] [-2.80325437e-02 -3.81295442e-04 9.99606938e-01 -7.01643108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.07, Z:-0.70 [[ 9.98846133e-01 3.92060873e-02 2.77360048e-02 1.32239728e+01] [-3.92003277e-02 9.99231089e-01 -7.51570231e-04 -6.61038752e-02] [-2.77441444e-02 -3.36557459e-04 9.99615000e-01 -7.02222634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.07, Z:-0.70 [[ 9.98900130e-01 3.78219989e-02 2.77132860e-02 1.32552873e+01] [-3.78155797e-02 9.99284449e-01 -7.55877166e-04 -6.95183244e-02] [-2.77220446e-02 -2.92948177e-04 9.99615627e-01 -7.04394139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.08, Z:-0.71 [[ 9.98989954e-01 3.54161538e-02 2.76544218e-02 1.32858817e+01] [-3.54087184e-02 9.99372627e-01 -7.58674391e-04 -7.54911800e-02] [-2.76639415e-02 -2.21299539e-04 9.99617255e-01 -7.06602248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952640000000002 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.08, Z:-0.71 [[ 9.99007183e-01 3.49389031e-02 2.76391335e-02 1.33190046e+01] [-3.49311841e-02 9.99389429e-01 -7.62202133e-04 -7.89491032e-02] [-2.76488883e-02 -2.04022253e-04 9.99617676e-01 -7.07721980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.08, Z:-0.71 [[ 9.98943748e-01 3.55067897e-02 2.91660044e-02 1.33505102e+01] [-3.54982338e-02 9.99369410e-01 -8.11246022e-04 -8.16031109e-02] [-2.91764174e-02 -2.24952501e-04 9.99574252e-01 -7.06728473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.08, Z:-0.70 [[ 9.98869653e-01 3.68950444e-02 2.99695151e-02 1.33834258e+01] [-3.68865760e-02 9.99319109e-01 -8.35565657e-04 -8.32994480e-02] [-2.99799374e-02 -2.70851620e-04 9.99550464e-01 -7.04511516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.08, Z:-0.71 [[ 9.98782806e-01 3.87214857e-02 3.05540909e-02 1.34145156e+01] [-3.87133397e-02 9.99249989e-01 -8.58347737e-04 -8.14838510e-02] [-3.05644115e-02 -3.25547941e-04 9.99532746e-01 -7.05863313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07264 meters Centerline goodness [0,1] 0.9999786680319126 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.08, Z:-0.71 [[ 9.98635255e-01 4.26059719e-02 3.02052868e-02 1.34460285e+01] [-4.25996427e-02 9.99091859e-01 -8.53314537e-04 -7.72585635e-02] [-3.02142124e-02 -4.34584446e-04 9.99543352e-01 -7.07521635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10264 meters Centerline goodness [0,1] 0.999957633401826 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.07, Z:-0.71 [[ 9.98533068e-01 4.49951167e-02 3.01189719e-02 1.34774423e+01] [-4.49897723e-02 9.98987081e-01 -8.55439839e-04 -7.43272011e-02] [-3.01269544e-02 -5.00860719e-04 9.99545955e-01 -7.09154164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.07, Z:-0.71 [[ 9.98416248e-01 4.77020632e-02 2.98246228e-02 1.35095579e+01] [-4.76979044e-02 9.98861444e-01 -8.51272984e-04 -7.31780252e-02] [-2.98312733e-02 -5.72647230e-04 9.99554784e-01 -7.10053461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters Centerline goodness [0,1] 0.9999786580160491 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.07, Z:-0.71 [[ 9.98286711e-01 5.04831087e-02 2.95820453e-02 1.35411860e+01] [-5.04800940e-02 9.98724706e-01 -8.49194410e-04 -7.25719380e-02] [-2.95871895e-02 -6.45564934e-04 9.99561995e-01 -7.10868579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.19264 meters Centerline goodness [0,1] 0.9998711035682829 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.07, Z:-0.72 [[ 9.98062647e-01 5.51376346e-02 2.88235077e-02 1.35718520e+01] [-5.51365403e-02 9.98478476e-01 -8.33350299e-04 -6.63917562e-02] [-2.88256010e-02 -7.57492690e-04 9.99584169e-01 -7.15406840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.07, Z:-0.71 [[ 9.97939752e-01 5.73937640e-02 2.86741729e-02 1.36041184e+01] [-5.73936131e-02 9.98351284e-01 -8.28968025e-04 -6.52056671e-02] [-2.86744750e-02 -8.18454241e-04 9.99588468e-01 -7.14196770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25264 meters Centerline goodness [0,1] 0.9999148283791841 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.05, Z:-0.72 [[ 9.97719367e-01 6.07803496e-02 2.93566795e-02 1.36345860e+01] [-6.07816006e-02 9.98150727e-01 -8.50577733e-04 -5.37055885e-02] [-2.93540894e-02 -9.35708093e-04 9.99568638e-01 -7.16482788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.05, Z:-0.72 [[ 9.97629936e-01 6.21813250e-02 2.94617202e-02 1.36663694e+01] [-6.21832274e-02 9.98064386e-01 -8.52526128e-04 -5.45387743e-02] [-2.94577049e-02 -9.81519260e-04 9.99565546e-01 -7.16506376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312640000000002 meters Centerline goodness [0,1] 0.9999140413461125 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.05, Z:-0.72 [[ 9.97536329e-01 6.35478113e-02 2.97144455e-02 1.36973480e+01] [-6.35502109e-02 9.97978268e-01 -8.64582732e-04 -4.97100503e-02] [-2.97093132e-02 -1.02590660e-03 9.99558054e-01 -7.18399392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters Centerline goodness [0,1] 0.9998487794340031 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.05, Z:-0.72 [[ 9.97475824e-01 6.46549090e-02 2.93551124e-02 1.37297265e+01] [-6.46576024e-02 9.97907139e-01 -8.58452512e-04 -5.19185208e-02] [-2.93491794e-02 -1.04174556e-03 9.99568677e-01 -7.20268766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37264 meters Centerline goodness [0,1] 0.9998916764157892 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.05, Z:-0.72 [[ 9.97504236e-01 6.44981460e-02 2.87278431e-02 1.37614689e+01] [-6.45005053e-02 9.97917316e-01 -8.45501847e-04 -5.04230066e-02] [-2.87225454e-02 -1.00956872e-03 9.99586913e-01 -7.22070990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40264 meters Centerline goodness [0,1] 0.9999566996471021 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.05, Z:-0.72 [[ 9.97702651e-01 6.16947498e-02 2.79853290e-02 1.37924313e+01] [-6.16957609e-02 9.98094658e-01 -8.28151033e-04 -5.36350738e-02] [-2.79831000e-02 -9.00327686e-04 9.99607991e-01 -7.24831808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.06, Z:-0.73 [[ 9.97851891e-01 5.93041691e-02 2.78319956e-02 1.38230815e+01] [-5.93042210e-02 9.98239615e-01 -8.24299057e-04 -5.58919920e-02] [-2.78318850e-02 -8.28026447e-04 9.99612275e-01 -7.26421004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters Centerline goodness [0,1] 0.9999573196756295 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.06, Z:-0.73 [[ 9.97993410e-01 5.68877875e-02 2.78016864e-02 1.38537705e+01] [-5.68868833e-02 9.98380290e-01 -8.24091584e-04 -5.58871298e-02] [-2.78035365e-02 -7.59113318e-04 9.99613119e-01 -7.29238561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49264 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.06, Z:-0.73 [[ 9.98143435e-01 5.44835737e-02 2.72254023e-02 1.38860592e+01] [-5.44818449e-02 9.98514436e-01 -8.05828722e-04 -6.29820422e-02] [-2.72288617e-02 -6.78957497e-04 9.99628995e-01 -7.29780430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.07, Z:-0.73 [[ 9.98271089e-01 5.24698706e-02 2.64904675e-02 1.39180196e+01] [-5.24674085e-02 9.98622326e-01 -7.88477061e-04 -6.61041410e-02] [-2.64953436e-02 -6.02772328e-04 9.99648755e-01 -7.31715144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.07, Z:-0.73 [[ 9.98460828e-01 4.90560867e-02 2.58742308e-02 1.39483992e+01] [-4.90524442e-02 9.98795903e-01 -7.75842006e-04 -7.08186112e-02] [-2.58811355e-02 -4.94546415e-04 9.99664905e-01 -7.34262076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.07, Z:-0.74 [[ 9.98488564e-01 4.83519549e-02 2.61280684e-02 1.39795219e+01] [-4.83479794e-02 9.98830245e-01 -7.84231880e-04 -7.22933233e-02] [-2.61354241e-02 -4.80192747e-04 9.99658296e-01 -7.35565848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612640000000003 meters Centerline goodness [0,1] 0.9998062682968831 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.07, Z:-0.74 [[ 9.98531188e-01 4.73284625e-02 2.63720249e-02 1.40112358e+01] [-4.73239471e-02 9.98879277e-01 -7.95666160e-04 -7.28382068e-02] [-2.63801269e-02 -4.53530837e-04 9.99651881e-01 -7.37710986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters Centerline goodness [0,1] 0.999870984389111 Centerline is valid? [True, True] Translation: X:14.04, Y:-0.07, Z:-0.74 [[ 9.98522351e-01 4.74822154e-02 2.64301511e-02 1.40437532e+01] [-4.74776176e-02 9.98871980e-01 -8.01816751e-04 -7.02918601e-02] [-2.64384094e-02 -4.54208659e-04 9.99650341e-01 -7.40638559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67264 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.07, Z:-0.74 [[ 9.98483576e-01 4.80256356e-02 2.69088697e-02 1.40769219e+01] [-4.80209314e-02 9.98845992e-01 -8.21375337e-04 -7.07419588e-02] [-2.69172637e-02 -4.72059204e-04 9.99637553e-01 -7.38700976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702640000000002 meters Centerline goodness [0,1] 0.9998923249203204 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.07, Z:-0.74 [[ 9.98442019e-01 4.81355123e-02 2.82224729e-02 1.41092181e+01] [-4.81302173e-02 9.98840693e-01 -8.67291903e-04 -7.36964111e-02] [-2.82315019e-02 -4.92413075e-04 9.99601290e-01 -7.37483251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.07, Z:-0.74 [[ 9.98423114e-01 4.82474074e-02 2.86962375e-02 1.41404081e+01] [-4.82418097e-02 9.98835292e-01 -8.87757724e-04 -7.41420429e-02] [-2.87056467e-02 -4.98000599e-04 9.99587784e-01 -7.36565024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76264 meters Centerline goodness [0,1] 0.9999138432377711 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.08, Z:-0.74 [[ 9.98483162e-01 4.67389375e-02 2.91006213e-02 1.41723368e+01] [-4.67324791e-02 9.98907033e-01 -9.02380358e-04 -7.75014283e-02] [-2.91109915e-02 -4.58932581e-04 9.99576080e-01 -7.38867889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.08, Z:-0.74 [[ 9.98503355e-01 4.63957525e-02 2.89566057e-02 1.42043984e+01] [-4.63890726e-02 9.98923040e-01 -9.02781152e-04 -8.04496831e-02] [-2.89673058e-02 -4.41840075e-04 9.99580262e-01 -7.38670065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.08, Z:-0.74 [[ 9.98565513e-01 4.55786624e-02 2.80980726e-02 1.42367945e+01] [-4.55719288e-02 9.98960672e-01 -8.80298778e-04 -8.43096917e-02] [-2.81089924e-02 -4.01447365e-04 9.99604784e-01 -7.42813360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.08, Z:-0.75 [[ 9.98591950e-01 4.53269214e-02 2.75606028e-02 1.42684340e+01] [-4.53201758e-02 9.98972134e-01 -8.69671475e-04 -8.45238254e-02] [-2.75716938e-02 -3.80604431e-04 9.99619756e-01 -7.45783055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882640000000002 meters Centerline goodness [0,1] 0.9998926139902493 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.09, Z:-0.75 [[ 9.98602319e-01 4.53476995e-02 2.71476467e-02 1.43015622e+01] [-4.53410974e-02 9.98971194e-01 -8.59023229e-04 -8.79380694e-02] [-2.71586718e-02 -3.73081505e-04 9.99631066e-01 -7.47592475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.09, Z:-0.75 [[ 9.98537623e-01 4.65566992e-02 2.74788809e-02 1.43336725e+01] [-4.65502326e-02 9.98915567e-01 -8.75326877e-04 -8.80620335e-02] [-2.74898342e-02 -4.05101478e-04 9.99622001e-01 -7.46927598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.09, Z:-0.75 [[ 9.98499781e-01 4.76929522e-02 2.68992677e-02 1.43653164e+01] [-4.76870192e-02 9.98861955e-01 -8.62372281e-04 -8.79908158e-02] [-2.69097842e-02 -4.21667366e-04 9.99637777e-01 -7.48363161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.08, Z:-0.75 [[ 9.98351977e-01 5.06318729e-02 2.70137639e-02 1.43963231e+01] [-5.06269182e-02 9.98717258e-01 -8.67758551e-04 -8.44486923e-02] [-2.70230484e-02 -5.01295148e-04 9.99634685e-01 -7.49799807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters Centerline goodness [0,1] 0.9999784492047756 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.08, Z:-0.75 [[ 9.98266632e-01 5.26267680e-02 2.63468135e-02 1.44283008e+01] [-5.26226472e-02 9.98614107e-01 -8.50203211e-04 -8.43030099e-02] [-2.63550431e-02 -5.37709574e-04 9.99652501e-01 -7.50965476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.08, Z:-0.75 [[ 9.98057913e-01 5.65601902e-02 2.61026325e-02 1.44586628e+01] [-5.65573168e-02 9.98398993e-01 -8.48933428e-04 -7.96038971e-02] [-2.61088579e-02 -6.29010132e-04 9.99658908e-01 -7.53664588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062640000000002 meters Centerline goodness [0,1] 0.9998492905892737 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.08, Z:-0.76 [[ 9.97975343e-01 5.80330636e-02 2.60264867e-02 1.44906841e+01] [-5.80307555e-02 9.98314438e-01 -8.44609117e-04 -7.90890072e-02] [-2.60316328e-02 -6.67437615e-04 9.99660897e-01 -7.55873530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09264 meters Centerline goodness [0,1] 0.9998492905892737 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.08, Z:-0.76 [[ 9.97963875e-01 5.82299953e-02 2.60263505e-02 1.45231712e+01] [-5.82276454e-02 9.98302970e-01 -8.48780730e-04 -8.03309475e-02] [-2.60316076e-02 -6.68400603e-04 9.99660897e-01 -7.57159250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters Centerline goodness [0,1] 0.9999784292154705 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.08, Z:-0.76 [[ 9.97864725e-01 5.98237257e-02 2.62128440e-02 1.45550824e+01] [-5.98217415e-02 9.98208705e-01 -8.60575891e-04 -7.83683288e-02] [-2.62173720e-02 -7.09359657e-04 9.99656014e-01 -7.56546717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15264 meters Centerline goodness [0,1] 0.9999355102216299 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.08, Z:-0.76 [[ 9.97790138e-01 6.10696063e-02 2.61790638e-02 1.45866897e+01] [-6.10679448e-02 9.98133238e-01 -8.63694386e-04 -7.54224618e-02] [-2.61829392e-02 -7.36915884e-04 9.99656896e-01 -7.58236838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.07, Z:-0.76 [[ 9.97659690e-01 6.32602893e-02 2.59476261e-02 1.46181641e+01] [-6.32592896e-02 9.97996755e-01 -8.60202419e-04 -6.84869564e-02] [-2.59500633e-02 -7.83239115e-04 9.99662934e-01 -7.61000138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21264 meters Centerline goodness [0,1] 0.9997621827301423 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.07, Z:-0.76 [[ 9.97612093e-01 6.41596723e-02 2.55665457e-02 1.46504964e+01] [-6.41589004e-02 9.97939332e-01 -8.51330100e-04 -7.22215905e-02] [-2.55684826e-02 -7.91024256e-04 9.99672760e-01 -7.63114409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24264 meters Centerline goodness [0,1] 0.9998079098456876 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.06, Z:-0.77 [[ 9.97511319e-01 6.56500068e-02 2.57146966e-02 1.46818083e+01] [-6.56496010e-02 9.97842367e-01 -8.60912352e-04 -6.45010300e-02] [-2.57157326e-02 -8.29389754e-04 9.99668952e-01 -7.65284748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272640000000003 meters Centerline goodness [0,1] 0.999891982976517 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.07, Z:-0.76 [[ 9.97372929e-01 6.74584315e-02 2.63931997e-02 1.47139010e+01] [-6.74585258e-02 9.97721684e-01 -8.87820755e-04 -6.76593495e-02] [-2.63929587e-02 -8.94957957e-04 9.99651245e-01 -7.63391726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters Centerline goodness [0,1] 0.9999784793509372 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.07, Z:-0.76 [[ 9.97284418e-01 6.83788282e-02 2.73518847e-02 1.47458141e+01] [-6.83791411e-02 9.97658979e-01 -9.24981233e-04 -6.71063648e-02] [-2.73511025e-02 -9.47829014e-04 9.99625439e-01 -7.62123316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33264 meters Centerline goodness [0,1] 0.9999784932361228 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.07, Z:-0.76 [[ 9.97348954e-01 6.71900652e-02 2.79384968e-02 1.47776137e+01] [-6.71897861e-02 9.97739761e-01 -9.49825465e-04 -6.61701347e-02] [-2.79391680e-02 -9.29874192e-04 9.99609193e-01 -7.63862404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362640000000003 meters Centerline goodness [0,1] 0.9998513705756206 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.07, Z:-0.77 [[ 9.97436800e-01 6.58370312e-02 2.80234878e-02 1.48089489e+01] [-6.58360771e-02 9.97829992e-01 -9.57706952e-04 -6.58695499e-02] [-2.80257292e-02 -8.89704349e-04 9.99606806e-01 -7.66124693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39264 meters Centerline goodness [0,1] 0.9999566733822924 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.07, Z:-0.77 [[ 9.97596160e-01 6.36131962e-02 2.74820383e-02 1.48404687e+01] [-6.36112802e-02 9.97974304e-01 -9.44848562e-04 -7.34885510e-02] [-2.74864729e-02 -8.05590343e-04 9.99621851e-01 -7.66191607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42264 meters Centerline goodness [0,1] 0.9999568835424482 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.08, Z:-0.77 [[ 9.97918037e-01 5.87357708e-02 2.66402011e-02 1.48697728e+01] [-5.87321909e-02 9.98273353e-01 -9.17494712e-04 -7.88774888e-02] [-2.66480927e-02 -6.49052856e-04 9.99644666e-01 -7.69039446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452640000000002 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.08, Z:-0.77 [[ 9.98048248e-01 5.66054577e-02 2.63726590e-02 1.49007864e+01] [-5.66012741e-02 9.98396452e-01 -9.05696851e-04 -8.19481976e-02] [-2.63816366e-02 -5.88796947e-04 9.99651771e-01 -7.71341964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.09, Z:-0.77 [[ 9.98155434e-01 5.47770733e-02 2.61763515e-02 1.49326320e+01] [-5.47722197e-02 9.98498467e-01 -9.02915932e-04 -8.71928147e-02] [-2.61865059e-02 -5.32486429e-04 9.99656933e-01 -7.71815749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.09, Z:-0.77 [[ 9.98293645e-01 5.22918720e-02 2.59876710e-02 1.49636952e+01] [-5.22861041e-02 9.98631739e-01 -9.01874997e-04 -8.99198441e-02] [-2.59992738e-02 -4.58457991e-04 9.99661857e-01 -7.73684053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.09, Z:-0.78 [[ 9.98309373e-01 5.20776722e-02 2.58130179e-02 1.49959999e+01] [-5.20718744e-02 9.98642937e-01 -8.97189171e-04 -8.95207179e-02] [-2.58247115e-02 -4.48459867e-04 9.99666386e-01 -7.75865020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57264 meters Centerline goodness [0,1] 0.9999783507609707 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.09, Z:-0.78 [[ 9.98297145e-01 5.24884970e-02 2.54513025e-02 1.50278980e+01] [-5.24828729e-02 9.98621428e-01 -8.89371496e-04 -8.88436618e-02] [-2.54628978e-02 -4.47900449e-04 9.99675668e-01 -7.77397327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60264 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.09, Z:-0.78 [[ 9.98297207e-01 5.29773765e-02 2.44148442e-02 1.50601763e+01] [-5.29722520e-02 9.98595617e-01 -8.57052912e-04 -8.81246999e-02] [-2.44259608e-02 -4.37715750e-04 9.99701546e-01 -7.80863333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632640000000002 meters Centerline goodness [0,1] 0.9999140099318529 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.09, Z:-0.78 [[ 9.98258658e-01 5.39361465e-02 2.38860793e-02 1.50916894e+01] [-5.39313902e-02 9.98544287e-01 -8.43747838e-04 -8.52111628e-02] [-2.38968165e-02 -4.45930878e-04 9.99714331e-01 -7.84359058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters Centerline goodness [0,1] 0.9999569568492414 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.08, Z:-0.79 [[ 9.98252479e-01 5.39368656e-02 2.41413240e-02 1.51229868e+01] [-5.39319529e-02 9.98544247e-01 -8.55018511e-04 -8.40712343e-02] [-2.41522972e-02 -4.48464399e-04 9.99708190e-01 -7.85862809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.69264 meters Centerline goodness [0,1] 0.9999784464177947 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.09, Z:-0.79 [[ 9.98264794e-01 5.36640734e-02 2.42398131e-02 1.51542512e+01] [-5.36590045e-02 9.98558948e-01 -8.59973582e-04 -8.51970980e-02] [-2.42510319e-02 -4.42202889e-04 9.99705803e-01 -7.87462905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722640000000002 meters Centerline goodness [0,1] 0.9999573588043409 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.09, Z:-0.78 [[ 9.98333294e-01 5.17568330e-02 2.55316304e-02 1.51867523e+01] [-5.17504455e-02 9.98659632e-01 -9.11301550e-04 -9.06464447e-02] [-2.55445747e-02 -4.11490568e-04 9.99673599e-01 -7.84906300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75264 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.09, Z:-0.78 [[ 9.98370336e-01 5.05700253e-02 2.64451170e-02 1.52193879e+01] [-5.05627228e-02 9.98720440e-01 -9.45181516e-04 -9.30983662e-02] [-2.64590767e-02 -3.93495929e-04 9.99649820e-01 -7.84437955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.10, Z:-0.78 [[ 9.98500241e-01 4.72274989e-02 2.76917354e-02 1.52511901e+01] [-4.72181117e-02 9.98884109e-01 -9.93156888e-04 -9.87818825e-02] [-2.77077387e-02 -3.15884063e-04 9.99616017e-01 -7.83300576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.10, Z:-0.78 [[ 9.98582835e-01 4.51472550e-02 2.81788233e-02 1.52834476e+01] [-4.51367198e-02 9.98980308e-01 -1.01015762e-03 -1.03711403e-01] [-2.81956954e-02 -2.63173591e-04 9.99602388e-01 -7.83300911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters Centerline goodness [0,1] 0.999914801167224 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.11, Z:-0.79 [[ 9.98666448e-01 4.29079808e-02 2.87094068e-02 1.53141031e+01] [-4.28959701e-02 9.99079009e-01 -1.03439330e-03 -1.08991356e-01] [-2.87273494e-02 -1.98503976e-04 9.99587265e-01 -7.85984828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.12, Z:-0.79 [[ 9.98752396e-01 4.07467068e-02 2.88679272e-02 1.53463636e+01] [-4.07335299e-02 9.99169499e-01 -1.04462221e-03 -1.15343836e-01] [-2.88865173e-02 -1.32573636e-04 9.99582689e-01 -7.85582147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.13, Z:-0.79 [[ 9.98922648e-01 3.71517339e-02 2.78081354e-02 1.53786491e+01] [-3.71379979e-02 9.99309636e-01 -1.01043864e-03 -1.26163343e-01] [-2.78264772e-02 -2.33884300e-05 9.99612768e-01 -7.87982543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93264 meters Centerline goodness [0,1] 0.9999347088012536 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.13, Z:-0.79 [[ 9.98991126e-01 3.60684229e-02 2.67544180e-02 1.54103987e+01] [-3.60551784e-02 9.99349323e-01 -9.77435560e-04 -1.31422803e-01] [-2.67722640e-02 1.18141384e-05 9.99641559e-01 -7.91940895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.14, Z:-0.79 [[ 9.98994218e-01 3.64155741e-02 2.61621500e-02 1.54417327e+01] [-3.64029183e-02 9.99336733e-01 -9.60009100e-04 -1.36215687e-01] [-2.61797568e-02 6.66492982e-06 9.99657251e-01 -7.94472070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.14, Z:-0.80 [[ 9.98967986e-01 3.76307734e-02 2.54339832e-02 1.54739643e+01] [-3.76190866e-02 9.99291711e-01 -9.37987705e-04 -1.36909648e-01] [-2.54512658e-02 -1.97835250e-05 9.99676064e-01 -7.95137684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.14, Z:-0.80 [[ 9.98873860e-01 4.00445502e-02 2.54449747e-02 1.55066658e+01] [-4.00335346e-02 9.99197892e-01 -9.42382136e-04 -1.35702326e-01] [-2.54623023e-02 -7.73313935e-05 9.99675780e-01 -7.95749310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.13, Z:-0.80 [[ 9.98728132e-01 4.35159561e-02 2.54652721e-02 1.55393599e+01] [-4.35059140e-02 9.99052719e-01 -9.48512538e-04 -1.32685363e-01] [-2.54824248e-02 -1.60583782e-04 9.99675257e-01 -7.96710387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.12, Z:-0.80 [[ 9.98328683e-01 5.13344202e-02 2.65446583e-02 1.55706237e+01] [-5.13260895e-02 9.98681451e-01 -9.95527603e-04 -1.21854303e-01] [-2.65607627e-02 -3.68569745e-04 9.99647133e-01 -7.96542083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112640000000003 meters Centerline goodness [0,1] 0.9999351154944199 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.12, Z:-0.80 [[ 9.98090184e-01 5.56323002e-02 2.68520289e-02 1.56025672e+01] [-5.56253567e-02 9.98451204e-01 -1.00605577e-03 -1.16961226e-01] [-2.68664098e-02 -4.89519295e-04 9.99638913e-01 -7.98886295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters Centerline goodness [0,1] 0.999957141326476 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.11, Z:-0.80 [[ 9.97679561e-01 6.26236540e-02 2.67165215e-02 1.56344036e+01] [-6.26191271e-02 9.98036989e-01 -1.00686168e-03 -1.07544275e-01] [-2.67271301e-02 -6.68439941e-04 9.99642543e-01 -7.99518368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17264 meters Centerline goodness [0,1] 0.9999352708913198 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.11, Z:-0.80 [[ 9.97511534e-01 6.52071618e-02 2.68097931e-02 1.56664613e+01] [-6.52035268e-02 9.97871474e-01 -1.01070013e-03 -1.05569387e-01] [-2.68186327e-02 -7.39908027e-04 9.99640042e-01 -8.00014103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.10, Z:-0.80 [[ 9.97367134e-01 6.72057564e-02 2.72430814e-02 1.56982241e+01] [-6.72027467e-02 9.97738811e-01 -1.02707239e-03 -1.02103683e-01] [-2.72505048e-02 -8.06441652e-04 9.99628311e-01 -8.01365475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23264 meters Centerline goodness [0,1] 0.9999358165208275 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.10, Z:-0.80 [[ 9.97262703e-01 6.86754275e-02 2.74004992e-02 1.57308041e+01] [-6.86728204e-02 9.97638696e-01 -1.03725950e-03 -9.80030631e-02] [-2.74070326e-02 -8.47249354e-04 9.99623998e-01 -8.02551307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26264 meters Centerline goodness [0,1] 0.9998079221444426 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.09, Z:-0.81 [[ 9.97277307e-01 6.84918977e-02 2.73282381e-02 1.57624745e+01] [-6.84891038e-02 9.97651323e-01 -1.03933778e-03 -9.45484772e-02] [-2.73352391e-02 -8.35178559e-04 9.99625974e-01 -8.05436715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292640000000002 meters Centerline goodness [0,1] 0.9998705613323553 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.10, Z:-0.80 [[ 9.97328541e-01 6.77381795e-02 2.73371509e-02 1.57949249e+01] [-6.77349879e-02 9.97702802e-01 -1.04381162e-03 -1.00730186e-01] [-2.73450579e-02 -8.10658468e-04 9.99625725e-01 -8.04435543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters Centerline goodness [0,1] 0.9999142072752231 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.10, Z:-0.81 [[ 9.97389778e-01 6.68721684e-02 2.72349731e-02 1.58259829e+01] [-6.68685455e-02 9.97761247e-01 -1.04477498e-03 -1.00812554e-01] [-2.72438671e-02 -7.79115147e-04 9.99628513e-01 -8.06507500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.35264 meters Centerline goodness [0,1] 0.9999360204734485 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.10, Z:-0.81 [[ 9.97549708e-01 6.47706369e-02 2.64451224e-02 1.58575959e+01] [-6.47663789e-02 9.97899934e-01 -1.01840761e-03 -1.01154459e-01] [-2.64555488e-02 -6.96842607e-04 9.99649748e-01 -8.10057358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382640000000002 meters Centerline goodness [0,1] 0.9999354894202649 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.10, Z:-0.81 [[ 9.97628106e-01 6.36821321e-02 2.61294399e-02 1.58901873e+01] [-6.36774496e-02 9.97970019e-01 -1.01208112e-03 -1.03482497e-01] [-2.61408491e-02 -6.54175522e-04 9.99658056e-01 -8.11179256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41264 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.10, Z:-0.82 [[ 9.97781231e-01 6.17959070e-02 2.47766233e-02 1.59228047e+01] [-6.17910810e-02 9.98088643e-01 -9.61069996e-04 -1.02670430e-01] [-2.47886565e-02 -5.72036734e-04 9.99692550e-01 -8.15193811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44264 meters Centerline goodness [0,1] 0.9999354561101549 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.10, Z:-0.82 [[ 9.97865193e-01 6.06812509e-02 2.41421243e-02 1.59536297e+01] [-6.06763446e-02 9.98157054e-01 -9.36383575e-04 -1.02182070e-01] [-2.41544526e-02 -5.30471275e-04 9.99708098e-01 -8.19143744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472640000000002 meters Centerline goodness [0,1] 0.999978507565337 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.11, Z:-0.82 [[ 9.98046289e-01 5.74568840e-02 2.45420370e-02 1.59848055e+01] [-5.74506913e-02 9.98347885e-01 -9.57924465e-04 -1.07533278e-01] [-2.45565301e-02 -4.53904036e-04 9.99698340e-01 -8.19018944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters Centerline goodness [0,1] 0.9999787870431259 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.11, Z:-0.82 [[ 9.98095576e-01 5.61839393e-02 2.54673353e-02 1.60159829e+01] [-5.61768874e-02 9.98420338e-01 -9.92837410e-04 -1.07814472e-01] [-2.54828871e-02 -4.39729002e-04 9.99675162e-01 -8.19607439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.11, Z:-0.82 [[ 9.98159454e-01 5.49164696e-02 2.57271320e-02 1.60483360e+01] [-5.49087522e-02 9.98490869e-01 -1.00684787e-03 -1.11336823e-01] [-2.57435989e-02 -4.07649998e-04 9.99668496e-01 -8.17948459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.11, Z:-0.82 [[ 9.98178191e-01 5.42624015e-02 2.63797479e-02 1.60799832e+01] [-5.42539334e-02 9.98526632e-01 -1.03715543e-03 -1.10936610e-01] [-2.63971594e-02 -3.95939154e-04 9.99651456e-01 -8.19515177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.11, Z:-0.82 [[ 9.98218335e-01 5.27922342e-02 2.78053219e-02 1.61123975e+01] [-5.27821119e-02 9.98605449e-01 -1.09838521e-03 -1.13762865e-01] [-2.78245321e-02 -3.71195350e-04 9.99612754e-01 -8.17035014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.11, Z:-0.82 [[ 9.98194548e-01 5.29283921e-02 2.83941762e-02 1.61439903e+01] [-5.29177444e-02 9.98598239e-01 -1.12682034e-03 -1.11682248e-01] [-2.84140151e-02 -3.77769843e-04 9.99596169e-01 -8.19077340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65264 meters Centerline goodness [0,1] 0.9999783479484681 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.11, Z:-0.82 [[ 9.98144611e-01 5.41939511e-02 2.77551968e-02 1.61758322e+01] [-5.41841480e-02 9.98530348e-01 -1.10571992e-03 -1.09364039e-01] [-2.77743297e-02 -4.00223315e-04 9.99614139e-01 -8.19964820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682640000000003 meters Centerline goodness [0,1] 0.9999349071341781 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.11, Z:-0.82 [[ 9.98073629e-01 5.57192569e-02 2.72836000e-02 1.62076460e+01] [-5.57102415e-02 9.98446382e-01 -1.09104291e-03 -1.06910059e-01] [-2.73020039e-02 -4.31034786e-04 9.99627138e-01 -8.24095593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71264 meters Centerline goodness [0,1] 0.9999354116431278 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.10, Z:-0.83 [[ 9.97986786e-01 5.73617519e-02 2.70555875e-02 1.62401309e+01] [-5.73533652e-02 9.98353350e-01 -1.08652359e-03 -1.03912600e-01] [-2.70733613e-02 -4.67392807e-04 9.99633340e-01 -8.25801446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.10, Z:-0.83 [[ 9.97850921e-01 5.99017242e-02 2.65579102e-02 1.62716665e+01] [-5.98944202e-02 9.98204143e-01 -1.07112450e-03 -9.67598735e-02] [-2.65743782e-02 -5.21848068e-04 9.99646703e-01 -8.27686893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772640000000003 meters Centerline goodness [0,1] 0.9999787748864456 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.10, Z:-0.83 [[ 9.97818849e-01 6.05895799e-02 2.62001499e-02 1.63028661e+01] [-6.05826003e-02 9.98162624e-01 -1.06081693e-03 -9.54504238e-02] [-2.62162848e-02 -5.28770079e-04 9.99656154e-01 -8.29885887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters Centerline goodness [0,1] 0.9997854767778612 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.10, Z:-0.83 [[ 9.97829816e-01 6.05645899e-02 2.58377565e-02 1.63346732e+01] [-6.05577014e-02 9.98164146e-01 -1.04970903e-03 -9.60270046e-02] [-2.58538974e-02 -5.17244176e-04 9.99665598e-01 -8.34387439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.10, Z:-0.83 [[ 9.97841045e-01 6.02057788e-02 2.62395390e-02 1.63668031e+01] [-6.01984229e-02 9.98185856e-01 -1.07088997e-03 -9.89436352e-02] [-2.62564104e-02 -5.11000899e-04 9.99655110e-01 -8.32274301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862640000000003 meters Centerline goodness [0,1] 0.9999570778607606 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.10, Z:-0.83 [[ 9.97868176e-01 5.90529008e-02 2.77823438e-02 1.63981825e+01] [-5.90440632e-02 9.98254728e-01 -1.13906003e-03 -9.91528395e-02] [-2.78011208e-02 -5.03750711e-04 9.99613347e-01 -8.30774407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89264 meters Centerline goodness [0,1] 0.9998506348020911 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.10, Z:-0.83 [[ 9.97869117e-01 5.87509745e-02 2.83821934e-02 1.64302598e+01] [-5.87415026e-02 9.98272544e-01 -1.16810695e-03 -1.00481760e-01] [-2.84017918e-02 -5.01594836e-04 9.99596462e-01 -8.32261399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92264 meters Centerline goodness [0,1] 0.9999786338482576 Centerline is valid? [True, True] Translation: X:16.46, Y:-0.10, Z:-0.83 [[ 9.97871131e-01 5.87854428e-02 2.82396504e-02 1.64630201e+01] [-5.87759575e-02 9.98270517e-01 -1.16655936e-03 -1.01936260e-01] [-2.82593872e-02 -4.95736584e-04 9.99600501e-01 -8.31050441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952640000000002 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.10, Z:-0.83 [[ 9.97866239e-01 5.92759033e-02 2.73740227e-02 1.64947102e+01] [-5.92670323e-02 9.98241518e-01 -1.13600855e-03 -1.04365667e-01] [-2.73932239e-02 -4.88792509e-04 9.99624616e-01 -8.31719221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters Centerline goodness [0,1] 0.9999783390373869 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.11, Z:-0.83 [[ 9.97854134e-01 5.94794206e-02 2.73738315e-02 1.65271907e+01] [-5.94705004e-02 9.98229412e-01 -1.14059235e-03 -1.05902159e-01] [-2.73932055e-02 -4.89790666e-04 9.99624616e-01 -8.33004770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.01264 meters Centerline goodness [0,1] 0.9999354199853618 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.10, Z:-0.84 [[ 9.97817220e-01 6.02396760e-02 2.70550615e-02 1.65583335e+01] [-6.02310813e-02 9.98183817e-01 -1.13323234e-03 -1.04595993e-01] [-2.70741901e-02 -4.98796863e-04 9.99633302e-01 -8.35828300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042640000000002 meters Centerline goodness [0,1] 0.9999354547214871 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.10, Z:-0.84 [[ 9.97686519e-01 6.26174185e-02 2.64701581e-02 1.65905400e+01] [-6.26099189e-02 9.98037454e-01 -1.11283633e-03 -1.00153323e-01] [-2.64878921e-02 -5.47032648e-04 9.99648985e-01 -8.38402381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07264 meters Centerline goodness [0,1] 0.9999570012684625 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.10, Z:-0.84 [[ 9.97595889e-01 6.39711697e-02 2.66483119e-02 1.66214142e+01] [-6.39639136e-02 9.97951577e-01 -1.12549412e-03 -9.72099933e-02] [-2.66657240e-02 -5.81742015e-04 9.99644237e-01 -8.40006371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10264 meters Centerline goodness [0,1] 0.9998930160903801 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.10, Z:-0.84 [[ 9.97535074e-01 6.48826786e-02 2.67210381e-02 1.66535492e+01] [-6.48756236e-02 9.97892716e-01 -1.13177974e-03 -9.67077987e-02] [-2.67381622e-02 -6.04554024e-04 9.99642289e-01 -8.40793285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132640000000002 meters Centerline goodness [0,1] 0.9999786639356504 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.09, Z:-0.84 [[ 9.97498961e-01 6.54282544e-02 2.67388578e-02 1.66852481e+01] [-6.54212358e-02 9.97857087e-01 -1.13814403e-03 -9.21169061e-02] [-2.67560256e-02 -6.13991636e-04 9.99641805e-01 -8.44931534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters Centerline goodness [0,1] 0.9999570520529119 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.10, Z:-0.84 [[ 9.97549974e-01 6.48198880e-02 2.63140915e-02 1.67177433e+01] [-6.48128037e-02 9.97896808e-01 -1.12291932e-03 -9.84680894e-02] [-2.63315354e-02 -5.85321907e-04 9.99653094e-01 -8.44561802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.19264 meters Centerline goodness [0,1] 0.9999570981166073 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.10, Z:-0.85 [[ 9.97613022e-01 6.39986747e-02 2.59312019e-02 1.67501719e+01] [-6.39915160e-02 9.97949829e-01 -1.10665165e-03 -1.01327707e-01] [-2.59488627e-02 -5.55366820e-04 9.99663117e-01 -8.47007855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.10, Z:-0.85 [[ 9.97826533e-01 6.10220141e-02 2.48701243e-02 1.67815310e+01] [-6.10144048e-02 9.98136317e-01 -1.06538835e-03 -1.04094241e-01] [-2.48887864e-02 -4.54363064e-04 9.99690123e-01 -8.54074870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25264 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.11, Z:-0.85 [[ 9.97925402e-01 5.94729221e-02 2.46548917e-02 1.68135309e+01] [-5.94648677e-02 9.98229836e-01 -1.06036826e-03 -1.12626052e-01] [-2.46743117e-02 -4.07931447e-04 9.99695460e-01 -8.53308087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28264 meters Centerline goodness [0,1] 0.9999785656106658 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.12, Z:-0.85 [[ 9.98011681e-01 5.81163228e-02 2.43962526e-02 1.68454882e+01] [-5.81079339e-02 9.98309751e-01 -1.05323286e-03 -1.17360634e-01] [-2.44162269e-02 -3.66477143e-04 9.99701812e-01 -8.54354998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.12, Z:-0.86 [[ 9.98074501e-01 5.70853754e-02 2.42600703e-02 1.68772370e+01] [-5.70766762e-02 9.98369244e-01 -1.05143979e-03 -1.20585644e-01] [-2.42805299e-02 -3.35268935e-04 9.99705128e-01 -8.55739701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters Centerline goodness [0,1] 0.9999570289839503 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.13, Z:-0.86 [[ 9.98172335e-01 5.52958591e-02 2.43794352e-02 1.69080785e+01] [-5.52864338e-02 9.98469972e-01 -1.06098195e-03 -1.25130546e-01] [-2.44008019e-02 -2.88809202e-04 9.99702214e-01 -8.58029967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.13, Z:-0.86 [[ 9.98218057e-01 5.44742111e-02 2.43571603e-02 1.69404887e+01] [-5.44644694e-02 9.98515143e-01 -1.06366555e-03 -1.29673495e-01] [-2.43789358e-02 -2.64829654e-04 9.99702755e-01 -8.59430002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.14, Z:-0.86 [[ 9.98250191e-01 5.38199844e-02 2.44942082e-02 1.69722870e+01] [-5.38098364e-02 9.98550624e-01 -1.07370671e-03 -1.36113306e-01] [-2.45164937e-02 -2.46201405e-04 9.99699395e-01 -8.60152947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.14, Z:-0.86 [[ 9.98230538e-01 5.42178432e-02 2.44175844e-02 1.70054975e+01] [-5.42077896e-02 9.98529099e-01 -1.07394523e-03 -1.38714410e-01] [-2.44398955e-02 -2.51578354e-04 9.99701269e-01 -8.59617103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.14, Z:-0.86 [[ 9.98184233e-01 5.50827807e-02 2.43746754e-02 1.70361988e+01] [-5.50728606e-02 9.98481756e-01 -1.07859865e-03 -1.36032667e-01] [-2.43970809e-02 -2.65742929e-04 9.99702312e-01 -8.63049324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.14, Z:-0.86 [[ 9.98075155e-01 5.70517764e-02 2.43121210e-02 1.70683167e+01] [-5.70424723e-02 9.98371172e-01 -1.07660188e-03 -1.35110565e-01] [-2.43339428e-02 -3.12293898e-04 9.99703837e-01 -8.62461742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.14, Z:-0.86 [[ 9.98047061e-01 5.75584829e-02 2.42710551e-02 1.70989104e+01] [-5.75492253e-02 9.98342085e-01 -1.08032752e-03 -1.36390928e-01] [-2.42929978e-02 -3.18562712e-04 9.99704831e-01 -8.64875886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55264 meters Centerline goodness [0,1] 0.9999788413524607 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.14, Z:-0.87 [[ 9.98024182e-01 5.79562434e-02 2.42653311e-02 1.71304842e+01] [-5.79470920e-02 9.98319071e-01 -1.08071975e-03 -1.36357997e-01] [-2.42871772e-02 -3.27520926e-04 9.99704969e-01 -8.69218933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.16, Y:-0.14, Z:-0.87 [[ 9.98041271e-01 5.79327272e-02 2.36097583e-02 1.71638002e+01] [-5.79239656e-02 9.98320440e-01 -1.05538545e-03 -1.41148329e-01] [-2.36312456e-02 -3.14252586e-04 9.99720694e-01 -8.67248032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.14, Z:-0.87 [[ 9.98050963e-01 5.77075911e-02 2.37509870e-02 1.71948902e+01] [-5.76985089e-02 9.98333482e-01 -1.06807898e-03 -1.41896845e-01] [-2.37730418e-02 -3.04399284e-04 9.99717335e-01 -8.69567794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.14, Z:-0.87 [[ 9.98042381e-01 5.76896904e-02 2.41517193e-02 1.72273065e+01] [-5.76802639e-02 9.98334516e-01 -1.08734424e-03 -1.44639178e-01] [-2.41742236e-02 -3.07861912e-04 9.99707713e-01 -8.68969863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.15, Z:-0.87 [[ 9.98041332e-01 5.75625906e-02 2.44958815e-02 1.72589844e+01] [-5.75527469e-02 9.98341853e-01 -1.10725545e-03 -1.45250673e-01] [-2.45190003e-02 -3.04718569e-04 9.99699318e-01 -8.70592235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.29, Y:-0.15, Z:-0.87 [[ 9.98036579e-01 5.77668028e-02 2.42071031e-02 1.72914714e+01] [-5.77571531e-02 9.98330058e-01 -1.09819553e-03 -1.46009477e-01] [-2.42301178e-02 -3.02094049e-04 9.99706362e-01 -8.72289867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73264 meters Centerline goodness [0,1] 0.9999783545098379 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.15, Z:-0.87 [[ 9.98052155e-01 5.70135044e-02 2.53250254e-02 1.73226435e+01] [-5.70025645e-02 9.98373365e-01 -1.15426833e-03 -1.46839619e-01] [-2.53496397e-02 -2.91571402e-04 9.99678604e-01 -8.72548411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76264 meters Centerline goodness [0,1] 0.9999573260503126 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.15, Z:-0.87 [[ 9.98080161e-01 5.60650345e-02 2.63192634e-02 1.73541098e+01] [-5.60527709e-02 9.98427082e-01 -1.20406774e-03 -1.50506610e-01] [-2.63453714e-02 -2.73511513e-04 9.99652863e-01 -8.72919916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.16, Z:-0.87 [[ 9.98157444e-01 5.44980582e-02 2.66773011e-02 1.73866294e+01] [-5.44847559e-02 9.98513850e-01 -1.22580670e-03 -1.56463944e-01] [-2.67044587e-02 -2.29958161e-04 9.99643346e-01 -8.71899438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.16, Z:-0.87 [[ 9.98251347e-01 5.27087602e-02 2.67588386e-02 1.74182642e+01] [-5.26947284e-02 9.98609910e-01 -1.22975229e-03 -1.62032995e-01] [-2.67864602e-02 -1.82447852e-04 9.99641162e-01 -8.71879646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.85264 meters Centerline goodness [0,1] 0.9999146885064091 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.17, Z:-0.88 [[ 9.98425637e-01 4.91986566e-02 2.69395552e-02 1.74491537e+01] [-4.91830235e-02 9.98789009e-01 -1.24300035e-03 -1.67020238e-01] [-2.69680856e-02 -8.39253551e-05 9.99636292e-01 -8.76772463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.48, Y:-0.17, Z:-0.88 [[ 9.98472625e-01 4.81640864e-02 2.70672990e-02 1.74821471e+01] [-4.81478134e-02 9.98839436e-01 -1.25299806e-03 -1.70510826e-01] [-2.70962352e-02 -5.21469983e-05 9.99632828e-01 -8.75910589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.18, Z:-0.88 [[ 9.98536356e-01 4.70314206e-02 2.67056439e-02 1.75150124e+01] [-4.70150484e-02 9.98893410e-01 -1.24097306e-03 -1.75149961e-01] [-2.67344564e-02 -1.64104251e-05 9.99642570e-01 -8.75848788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94264 meters Centerline goodness [0,1] 0.9998932467920661 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.18, Z:-0.88 [[ 9.98527550e-01 4.74276353e-02 2.63315707e-02 1.75480016e+01] [-4.74117241e-02 9.98874676e-01 -1.22860759e-03 -1.76720699e-01] [-2.63602091e-02 -2.16266407e-05 9.99652509e-01 -8.79594572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972640000000002 meters Centerline goodness [0,1] 0.9998500556935995 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.18, Z:-0.88 [[ 9.98505416e-01 4.81029756e-02 2.59429732e-02 1.75798657e+01] [-4.80876061e-02 9.98842381e-01 -1.21634532e-03 -1.78138568e-01] [-2.59714509e-02 -3.30080818e-05 9.99662684e-01 -8.82002941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.18, Z:-0.88 [[ 9.98377160e-01 5.08611085e-02 2.56162863e-02 1.76125788e+01] [-5.08469723e-02 9.98705731e-01 -1.20332708e-03 -1.77168215e-01] [-2.56443345e-02 -1.01136333e-04 9.99671125e-01 -8.79877345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.17, Z:-0.88 [[ 9.98248647e-01 5.30840935e-02 2.61097208e-02 1.76449325e+01] [-5.30700513e-02 9.98590033e-01 -1.23094858e-03 -1.74351124e-01] [-2.61382507e-02 -1.56851471e-04 9.99658325e-01 -8.82400150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.17, Z:-0.88 [[ 9.97982640e-01 5.79586196e-02 2.59123424e-02 1.76774510e+01] [-5.79463042e-02 9.98318948e-01 -1.22653733e-03 -1.67892896e-01] [-2.59398708e-02 -2.77461519e-04 9.99663466e-01 -8.82156116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092640000000003 meters Centerline goodness [0,1] 0.9999786091681105 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.17, Z:-0.88 [[ 9.97816652e-01 6.05631270e-02 2.63445619e-02 1.77099961e+01] [-6.05511467e-02 9.98164309e-01 -1.25298549e-03 -1.65223396e-01] [-2.63720862e-02 -3.44943651e-04 9.99652137e-01 -8.83042554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12264 meters Centerline goodness [0,1] 0.9999571303024457 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.16, Z:-0.88 [[ 9.97640345e-01 6.32872506e-02 2.66170281e-02 1.77426281e+01] [-6.32759850e-02 9.97995264e-01 -1.26613690e-03 -1.62988096e-01] [-2.66437983e-02 -4.21069419e-04 9.99644902e-01 -8.82933170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15264 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.16, Z:-0.88 [[ 9.97458422e-01 6.59614173e-02 2.69404415e-02 1.77735773e+01] [-6.59506932e-02 9.97822053e-01 -1.28737455e-03 -1.58986987e-01] [-2.69666837e-02 -4.92638203e-04 9.99636211e-01 -8.83754615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182640000000003 meters Centerline goodness [0,1] 0.9998723268432812 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.15, Z:-0.89 [[ 9.97193178e-01 7.00800509e-02 2.63543611e-02 1.78035616e+01] [-7.00711375e-02 9.97541198e-01 -1.26270084e-03 -1.49965672e-01] [-2.63780511e-02 -5.87523398e-04 9.99651866e-01 -8.87519565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21264 meters Centerline goodness [0,1] 0.9998930183794424 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.15, Z:-0.89 [[ 9.97106823e-01 7.14750089e-02 2.58709432e-02 1.78361339e+01] [-7.14669492e-02 9.97442201e-01 -1.23719981e-03 -1.50522184e-01] [-2.58931994e-02 -6.15297005e-04 9.99664526e-01 -8.88030047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24264 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.15, Z:-0.89 [[ 9.97011604e-01 7.28606176e-02 2.56747270e-02 1.78679056e+01] [-7.28530220e-02 9.97341927e-01 -1.23235782e-03 -1.45442617e-01] [-2.56962720e-02 -6.41806399e-04 9.99669590e-01 -8.89929687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272640000000003 meters Centerline goodness [0,1] 0.999956955922865 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.15, Z:-0.89 [[ 9.97001624e-01 7.30270504e-02 2.55892839e-02 1.79005290e+01] [-7.30194693e-02 9.97329755e-01 -1.23179586e-03 -1.46162664e-01] [-2.56109086e-02 -6.40413450e-04 9.99671782e-01 -8.90866411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters Centerline goodness [0,1] 0.9998713660921019 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.14, Z:-0.89 [[ 9.97001463e-01 7.28937660e-02 2.59726950e-02 1.79315055e+01] [-7.28857622e-02 9.97339505e-01 -1.25596801e-03 -1.44843996e-01] [-2.59951470e-02 -6.40837725e-04 9.99661864e-01 -8.93154544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33264 meters Centerline goodness [0,1] 0.9999361810755616 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.15, Z:-0.89 [[ 9.97034802e-01 7.22604179e-02 2.64581879e-02 1.79632056e+01] [-7.22517779e-02 9.97385599e-01 -1.28365193e-03 -1.47189102e-01] [-2.64817728e-02 -6.31805462e-04 9.99649097e-01 -8.93767761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362640000000003 meters Centerline goodness [0,1] 0.999914346895075 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.15, Z:-0.89 [[ 9.97151481e-01 7.02276726e-02 2.75135917e-02 1.79940765e+01] [-7.02173763e-02 9.97530812e-01 -1.34139138e-03 -1.49037516e-01] [-2.75398582e-02 -5.94361821e-04 9.99620529e-01 -8.93181917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39264 meters Centerline goodness [0,1] 0.999978754594319 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.15, Z:-0.89 [[ 9.97218387e-01 6.90845785e-02 2.79787301e-02 1.80259685e+01] [-6.90735090e-02 9.97610642e-01 -1.36308814e-03 -1.52321456e-01] [-2.80060472e-02 -5.73292508e-04 9.99607589e-01 -8.93134393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42264 meters Centerline goodness [0,1] 0.9998063599982787 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.16, Z:-0.90 [[ 9.97299752e-01 6.79185296e-02 2.79334581e-02 1.80581935e+01] [-6.79069102e-02 9.97690727e-01 -1.36547326e-03 -1.57044003e-01] [-2.79616931e-02 -5.35088688e-04 9.99608852e-01 -8.95451939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.16, Z:-0.90 [[ 9.97464476e-01 6.59906489e-02 2.66430630e-02 1.80895736e+01] [-6.59792695e-02 9.97820138e-01 -1.30693976e-03 -1.58414849e-01] [-2.66712306e-02 -4.54263848e-04 9.99644156e-01 -8.96539763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.16, Z:-0.90 [[ 9.97530368e-01 6.51846043e-02 2.61559246e-02 1.81201845e+01] [-6.51732515e-02 9.97873133e-01 -1.28719318e-03 -1.59939041e-01] [-2.61841996e-02 -4.20652368e-04 9.99657047e-01 -8.99575268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.16, Z:-0.90 [[ 9.97662082e-01 6.36938241e-02 2.47682502e-02 1.81533226e+01] [-6.36831079e-02 9.97969423e-01 -1.22199800e-03 -1.63320787e-01] [-2.47957900e-02 -3.58178077e-04 9.99692473e-01 -9.02364306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542640000000002 meters Centerline goodness [0,1] 0.9999573369739115 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.16, Z:-0.91 [[ 9.97671951e-01 6.37857832e-02 2.41257647e-02 1.81845319e+01] [-6.37755183e-02 9.97963554e-01 -1.19544564e-03 -1.62571146e-01] [-2.41528863e-02 -3.45970566e-04 9.99708217e-01 -9.06677400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.16, Z:-0.91 [[ 9.97649364e-01 6.42947616e-02 2.37050641e-02 1.82163340e+01] [-6.42849120e-02 9.97930890e-01 -1.17810806e-03 -1.63372481e-01] [-2.37317619e-02 -3.48539203e-04 9.99718301e-01 -9.07105425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.16, Z:-0.91 [[ 9.97523917e-01 6.60143011e-02 2.42517603e-02 1.82477994e+01] [-6.60043929e-02 9.97818599e-01 -1.20968246e-03 -1.57747179e-01] [-2.42787138e-02 -3.94035526e-04 9.99705151e-01 -9.08763629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632640000000002 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.16, Z:-0.91 [[ 9.97450463e-01 6.71650346e-02 2.41129079e-02 1.82795877e+01] [-6.71554928e-02 9.97741793e-01 -1.20618613e-03 -1.59919733e-01] [-2.41394695e-02 -4.16203298e-04 9.99708514e-01 -9.07689426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.16, Z:-0.91 [[ 9.97383022e-01 6.82088670e-02 2.39720184e-02 1.83116947e+01] [-6.81996404e-02 9.97670968e-01 -1.20319306e-03 -1.60571203e-01] [-2.39982553e-02 -4.34838710e-04 9.99711906e-01 -9.08660352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.16, Z:-0.91 [[ 9.97294975e-01 6.94499191e-02 2.40715771e-02 1.83433180e+01] [-6.94408693e-02 9.97585332e-01 -1.21265550e-03 -1.55637849e-01] [-2.40976711e-02 -4.62176007e-04 9.99709502e-01 -9.12576712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.38, Y:-0.16, Z:-0.91 [[ 9.97302067e-01 6.95321691e-02 2.35343479e-02 1.83765423e+01] [-6.95234672e-02 9.97579608e-01 -1.18875174e-03 -1.57397732e-01] [-2.35600421e-02 -4.50644898e-04 9.99722322e-01 -9.12705168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.41, Y:-0.16, Z:-0.91 [[ 9.97295923e-01 6.93844839e-02 2.42205687e-02 1.84078258e+01] [-6.93750891e-02 9.97589889e-01 -1.22895764e-03 -1.56063814e-01] [-2.42474651e-02 -4.54669671e-04 9.99705884e-01 -9.14340696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.16, Z:-0.92 [[ 9.97391672e-01 6.79721754e-02 2.42824288e-02 1.84403313e+01] [-6.79622239e-02 9.97687130e-01 -1.23580881e-03 -1.57491823e-01] [-2.43102673e-02 -4.17702448e-04 9.99704375e-01 -9.15152004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.16, Z:-0.92 [[ 9.97487646e-01 6.64711441e-02 2.44945463e-02 1.84712730e+01] [-6.64604567e-02 9.97788275e-01 -1.25104319e-03 -1.59745767e-01] [-2.45235294e-02 -3.80018613e-04 9.99699181e-01 -9.16155133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842640000000003 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.16, Z:-0.91 [[ 9.97719956e-01 6.22387971e-02 2.61002057e-02 1.85015689e+01] [-6.22250457e-02 9.98061245e-01 -1.33950895e-03 -1.64326295e-01] [-2.61329733e-02 -2.87631683e-04 9.99658434e-01 -9.14988989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.87264 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.17, Z:-0.92 [[ 9.97708185e-01 6.24271739e-02 2.61003111e-02 1.85340367e+01] [-6.24135405e-02 9.98049478e-01 -1.33746108e-03 -1.66188247e-01] [-2.61328958e-02 -2.94616959e-04 9.99658434e-01 -9.16275205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.17, Z:-0.92 [[ 9.97832674e-01 6.00336015e-02 2.69429258e-02 1.85653322e+01] [-6.00180445e-02 9.98196329e-01 -1.38644360e-03 -1.71241921e-01] [-2.69775628e-02 -2.33622995e-04 9.99636012e-01 -9.17126898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932640000000003 meters Centerline goodness [0,1] 0.9998928510200583 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.18, Z:-0.92 [[ 9.97972747e-01 5.75724423e-02 2.71258207e-02 1.85973477e+01] [-5.75556544e-02 9.98341318e-01 -1.39989727e-03 -1.77858339e-01] [-2.71614231e-02 -1.64185035e-04 9.99631047e-01 -9.20537511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.19, Z:-0.92 [[ 9.98169586e-01 5.42692154e-02 2.66895222e-02 1.86293070e+01] [-5.42516702e-02 9.98526338e-01 -1.38158149e-03 -1.85111334e-01] [-2.67251682e-02 -6.88985315e-05 9.99642817e-01 -9.17981138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99264 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.20, Z:-0.92 [[ 9.98512612e-01 4.75145926e-02 2.67381306e-02 1.86610565e+01] [-4.74944404e-02 9.98870537e-01 -1.38861149e-03 -1.95092480e-01] [-2.67739102e-02 1.16633538e-04 9.99641508e-01 -9.20684223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.20, Z:-0.92 [[ 9.98673243e-01 4.39869350e-02 2.67750455e-02 1.86927515e+01] [-4.39653212e-02 9.99032083e-01 -1.39567942e-03 -2.01506744e-01] [-2.68105212e-02 2.16654215e-04 9.99640510e-01 -9.20760839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.72, Y:-0.21, Z:-0.92 [[ 9.98803538e-01 4.08992220e-02 2.68094592e-02 1.87231857e+01] [-4.08763144e-02 9.99163230e-01 -1.40216956e-03 -2.09580027e-01] [-2.68443735e-02 3.04620033e-04 9.99639578e-01 -9.23021212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.75, Y:-0.22, Z:-0.92 [[ 9.99044001e-01 3.55975658e-02 2.53751441e-02 1.87540358e+01] [-3.55751959e-02 9.99366114e-01 -1.33260331e-03 -2.20220196e-01] [-2.54064966e-02 4.28603621e-04 9.99677111e-01 -9.24608804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112640000000003 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.22, Z:-0.93 [[ 9.99105060e-01 3.43450060e-02 2.46880604e-02 1.87861190e+01] [-3.43234893e-02 9.99409937e-01 -1.29489325e-03 -2.24585316e-01] [-2.47179660e-02 4.46354019e-04 9.99694365e-01 -9.28067722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.23, Z:-0.93 [[ 9.99149443e-01 3.33825859e-02 2.42072858e-02 1.88169655e+01] [-3.33614879e-02 9.99442537e-01 -1.27500267e-03 -2.31209798e-01] [-2.42363540e-02 4.66327143e-04 9.99706148e-01 -9.29194620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.24, Z:-0.93 [[ 9.99122339e-01 3.43491939e-02 2.39725891e-02 1.88480189e+01] [-3.43287303e-02 9.99409795e-01 -1.26475571e-03 -2.35124439e-01] [-2.40018837e-02 4.40697131e-04 9.99711816e-01 -9.30944989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.24, Z:-0.93 [[ 9.99066266e-01 3.61956302e-02 2.35896519e-02 1.88807167e+01] [-3.61762649e-02 9.99344646e-01 -1.24730018e-03 -2.35187712e-01] [-2.36193391e-02 3.92750035e-04 9.99720947e-01 -9.33142690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.23, Z:-0.93 [[ 9.98850752e-01 4.15947098e-02 2.38129073e-02 1.89130577e+01] [-4.15764668e-02 9.99134529e-01 -1.26089849e-03 -2.30434419e-01] [-2.38447447e-02 2.69392849e-04 9.99715637e-01 -9.32419053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.94, Y:-0.23, Z:-0.93 [[ 9.98697357e-01 4.45454540e-02 2.48855899e-02 1.89442444e+01] [-4.45264653e-02 9.99007337e-01 -1.31691536e-03 -2.29939340e-01] [-2.49195495e-02 2.07132535e-04 9.99689438e-01 -9.33791569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.23, Z:-0.93 [[ 9.98541094e-01 4.74356873e-02 2.57980483e-02 1.89770980e+01] [-4.74161096e-02 9.98874284e-01 -1.37042023e-03 -2.28377622e-01] [-2.58340138e-02 1.45177828e-04 9.99666236e-01 -9.33327362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.23, Z:-0.93 [[ 9.98334397e-01 5.15396268e-02 2.59248638e-02 1.90099591e+01] [-5.15211739e-02 9.98670949e-01 -1.37967723e-03 -2.25352032e-01] [-2.59615163e-02 4.16998242e-05 9.99662942e-01 -9.33704887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.23, Z:-0.93 [[ 9.98281873e-01 5.26036394e-02 2.58100565e-02 1.90429299e+01] [-5.25857015e-02 9.98615470e-01 -1.37370690e-03 -2.26888506e-01] [-2.58465837e-02 1.41067643e-05 9.99665921e-01 -9.34139674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.23, Z:-0.94 [[ 9.98258371e-01 5.29786523e-02 2.59516477e-02 1.90759603e+01] [-5.29605120e-02 9.98595645e-01 -1.38631339e-03 -2.30118554e-01] [-2.59886474e-02 9.48639239e-06 9.99662238e-01 -9.35159561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.23, Z:-0.94 [[ 9.98259057e-01 5.29416230e-02 2.60007620e-02 1.91072015e+01] [-5.29232414e-02 9.98597609e-01 -1.39507477e-03 -2.34194900e-01] [-2.60381563e-02 1.66014141e-05 9.99660950e-01 -9.39060522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.24, Z:-0.94 [[ 9.98367259e-01 5.17028204e-02 2.42823848e-02 1.91386367e+01] [-5.16863719e-02 9.98662514e-01 -1.30494309e-03 -2.41699538e-01] [-2.43173767e-02 4.77440882e-05 9.99704288e-01 -9.44263343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.25, Z:-0.94 [[ 9.98419823e-01 5.10480973e-02 2.34935968e-02 1.91702797e+01] [-5.10324377e-02 9.98696194e-01 -1.26600645e-03 -2.45711013e-01] [-2.35275930e-02 6.50704218e-05 9.99723186e-01 -9.44639450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.25, Z:-0.95 [[ 9.98458373e-01 5.04922209e-02 2.30524166e-02 1.92010572e+01] [-5.04768782e-02 9.98724451e-01 -1.24733021e-03 -2.52017250e-01] [-2.30859925e-02 8.17932699e-05 9.99733480e-01 -9.48403280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.26, Z:-0.95 [[ 9.98446585e-01 5.07622412e-02 2.29697920e-02 1.92341816e+01] [-5.07470674e-02 9.98710763e-01 -1.24339447e-03 -2.55740847e-01] [-2.30032960e-02 7.58133796e-05 9.99735386e-01 -9.49130287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.26, Z:-0.95 [[ 9.98440746e-01 5.11412827e-02 2.23751257e-02 1.92650368e+01] [-5.11268485e-02 9.98691426e-01 -1.21705339e-03 -2.59424878e-01] [-2.24080879e-02 7.11860320e-05 9.99748905e-01 -9.51462833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.26, Z:-0.95 [[ 9.98359094e-01 5.31981620e-02 2.11913854e-02 1.92967362e+01] [-5.31856729e-02 9.98583975e-01 -1.15291247e-03 -2.62062458e-01] [-2.12227107e-02 2.39425533e-05 9.99774773e-01 -9.52730078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.26, Z:-0.96 [[ 9.98295545e-01 5.46640402e-02 2.04413413e-02 1.93280328e+01] [-5.46526547e-02 9.98504804e-01 -1.11562969e-03 -2.63208097e-01] [-2.04717623e-02 -3.44542235e-06 9.99790432e-01 -9.57526223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.26, Z:-0.96 [[ 9.98220414e-01 5.61952517e-02 1.99524224e-02 1.93601831e+01] [-5.61846547e-02 9.98419798e-01 -1.09172758e-03 -2.63970196e-01] [-1.99822434e-02 -3.12352090e-05 9.99800335e-01 -9.57657613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.26, Z:-0.96 [[ 9.98130773e-01 5.75677056e-02 2.05163263e-02 1.93915059e+01] [-5.75567094e-02 9.98341603e-01 -1.12655190e-03 -2.64622015e-01] [-2.05471551e-02 -5.64061124e-05 9.99788883e-01 -9.60997848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.27, Z:-0.96 [[ 9.97979650e-01 5.93987422e-02 2.25479023e-02 1.94239278e+01] [-5.93858351e-02 9.98234331e-01 -1.24218843e-03 -2.66013907e-01] [-2.25818746e-02 -9.93472290e-05 9.99744992e-01 -9.58206382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.27, Z:-0.96 [[ 9.97944271e-01 5.98649951e-02 2.28782676e-02 1.94554674e+01] [-5.98517450e-02 9.98206477e-01 -1.26407288e-03 -2.68835459e-01] [-2.29129086e-02 -1.07829948e-04 9.99737459e-01 -9.60210392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.27, Z:-0.96 [[ 9.97921754e-01 6.00724486e-02 2.33125291e-02 1.94877340e+01] [-6.00586433e-02 9.98194014e-01 -1.29252251e-03 -2.73665712e-01] [-2.33480720e-02 -1.10282538e-04 9.99727391e-01 -9.59937643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.28, Z:-0.96 [[ 9.97911362e-01 6.03636577e-02 2.30030892e-02 1.95205151e+01] [-6.03502220e-02 9.98176445e-01 -1.27847955e-03 -2.76973576e-01] [-2.30383155e-02 -1.12432268e-04 9.99734576e-01 -9.59087687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.28, Z:-0.96 [[ 9.97901641e-01 6.06648463e-02 2.26294468e-02 1.95534713e+01] [-6.06518232e-02 9.98158186e-01 -1.26203153e-03 -2.79063101e-01] [-2.26643285e-02 -1.13133877e-04 9.99743125e-01 -9.60399251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.28, Z:-0.96 [[ 9.97860243e-01 6.12357469e-02 2.29154912e-02 1.95862655e+01] [-6.12224362e-02 9.98123323e-01 -1.28263027e-03 -2.81476452e-01] [-2.29510291e-02 -1.23056443e-04 9.99736583e-01 -9.61949306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.28, Z:-0.96 [[ 9.97837019e-01 6.14542701e-02 2.33378682e-02 1.96176451e+01] [-6.14403989e-02 9.98109892e-01 -1.31162034e-03 -2.84487794e-01] [-2.33743618e-02 -1.25104598e-04 9.99726774e-01 -9.63559777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92264 meters Centerline goodness [0,1] 0.999978688943824 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.29, Z:-0.97 [[ 9.97863777e-01 6.09585104e-02 2.34934580e-02 1.96480872e+01] [-6.09442259e-02 9.98140295e-01 -1.32420233e-03 -2.89700986e-01] [-2.35304885e-02 -1.10417072e-04 9.99723114e-01 -9.65438961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.29, Z:-0.97 [[ 9.97893405e-01 6.03454811e-02 2.38154473e-02 1.96787567e+01] [-6.03305355e-02 9.98177546e-01 -1.34622079e-03 -2.94342694e-01] [-2.38532831e-02 -9.34138376e-05 9.99715466e-01 -9.67081016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.30, Z:-0.97 [[ 9.97921928e-01 5.97970051e-02 2.40030057e-02 1.97118985e+01] [-5.97815907e-02 9.98210555e-01 -1.35988835e-03 -3.00226401e-01] [-2.40413709e-02 -7.78754609e-05 9.99710961e-01 -9.66232831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.30, Z:-0.97 [[ 9.97949554e-01 5.95517231e-02 2.34580414e-02 1.97445319e+01] [-5.95368289e-02 9.98225219e-01 -1.33344282e-03 -3.04491834e-01] [-2.34958173e-02 -6.59087258e-05 9.99723933e-01 -9.68278619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.31, Z:-0.97 [[ 9.97944792e-01 5.97855171e-02 2.30626150e-02 1.97762947e+01] [-5.97710774e-02 9.98211244e-01 -1.31554885e-03 -3.06737466e-01] [-2.31000124e-02 -6.56322232e-05 9.99733157e-01 -9.72039458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07264 meters Centerline goodness [0,1] 0.9997626906564839 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.31, Z:-0.97 [[ 9.97912313e-01 6.06113863e-02 2.22996934e-02 1.98084961e+01] [-6.05980031e-02 9.98161437e-01 -1.27602500e-03 -3.08965961e-01] [-2.23360356e-02 -7.79558336e-05 9.99750517e-01 -9.73239917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.31, Z:-0.98 [[ 9.97873502e-01 6.12582970e-02 2.22687177e-02 1.98399975e+01] [-6.12450310e-02 9.98121943e-01 -1.27788818e-03 -3.11581817e-01] [-2.23051770e-02 -8.86775533e-05 9.99751205e-01 -9.75087126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.31, Z:-0.98 [[ 9.97783366e-01 6.27677620e-02 2.21034337e-02 1.98711542e+01] [-6.27549625e-02 9.98028153e-01 -1.27291458e-03 -3.13700263e-01] [-2.21397471e-02 -1.17007157e-04 9.99754879e-01 -9.77580594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.90, Y:-0.32, Z:-0.98 [[ 9.97737399e-01 6.37459540e-02 2.13666834e-02 1.99029875e+01] [-6.37341575e-02 9.97966150e-01 -1.23331100e-03 -3.16283786e-01] [-2.14018453e-02 -1.31267057e-04 9.99770946e-01 -9.77407324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.32, Z:-0.98 [[ 9.97697936e-01 6.45021703e-02 2.09355767e-02 1.99348287e+01] [-6.44909396e-02 9.97917557e-01 -1.21185361e-03 -3.18499492e-01] [-2.09701468e-02 -1.41091169e-04 9.99780092e-01 -9.79163308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.32, Z:-0.98 [[ 9.97557343e-01 6.64743554e-02 2.14594304e-02 1.99676206e+01] [-6.64629386e-02 9.97788117e-01 -1.24557817e-03 -3.17847240e-01] [-2.14947637e-02 -1.83721155e-04 9.99768944e-01 -9.79794295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.32, Z:-0.98 [[ 9.97472675e-01 6.77091887e-02 2.15343522e-02 1.99993645e+01] [-6.76978831e-02 9.97705078e-01 -1.25440739e-03 -3.17482607e-01] [-2.15698675e-02 -2.06592964e-04 9.99767322e-01 -9.82195991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.32, Z:-0.98 [[ 9.97393611e-01 6.89293773e-02 2.13242753e-02 2.00315753e+01] [-6.89184837e-02 9.97621516e-01 -1.24621081e-03 -3.19382932e-01] [-2.13594564e-02 -2.26674013e-04 9.99771835e-01 -9.82709373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.32, Z:-0.98 [[ 9.97235323e-01 7.08192689e-02 2.25020304e-02 2.00633046e+01] [-7.08075291e-02 9.97489125e-01 -1.31905544e-03 -3.18134070e-01] [-2.25389451e-02 -2.77904488e-04 9.99745927e-01 -9.83374410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.32, Z:-0.98 [[ 9.97186730e-01 7.13792225e-02 2.28830134e-02 2.00958575e+01] [-7.13671327e-02 9.97449208e-01 -1.34559522e-03 -3.18976163e-01] [-2.29206911e-02 -2.91285354e-04 9.99737244e-01 -9.84041766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.37264 meters Centerline goodness [0,1] 0.9998296712655425 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.32, Z:-0.99 [[ 9.97159112e-01 7.16405999e-02 2.32664869e-02 2.01284079e+01] [-7.16280680e-02 9.97430467e-01 -1.37263128e-03 -3.20612491e-01] [-2.33050390e-02 -2.97801716e-04 9.99728356e-01 -9.86379834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.33, Z:-0.98 [[ 9.97249480e-01 7.03050300e-02 2.34664960e-02 2.01607783e+01] [-7.02917982e-02 9.97525505e-01 -1.38926801e-03 -3.25753492e-01] [-2.35061008e-02 -2.64055394e-04 9.99723659e-01 -9.83867019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.33, Z:-0.99 [[ 9.97295768e-01 6.95497484e-02 2.37483535e-02 2.01919398e+01] [-6.95358780e-02 9.97578454e-01 -1.41036140e-03 -3.27836044e-01] [-2.37889361e-02 -2.44815163e-04 9.99716973e-01 -9.86693269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters Centerline goodness [0,1] 0.9999788346350033 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.33, Z:-0.99 [[ 9.97359634e-01 6.85620756e-02 2.39374847e-02 2.02227407e+01] [-6.85475808e-02 9.97646828e-01 -1.42651647e-03 -3.31117322e-01] [-2.39789606e-02 -2.18106720e-04 9.99712440e-01 -9.88257987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.34, Z:-0.99 [[ 9.97418325e-01 6.74151167e-02 2.47363353e-02 2.02551843e+01] [-6.73992517e-02 9.97724994e-01 -1.47548715e-03 -3.35052775e-01] [-2.47795301e-02 -1.95532569e-04 9.99692921e-01 -9.87506459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.34, Z:-0.99 [[ 9.97427101e-01 6.74393244e-02 2.43128893e-02 2.02876710e+01] [-6.74239213e-02 9.97723359e-01 -1.45367244e-03 -3.37921594e-01] [-2.43555722e-02 -1.89338048e-04 9.99703341e-01 -9.87411020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.34, Z:-0.99 [[ 9.97417376e-01 6.75297017e-02 2.44605251e-02 2.03195260e+01] [-6.75140147e-02 9.97717247e-01 -1.46753509e-03 -3.39628487e-01] [-2.45037900e-02 -1.87683253e-04 9.99699719e-01 -9.89757568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.34, Z:-0.99 [[ 9.97428674e-01 6.72845856e-02 2.46743694e-02 2.03513443e+01] [-6.72684312e-02 9.97733809e-01 -1.48508916e-03 -3.42604691e-01] [-2.47183761e-02 -1.78535608e-04 9.99694438e-01 -9.89601087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.35, Z:-0.99 [[ 9.97473071e-01 6.66076863e-02 2.47161443e-02 2.03818653e+01] [-6.65911593e-02 9.97779230e-01 -1.49204720e-03 -3.45486705e-01] [-2.47606373e-02 -1.57599805e-04 9.99693396e-01 -9.92120676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.35, Z:-0.99 [[ 9.97535182e-01 6.56144384e-02 2.48657750e-02 2.04133933e+01] [-6.55973077e-02 9.97845042e-01 -1.50487154e-03 -3.50346267e-01] [-2.49109316e-02 -1.29965591e-04 9.99689666e-01 -9.92288658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.36, Z:-0.99 [[ 9.97729050e-01 6.26089702e-02 2.48366720e-02 2.04441265e+01] [-6.25908151e-02 9.98038133e-01 -1.50846296e-03 -3.59089437e-01] [-2.48823890e-02 -4.95102251e-05 9.99690384e-01 -9.94943097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.36, Z:-1.00 [[ 9.97824084e-01 6.12790055e-02 2.43306575e-02 2.04764459e+01] [-6.12611690e-02 9.98120676e-01 -1.47848749e-03 -3.64412129e-01] [-2.43755325e-02 -1.52540958e-05 9.99702872e-01 -9.95096839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.37, Z:-1.00 [[ 9.97892013e-01 6.02656533e-02 2.40744842e-02 2.05090824e+01] [-6.02477832e-02 9.98182374e-01 -1.46758007e-03 -3.68235008e-01] [-2.41191704e-02 1.40521274e-05 9.99709090e-01 -9.96537169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.37, Z:-1.00 [[ 9.97880111e-01 6.04625288e-02 2.40741938e-02 2.05415149e+01] [-6.04446015e-02 9.98170468e-01 -1.47232370e-03 -3.70404071e-01] [-2.41191697e-02 1.40474884e-05 9.99709090e-01 -9.97822493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.38, Z:-1.00 [[ 9.97957295e-01 5.89773633e-02 2.45541981e-02 2.05728621e+01] [-5.89581360e-02 9.98259319e-01 -1.50689507e-03 -3.76144154e-01] [-2.46003298e-02 5.61471775e-05 9.99697365e-01 -9.98865992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.60, Y:-0.38, Z:-1.00 [[ 9.97950409e-01 5.90817507e-02 2.45830672e-02 2.06048499e+01] [-5.90623969e-02 9.98253146e-01 -1.51325055e-03 -3.80134020e-01] [-2.46295296e-02 5.82141349e-05 9.99696645e-01 -1.00172463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.38, Z:-1.00 [[ 9.97898385e-01 6.01404521e-02 2.41234230e-02 2.06381014e+01] [-6.01220247e-02 9.98189924e-01 -1.48909322e-03 -3.83789090e-01] [-2.41693125e-02 3.56146844e-05 9.99707879e-01 -1.00387230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.39, Z:-1.00 [[ 9.97825692e-01 6.13335390e-02 2.41264290e-02 2.06715118e+01] [-6.13153464e-02 9.98117326e-01 -1.49379659e-03 -3.86272265e-01] [-2.41726266e-02 1.12282670e-05 9.99707799e-01 -1.00439431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.39, Z:-1.01 [[ 9.97736422e-01 6.26750950e-02 2.43693558e-02 2.07037813e+01] [-6.26568111e-02 9.98033983e-01 -1.51388021e-03 -3.89274946e-01] [-2.44163278e-02 -1.64527011e-05 9.99701877e-01 -1.00658370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-0.39, Z:-1.01 [[ 9.97559002e-01 6.53393261e-02 2.46335172e-02 2.07361888e+01] [-6.53213413e-02 9.97863100e-01 -1.53491999e-03 -3.90483541e-01] [-2.46811685e-02 -7.79211299e-05 9.99695371e-01 -1.00757229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.39, Z:-1.01 [[ 9.97450479e-01 6.69545757e-02 2.46906321e-02 2.07691943e+01] [-6.69368971e-02 9.97756018e-01 -1.54272174e-03 -3.90600441e-01] [-2.47385190e-02 -1.13925760e-04 9.99693950e-01 -1.00901646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.39, Z:-1.01 [[ 9.97336304e-01 6.88907332e-02 2.39659012e-02 2.08008783e+01] [-6.88745268e-02 9.97624200e-01 -1.50199122e-03 -3.91112064e-01] [-2.40124362e-02 -1.52649731e-04 9.99711648e-01 -1.01043266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.39, Z:-1.01 [[ 9.97038456e-01 7.32984557e-02 2.32734615e-02 2.08318534e+01] [-7.32842804e-02 9.97310020e-01 -1.46254954e-03 -3.89137043e-01] [-2.33180590e-02 -2.47360747e-04 9.99728066e-01 -1.01354555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.39, Z:-1.01 [[ 9.96810724e-01 7.62719052e-02 2.34728851e-02 2.08638119e+01] [-7.62582255e-02 9.97087006e-01 -1.47866532e-03 -3.87696311e-01] [-2.35172893e-02 -3.16051114e-04 9.99723380e-01 -1.01390449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092640000000003 meters Centerline goodness [0,1] 0.9999366754617415 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.38, Z:-1.02 [[ 9.96579951e-01 7.91534458e-02 2.37304246e-02 2.08947610e+01] [-7.91401521e-02 9.96862370e-01 -1.50029479e-03 -3.83638824e-01] [-2.37747209e-02 -3.82865705e-04 9.99717268e-01 -1.01593391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12264 meters Centerline goodness [0,1] 0.9998723757258631 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.38, Z:-1.02 [[ 9.96154018e-01 8.42404909e-02 2.40979723e-02 2.09258357e+01] [-8.42281926e-02 9.96445322e-01 -1.52670926e-03 -3.80695572e-01] [-2.41409226e-02 -5.08891098e-04 9.99708436e-01 -1.01504528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15264 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.38, Z:-1.01 [[ 9.95949475e-01 8.64793860e-02 2.46162342e-02 2.09579541e+01] [-8.64672872e-02 9.96253473e-01 -1.55748165e-03 -3.82385953e-01] [-2.46586989e-02 -5.77325958e-04 9.99695761e-01 -1.01424781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182640000000003 meters Centerline goodness [0,1] 0.9999568155809384 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.38, Z:-1.02 [[ 9.95704673e-01 8.92457514e-02 2.46454699e-02 2.09905175e+01] [-8.92343211e-02 9.96009430e-01 -1.56537848e-03 -3.77702728e-01] [-2.46868238e-02 -6.40567104e-04 9.99695029e-01 -1.01530854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21264 meters Centerline goodness [0,1] 0.9998302603382063 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.38, Z:-1.02 [[ 9.95647958e-01 8.96885254e-02 2.53201784e-02 2.10224047e+01] [-8.96766189e-02 9.95969638e-01 -1.60763787e-03 -3.76988432e-01] [-2.53623156e-02 -6.69986629e-04 9.99678100e-01 -1.01674808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24264 meters Centerline goodness [0,1] 0.9998515502396403 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.38, Z:-1.02 [[ 9.95659978e-01 8.94132402e-02 2.58162783e-02 2.10540353e+01] [-8.94006127e-02 9.95994389e-01 -1.64522023e-03 -3.75381994e-01] [-2.58599728e-02 -6.69911158e-04 9.99665351e-01 -1.01916467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272640000000003 meters Centerline goodness [0,1] 0.9998729701691614 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.38, Z:-1.02 [[ 9.95741855e-01 8.84628621e-02 2.59322396e-02 2.10853121e+01] [-8.84497322e-02 9.96079267e-01 -1.65517721e-03 -3.77384516e-01] [-2.59769880e-02 -6.45570427e-04 9.99662333e-01 -1.02127323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.39, Z:-1.02 [[ 9.96051342e-01 8.52014917e-02 2.49485631e-02 2.11164280e+01] [-8.51882429e-02 9.96363597e-01 -1.59532680e-03 -3.89985943e-01] [-2.49937643e-02 -5.36296850e-04 9.99687463e-01 -1.02097456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33264 meters Centerline goodness [0,1] 0.9999362610746383 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.39, Z:-1.02 [[ 9.96180315e-01 8.35803040e-02 2.52806944e-02 2.11480046e+01] [-8.35662024e-02 9.96500918e-01 -1.61561525e-03 -3.92050471e-01] [-2.53272688e-02 -5.03167511e-04 9.99679087e-01 -1.02306427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362640000000003 meters Centerline goodness [0,1] 0.9999356568364611 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.39, Z:-1.03 [[ 9.96303812e-01 8.20220817e-02 2.55165295e-02 2.11795560e+01] [-8.20070895e-02 9.96630405e-01 -1.63520122e-03 -3.93023862e-01] [-2.55646718e-02 -4.63379110e-04 9.99673063e-01 -1.02532015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.40, Z:-1.02 [[ 9.96416920e-01 8.04591660e-02 2.60700015e-02 2.12120501e+01] [-8.04428394e-02 9.96757814e-01 -1.67611082e-03 -3.97756257e-01] [-2.61203362e-02 -4.27039761e-04 9.99658715e-01 -1.02414032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42264 meters Centerline goodness [0,1] 0.9999785995548708 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.40, Z:-1.03 [[ 9.96629641e-01 7.78820926e-02 2.57631141e-02 2.12445614e+01] [-7.78652282e-02 9.96962514e-01 -1.65866459e-03 -4.01204492e-01] [-2.58140393e-02 -3.52976467e-04 9.99666700e-01 -1.02554245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-0.40, Z:-1.03 [[ 9.96722628e-01 7.67791443e-02 2.54748127e-02 2.12753682e+01] [-7.67622371e-02 9.97048074e-01 -1.64237660e-03 -4.03163454e-01] [-2.55257132e-02 -3.18509692e-04 9.99674115e-01 -1.02813726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.41, Z:-1.03 [[ 9.96923774e-01 7.43069588e-02 2.49292056e-02 2.13068911e+01] [-7.42899657e-02 9.97235385e-01 -1.60838631e-03 -4.08857777e-01] [-2.49798003e-02 -2.48551276e-04 9.99687925e-01 -1.02913661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.41, Z:-1.04 [[ 9.97043669e-01 7.26989010e-02 2.48755398e-02 2.13376478e+01] [-7.26813696e-02 9.97353913e-01 -1.60937477e-03 -4.10928939e-01] [-2.49267167e-02 -2.03371375e-04 9.99689260e-01 -1.03500271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.42, Z:-1.04 [[ 9.97175963e-01 7.08561666e-02 2.48898154e-02 2.13684135e+01] [-7.08379369e-02 9.97486531e-01 -1.61447025e-03 -4.15530864e-01] [-2.49416509e-02 -1.53232251e-04 9.99688897e-01 -1.03621308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.42, Z:-1.03 [[ 9.97442094e-01 6.66392750e-02 2.58549154e-02 2.14007261e+01] [-6.66180952e-02 9.97777132e-01 -1.68062101e-03 -4.23930078e-01] [-2.59094387e-02 -4.60830823e-05 9.99664293e-01 -1.03141699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.43, Y:-0.43, Z:-1.03 [[ 9.97553550e-01 6.46453392e-02 2.66063052e-02 2.14311489e+01] [-6.46220697e-02 9.97908302e-01 -1.73438842e-03 -4.29179754e-01] [-2.66627730e-02 1.07908134e-05 9.99644485e-01 -1.03333539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.44, Z:-1.04 [[ 9.97669599e-01 6.26967205e-02 2.69163915e-02 2.14627363e+01] [-6.26720865e-02 9.98032623e-01 -1.75866590e-03 -4.35282435e-01] [-2.69736994e-02 6.76610823e-05 9.99636141e-01 -1.03513349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.44, Z:-1.03 [[ 9.97853095e-01 5.98150700e-02 2.66713094e-02 2.14946444e+01] [-5.97897295e-02 9.98209465e-01 -1.74728621e-03 -4.40173158e-01] [-2.67280675e-02 1.48864581e-04 9.99642730e-01 -1.03421394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.44, Z:-1.04 [[ 9.97907212e-01 5.89108843e-02 2.66590469e-02 2.15272619e+01] [-5.88851319e-02 9.98263230e-01 -1.75069518e-03 -4.43429394e-01] [-2.67158812e-02 1.77209858e-04 9.99643051e-01 -1.03534867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.45, Z:-1.04 [[ 9.97938338e-01 5.84469657e-02 2.65146492e-02 2.15603162e+01] [-5.84211921e-02 9.98290496e-01 -1.74632308e-03 -4.46393822e-01] [-2.65713895e-02 1.93705345e-04 9.99646900e-01 -1.03577198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.45, Z:-1.04 [[ 9.97939906e-01 5.82865795e-02 2.68070663e-02 2.15919914e+01] [-5.82600273e-02 9.98299871e-01 -1.77112292e-03 -4.49186821e-01] [-2.68647236e-02 2.05693825e-04 9.99639057e-01 -1.03756671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.45, Z:-1.04 [[ 9.97916359e-01 5.88062886e-02 2.65473281e-02 2.16253639e+01] [-5.87803097e-02 9.98269394e-01 -1.75857429e-03 -4.50105241e-01] [-2.66048004e-02 1.94449887e-04 9.99646011e-01 -1.03868270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.45, Z:-1.04 [[ 9.97872964e-01 5.96564124e-02 2.62804170e-02 2.16569949e+01] [-5.96311090e-02 9.98218955e-01 -1.74617473e-03 -4.51562726e-01] [-2.63377809e-02 1.75330145e-04 9.99653085e-01 -1.04131313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.45, Z:-1.04 [[ 9.97826953e-01 6.06516628e-02 2.57438926e-02 2.16902486e+01] [-6.06275995e-02 9.98158982e-01 -1.71493765e-03 -4.52239816e-01] [-2.58005115e-02 1.50420603e-04 9.99667100e-01 -1.04339002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.45, Z:-1.05 [[ 9.97682641e-01 6.31051721e-02 2.54378721e-02 2.17217811e+01] [-6.30823361e-02 9.98006878e-01 -1.69998907e-03 -4.49831107e-01] [-2.54944494e-02 9.13691855e-05 9.99674960e-01 -1.04589890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.45, Z:-1.05 [[ 9.97585967e-01 6.44855155e-02 2.57654248e-02 2.17531996e+01] [-6.44624396e-02 9.97918641e-01 -1.72607078e-03 -4.50308314e-01] [-2.58231043e-02 6.10018433e-05 9.99666526e-01 -1.04830145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.45, Z:-1.05 [[ 9.97531185e-01 6.55165339e-02 2.52808115e-02 2.17851940e+01] [-6.54945582e-02 9.97851483e-01 -1.69718511e-03 -4.51635439e-01] [-2.53376889e-02 3.72394970e-05 9.99678949e-01 -1.05077332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.45, Z:-1.05 [[ 9.97455697e-01 6.68484697e-02 2.47672151e-02 2.18180290e+01] [-6.68276886e-02 9.97763139e-01 -1.66673331e-03 -4.50730995e-01] [-2.48232329e-02 7.35689624e-06 9.99691856e-01 -1.05253425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.45, Z:-1.05 [[ 9.97452921e-01 6.67211983e-02 2.52181100e-02 2.18491881e+01] [-6.66994723e-02 9.97771658e-01 -1.70263370e-03 -4.52299049e-01] [-2.52755172e-02 1.62623298e-05 9.99680523e-01 -1.05458144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.46, Z:-1.05 [[ 9.97499360e-01 6.54164455e-02 2.67528642e-02 2.18813744e+01] [-6.53914037e-02 9.97858049e-01 -1.81077346e-03 -4.56637381e-01] [-2.68140152e-02 5.68380207e-05 9.99640438e-01 -1.05415522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.46, Z:-1.06 [[ 9.97581149e-01 6.43347513e-02 2.63228353e-02 2.19132897e+01] [-6.43100226e-02 9.97928370e-01 -1.78579923e-03 -4.60809269e-01] [-2.63831931e-02 8.86575147e-05 9.99651899e-01 -1.05576621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.47, Z:-1.06 [[ 9.97673340e-01 6.30838457e-02 2.58521723e-02 2.19437255e+01] [-6.30594412e-02 9.98008223e-01 -1.75898076e-03 -4.65777974e-01] [-2.59116438e-02 1.24664673e-04 9.99664229e-01 -1.05819864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.47, Z:-1.06 [[ 9.97756490e-01 6.18226492e-02 2.56894166e-02 2.19758971e+01] [-6.17981015e-02 9.98087138e-01 -1.74913082e-03 -4.71179325e-01] [-2.57484122e-02 1.57649450e-04 9.99668442e-01 -1.05944831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.48, Z:-1.06 [[ 9.97937234e-01 5.88206991e-02 2.57177464e-02 2.20076711e+01] [-5.87949921e-02 9.98268535e-01 -1.75526114e-03 -4.79554929e-01] [-2.57764627e-02 2.39565751e-04 9.99667703e-01 -1.06018800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.17264 meters Centerline goodness [0,1] 0.9999788018823929 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.49, Z:-1.06 [[ 9.98019857e-01 5.75796781e-02 2.53169054e-02 2.20385756e+01] [-5.75542559e-02 9.98340877e-01 -1.73228347e-03 -4.85310304e-01] [-2.53746459e-02 2.71757645e-04 9.99677975e-01 -1.06379071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.07, Y:-0.49, Z:-1.07 [[ 9.98208618e-01 5.45777514e-02 2.45117100e-02 2.20698901e+01] [-5.45528859e-02 9.98509465e-01 -1.68248477e-03 -4.94868619e-01] [-2.45670007e-02 3.42286276e-04 9.99698127e-01 -1.06694304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23264 meters Centerline goodness [0,1] 0.9999579469711306 Centerline is valid? [True, True] Translation: X:22.10, Y:-0.50, Z:-1.07 [[ 9.98248936e-01 5.38222689e-02 2.45402672e-02 2.21019746e+01] [-5.37971313e-02 9.98550466e-01 -1.68386709e-03 -5.00386681e-01] [-2.45953248e-02 3.60722550e-04 9.99697424e-01 -1.06844075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.50, Z:-1.07 [[ 9.98264443e-01 5.35429729e-02 2.45204579e-02 2.21351396e+01] [-5.35177022e-02 9.98565477e-01 -1.68615049e-03 -5.04749789e-01] [-2.45755643e-02 3.70945513e-04 9.99697906e-01 -1.06947315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292640000000002 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.51, Z:-1.07 [[ 9.98173485e-01 5.49309105e-02 2.51453421e-02 2.21676742e+01] [-5.49046463e-02 9.98490096e-01 -1.73423701e-03 -5.05621027e-01] [-2.52026383e-02 3.50473287e-04 9.99682302e-01 -1.06679404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters Centerline goodness [0,1] 0.9999787424004082 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.51, Z:-1.07 [[ 9.98032166e-01 5.70491426e-02 2.60228804e-02 2.21986569e+01] [-5.70215841e-02 9.98371322e-01 -1.80044516e-03 -5.06444983e-01] [-2.60832114e-02 3.13036318e-04 9.99659726e-01 -1.06783874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.50, Z:-1.07 [[ 9.97855091e-01 5.97447710e-02 2.67540675e-02 2.22309296e+01] [-5.97165617e-02 9.98213654e-01 -1.85284329e-03 -5.03297582e-01] [-2.68169731e-02 2.51208191e-04 9.99640329e-01 -1.06671881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.50, Z:-1.07 [[ 9.97460132e-01 6.61078713e-02 2.65147931e-02 2.22632720e+01] [-6.60822930e-02 9.97812479e-01 -1.84071779e-03 -4.96556474e-01] [-2.65784774e-02 8.38842781e-05 9.99646726e-01 -1.06865114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.49, Z:-1.07 [[ 9.97239770e-01 6.95060706e-02 2.61103009e-02 2.22957213e+01] [-6.94823218e-02 9.97581529e-01 -1.81681336e-03 -4.94725249e-01] [-2.61734335e-02 -2.40579846e-06 9.99657417e-01 -1.07172160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.49, Z:-1.07 [[ 9.97024285e-01 7.25767089e-02 2.59845544e-02 2.23287410e+01] [-7.25541129e-02 9.97362830e-01 -1.81258842e-03 -4.92991258e-01] [-2.60475804e-02 -7.80916174e-05 9.99660701e-01 -1.07227618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.49, Z:-1.07 [[ 9.96681724e-01 7.68014179e-02 2.69644887e-02 2.23619655e+01] [-7.67784795e-02 9.97046391e-01 -1.88652559e-03 -4.89001337e-01] [-2.70297340e-02 -1.90026863e-04 9.99634612e-01 -1.07327907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.49, Z:-1.08 [[ 9.96598193e-01 7.78328071e-02 2.70942082e-02 2.23943474e+01] [-7.78098783e-02 9.96966403e-01 -1.90112958e-03 -4.89364790e-01] [-2.71599856e-02 -2.13534743e-04 9.99631077e-01 -1.07615171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.49, Z:-1.08 [[ 9.96579933e-01 7.80183490e-02 2.72318809e-02 2.24271100e+01] [-7.79951216e-02 9.96951900e-01 -1.91570628e-03 -4.93098909e-01] [-2.72983356e-02 -2.14799429e-04 9.99627308e-01 -1.07618284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.50, Z:-1.08 [[ 9.96741510e-01 7.55396477e-02 2.82864622e-02 2.24587085e+01] [-7.55134141e-02 9.97142788e-01 -1.99602717e-03 -4.99393441e-01] [-2.83564210e-02 -1.46484200e-04 9.99597865e-01 -1.07632550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.50, Z:-1.08 [[ 9.96864507e-01 7.36435605e-02 2.89444421e-02 2.24910364e+01] [-7.36151124e-02 9.97284622e-01 -2.04867517e-03 -5.04818530e-01] [-2.90167187e-02 -8.84967927e-05 9.99578922e-01 -1.07689537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.51, Z:-1.08 [[ 9.97001951e-01 7.17468868e-02 2.89740221e-02 2.25224009e+01] [-7.17175650e-02 9.97422871e-01 -2.05127158e-03 -5.10861342e-01] [-2.90465246e-02 -3.28245494e-05 9.99578060e-01 -1.07877716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.52, Z:-1.08 [[ 9.97230600e-01 6.90124859e-02 2.77201735e-02 2.25534647e+01] [-6.89844565e-02 9.97615795e-01 -1.96734401e-03 -5.20650625e-01] [-2.77898542e-02 4.96345436e-05 9.99613786e-01 -1.08253038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.53, Z:-1.08 [[ 9.97276972e-01 6.86220074e-02 2.70122524e-02 2.25850278e+01] [-6.85951304e-02 9.97642730e-01 -1.92145804e-03 -5.25241598e-01] [-2.70804315e-02 6.33168860e-05 9.99633256e-01 -1.08493918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.53, Z:-1.09 [[ 9.97263849e-01 6.88125746e-02 2.70119521e-02 2.26174329e+01] [-6.87856534e-02 9.97629603e-01 -1.92566778e-03 -5.27744670e-01] [-2.70804332e-02 6.23640883e-05 9.99633256e-01 -1.08622449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.53, Z:-1.09 [[ 9.97222013e-01 6.97609869e-02 2.61086510e-02 2.26480119e+01] [-6.97360239e-02 9.97563734e-01 -1.86652445e-03 -5.30547787e-01] [-2.61752540e-02 4.06257570e-05 9.99657369e-01 -1.08974460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.53, Z:-1.09 [[ 9.97137633e-01 7.10638611e-02 2.58160388e-02 2.26802028e+01] [-7.10397967e-02 9.97471768e-01 -1.84925680e-03 -5.31622586e-01] [-2.58821852e-02 9.99739915e-06 9.99665000e-01 -1.09327945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.53, Z:-1.09 [[ 9.97026842e-01 7.28216771e-02 2.51888707e-02 2.27120913e+01] [-7.27992165e-02 9.97344977e-01 -1.80877107e-03 -5.32482707e-01] [-2.52537114e-02 -3.03367420e-05 9.99681074e-01 -1.09490978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.53, Z:-1.10 [[ 9.96882879e-01 7.47442315e-02 2.52551865e-02 2.27453838e+01] [-7.47221731e-02 9.97202735e-01 -1.81732783e-03 -5.32098536e-01] [-2.53203758e-02 -7.54594196e-05 9.99679385e-01 -1.09521274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.53, Z:-1.09 [[ 9.96483746e-01 7.95862712e-02 2.61948383e-02 2.27779314e+01] [-7.95640716e-02 9.96827962e-01 -1.89031212e-03 -5.28194401e-01] [-2.62621901e-02 -2.00502689e-04 9.99655069e-01 -1.09202318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.53, Z:-1.09 [[ 9.96232148e-01 8.23214948e-02 2.72887916e-02 2.28098119e+01] [-8.22982912e-02 9.96605786e-01 -1.97423735e-03 -5.26028089e-01] [-2.73586898e-02 -2.79022203e-04 9.99625642e-01 -1.09294013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.52, Z:-1.09 [[ 9.95996084e-01 8.49012059e-02 2.79926146e-02 2.28417355e+01] [-8.48776443e-02 9.96389312e-01 -2.03098982e-03 -5.23066797e-01] [-2.80639755e-02 -3.53089283e-04 9.99606067e-01 -1.09405236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952640000000002 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:22.87, Y:-0.52, Z:-1.09 [[ 9.95620474e-01 8.88941827e-02 2.89429834e-02 2.28735218e+01] [-8.88705207e-02 9.96040962e-01 -2.10542443e-03 -5.16680398e-01] [-2.90155570e-02 -4.75974333e-04 9.99578847e-01 -1.09369952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.52, Z:-1.09 [[ 9.95459423e-01 9.06501661e-02 2.90359084e-02 2.29058712e+01] [-9.06270544e-02 9.95882658e-01 -2.11369884e-03 -5.19936511e-01] [-2.91079648e-02 -5.27337422e-04 9.99576134e-01 -1.09210534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01264 meters Centerline goodness [0,1] 0.9999787351677796 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.52, Z:-1.09 [[ 9.95344346e-01 9.18767473e-02 2.91255405e-02 2.29372169e+01] [-9.18538644e-02 9.95770230e-01 -2.12546226e-03 -5.17916535e-01] [-2.91976267e-02 -5.59726607e-04 9.99573502e-01 -1.09439777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.52, Z:-1.09 [[ 9.95218167e-01 9.28447930e-02 3.03421318e-02 2.29703807e+01] [-9.28202601e-02 9.95680408e-01 -2.21910187e-03 -5.18210004e-01] [-3.04170982e-02 -6.07874070e-04 9.99537108e-01 -1.09358349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07264 meters Centerline goodness [0,1] 0.9999143010176754 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.52, Z:-1.09 [[ 9.95209016e-01 9.26382143e-02 3.12597971e-02 2.30020138e+01] [-9.26118682e-02 9.95699646e-01 -2.29274952e-03 -5.18649107e-01] [-3.13377651e-02 -6.13263217e-04 9.99508663e-01 -1.09349553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10264 meters Centerline goodness [0,1] 0.9999355517841414 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.52, Z:-1.09 [[ 9.95286379e-01 9.16520381e-02 3.17005889e-02 2.30342465e+01] [-9.16242898e-02 9.95790922e-01 -2.32992244e-03 -5.23545968e-01] [-3.17807008e-02 -5.85603873e-04 9.99494694e-01 -1.09303452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.53, Z:-1.10 [[ 9.95612259e-01 8.81417069e-02 3.14208334e-02 2.30650064e+01] [-8.81125255e-02 9.96107838e-01 -2.31485224e-03 -5.25146594e-01] [-3.15025734e-02 -4.63873716e-04 9.99503563e-01 -1.09753108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162640000000003 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.53, Z:-1.10 [[ 9.95746015e-01 8.67466726e-02 3.10626631e-02 2.30969966e+01] [-8.67173248e-02 9.96230318e-01 -2.29325788e-03 -5.33244911e-01] [-3.11444992e-02 -4.10168649e-04 9.99514808e-01 -1.09734064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19264 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.54, Z:-1.10 [[ 9.95864738e-01 8.56290124e-02 3.03495753e-02 2.31282344e+01] [-8.56003199e-02 9.96327025e-01 -2.24580071e-03 -5.35852436e-01] [-3.04304077e-02 -3.61419621e-04 9.99536823e-01 -1.10015365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.54, Z:-1.10 [[ 9.95980210e-01 8.46625482e-02 2.92518937e-02 2.31614548e+01] [-8.46353587e-02 9.96409631e-01 -2.16861147e-03 -5.39019214e-01] [-2.93304688e-02 -3.15850405e-04 9.99569719e-01 -1.10299559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.54, Z:-1.10 [[ 9.95962043e-01 8.49727863e-02 2.89695310e-02 2.31934638e+01] [-8.49460824e-02 9.96383222e-01 -2.15346337e-03 -5.39773403e-01] [-2.90477405e-02 -3.16080388e-04 9.99577975e-01 -1.10419652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.54, Z:-1.11 [[ 9.95912407e-01 8.54901369e-02 2.91533027e-02 2.32264599e+01] [-8.54631599e-02 9.96338963e-01 -2.17241561e-03 -5.40468890e-01] [-2.92322915e-02 -3.27997714e-04 9.99572591e-01 -1.10560013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312640000000002 meters Centerline goodness [0,1] 0.999978815354631 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.54, Z:-1.11 [[ 9.95835019e-01 8.64386396e-02 2.89996085e-02 2.32578925e+01] [-8.64121743e-02 9.96257116e-01 -2.16694690e-03 -5.36905477e-01] [-2.90783743e-02 -3.47997617e-04 9.99577074e-01 -1.10792078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342640000000003 meters Centerline goodness [0,1] 0.9999787184234608 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.54, Z:-1.11 [[ 9.95780067e-01 8.70636445e-02 2.90168849e-02 2.32904976e+01] [-8.70372895e-02 9.96202685e-01 -2.17247366e-03 -5.37117448e-01] [-2.90958421e-02 -3.62245046e-04 9.99576561e-01 -1.10904846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.37264 meters Centerline goodness [0,1] 0.9999788538803129 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.54, Z:-1.11 [[ 9.95804027e-01 8.67191020e-02 2.92256227e-02 2.33218184e+01] [-8.66920429e-02 9.96232742e-01 -2.19407633e-03 -5.36906861e-01] [-2.93057905e-02 -3.48758891e-04 9.99570432e-01 -1.11116925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.54, Z:-1.11 [[ 9.95871534e-01 8.60362152e-02 2.89423214e-02 2.33539573e+01] [-8.60092670e-02 9.96291958e-01 -2.17704155e-03 -5.38456474e-01] [-2.90223064e-02 -3.21254143e-04 9.99578713e-01 -1.11182234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.54, Z:-1.11 [[ 9.95972422e-01 8.48659671e-02 2.89257952e-02 2.33849963e+01] [-8.48384120e-02 9.96392336e-01 -2.18077192e-03 -5.39643586e-01] [-2.90065139e-02 -2.82029837e-04 9.99579183e-01 -1.11354898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.42, Y:-0.55, Z:-1.11 [[ 9.96197842e-01 8.20011012e-02 2.94224138e-02 2.34164468e+01] [-8.19712073e-02 9.96632219e-01 -2.22278353e-03 -5.45112706e-01] [-2.95055963e-02 -1.97458627e-04 9.99564596e-01 -1.11423289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.45, Y:-0.55, Z:-1.12 [[ 9.96317400e-01 8.03992076e-02 2.97927261e-02 2.34472119e+01] [-8.03676870e-02 9.96762733e-01 -2.25588545e-03 -5.50080116e-01] [-2.98776505e-02 -1.46794565e-04 9.99553553e-01 -1.11508229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522640000000003 meters Centerline goodness [0,1] 0.9999572895978815 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.56, Z:-1.12 [[ 9.96442174e-01 7.88634649e-02 2.97245190e-02 2.34793403e+01] [-7.88312759e-02 9.96885422e-01 -2.25505791e-03 -5.55500722e-01] [-2.98097813e-02 -9.61869506e-05 9.99555585e-01 -1.11591428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.56, Z:-1.12 [[ 9.96534152e-01 7.76059690e-02 2.99499159e-02 2.35115419e+01] [-7.75725700e-02 9.96984108e-01 -2.27721931e-03 -5.58147705e-01] [-3.00363160e-02 -5.39651326e-05 9.99548807e-01 -1.11555497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.56, Z:-1.12 [[ 9.96676076e-01 7.57022335e-02 3.00993749e-02 2.35445902e+01] [-7.56674671e-02 9.97130469e-01 -2.29405027e-03 -5.61808434e-01] [-3.01866685e-02 8.88156527e-06 9.99544279e-01 -1.11700903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.58, Y:-0.57, Z:-1.12 [[ 9.96724228e-01 7.49242624e-02 3.04494443e-02 2.35768891e+01] [-7.48881404e-02 9.97189226e-01 -2.32659194e-03 -5.66393932e-01] [-3.05381760e-02 3.86682935e-05 9.99533600e-01 -1.11845760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.61, Y:-0.57, Z:-1.12 [[ 9.96794763e-01 7.38824762e-02 3.06851819e-02 2.36080379e+01] [-7.38451138e-02 9.97266952e-01 -2.35062023e-03 -5.71861750e-01] [-3.07749875e-02 7.71351881e-05 9.99526335e-01 -1.12059370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.64, Y:-0.58, Z:-1.12 [[ 9.97066193e-01 7.06309589e-02 2.95004110e-02 2.36395211e+01] [-7.05948505e-02 9.97502500e-01 -2.26502345e-03 -5.81193180e-01] [-2.95867145e-02 1.75801200e-04 9.99562202e-01 -1.12431032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.59, Z:-1.13 [[ 9.97210528e-01 6.89946694e-02 2.84762629e-02 2.36697982e+01] [-6.89602302e-02 9.97617004e-01 -2.19086957e-03 -5.88098573e-01] [-2.85595624e-02 2.21028555e-04 9.99592068e-01 -1.12827696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.60, Z:-1.13 [[ 9.97468948e-01 6.59344515e-02 2.66147625e-02 2.37008482e+01] [-6.59031506e-02 9.97823913e-01 -2.05247477e-03 -5.98580673e-01] [-2.66921753e-02 2.93283152e-04 9.99643657e-01 -1.13102511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.60, Z:-1.13 [[ 9.97549117e-01 6.49354296e-02 2.60604948e-02 2.37321869e+01] [-6.49050890e-02 9.97889419e-01 -2.00932202e-03 -6.04949806e-01] [-2.61359682e-02 3.12938668e-04 9.99658348e-01 -1.13268890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792640000000002 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.61, Z:-1.13 [[ 9.97585513e-01 6.43887688e-02 2.60236585e-02 2.37636135e+01] [-6.43582124e-02 9.97924835e-01 -2.01090500e-03 -6.10605839e-01] [-2.60991348e-02 3.31213552e-04 9.99659305e-01 -1.13366560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.61, Z:-1.13 [[ 9.97552348e-01 6.47830074e-02 2.63149074e-02 2.37951965e+01] [-6.47517801e-02 9.97899320e-01 -2.03796100e-03 -6.14708923e-01] [-2.63916535e-02 3.29035681e-04 9.99651625e-01 -1.13446114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.62, Z:-1.14 [[ 9.97300259e-01 6.83893361e-02 2.67412188e-02 2.38266749e+01] [-6.83582585e-02 9.97658679e-01 -2.07566653e-03 -6.17330580e-01] [-2.68205625e-02 2.42079619e-04 9.99640235e-01 -1.13528045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.62, Z:-1.13 [[ 9.97076945e-01 7.13111983e-02 2.74276940e-02 2.38586884e+01] [-7.12794402e-02 9.97454101e-01 -2.13509342e-03 -6.17069678e-01] [-2.75101219e-02 1.73821753e-04 9.99621510e-01 -1.13489894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.61, Z:-1.13 [[ 9.96480665e-01 7.88106528e-02 2.85511153e-02 2.38900355e+01] [-7.87792928e-02 9.96889603e-01 -2.22332335e-03 -6.13070232e-01] [-2.86375315e-02 -3.37379413e-05 9.99589861e-01 -1.13482737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.61, Z:-1.14 [[ 9.96125968e-01 8.30716673e-02 2.88470649e-02 2.39227538e+01] [-8.30413087e-02 9.96543564e-01 -2.25088237e-03 -6.11070807e-01] [-2.89343414e-02 -1.53335639e-04 9.99581303e-01 -1.13503014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.61, Z:-1.14 [[ 9.95726791e-01 8.75734734e-02 2.93094649e-02 2.39542857e+01] [-8.75439326e-02 9.96158023e-01 -2.29205984e-03 -6.07104397e-01] [-2.93975822e-02 -2.83600429e-04 9.99567757e-01 -1.13549656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002640000000003 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:23.99, Y:-0.60, Z:-1.13 [[ 9.94842538e-01 9.67601479e-02 3.04269483e-02 2.39861590e+01] [-9.67324132e-02 9.95307565e-01 -2.38564142e-03 -5.95684203e-01] [-3.05150068e-02 -5.69934571e-04 9.99534146e-01 -1.13493860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03264 meters Centerline goodness [0,1] 0.9999574314113615 Centerline is valid? [True, True] Translation: X:24.02, Y:-0.59, Z:-1.14 [[ 9.94389562e-01 1.01228524e-01 3.06950416e-02 2.40171429e+01] [-1.01202413e-01 9.94862944e-01 -2.40703707e-03 -5.90041349e-01] [-3.07810203e-02 -7.12879751e-04 9.99525898e-01 -1.13623155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062640000000002 meters Centerline goodness [0,1] 0.9998939194636568 Centerline is valid? [True, True] Translation: X:24.05, Y:-0.58, Z:-1.14 [[ 9.93569257e-01 1.08916768e-01 3.09397742e-02 2.40481625e+01] [-1.08893945e-01 9.94050411e-01 -2.42669079e-03 -5.80747220e-01] [-3.10200026e-02 -9.58068715e-04 9.99518305e-01 -1.13729134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092640000000003 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.58, Z:-1.14 [[ 9.93222645e-01 1.12000338e-01 3.10596613e-02 2.40787443e+01] [-1.11978844e-01 9.93707605e-01 -2.43608073e-03 -5.76513949e-01] [-3.11370635e-02 -1.05845443e-03 9.99514564e-01 -1.13889267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12264 meters Centerline goodness [0,1] 0.9996599579197926 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.57, Z:-1.14 [[ 9.92889448e-01 1.14790054e-01 3.15243967e-02 2.41092549e+01] [-1.14769301e-01 9.93389094e-01 -2.47301977e-03 -5.73173392e-01] [-3.15998700e-02 -1.16259773e-03 9.99499923e-01 -1.13950923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15264 meters Centerline goodness [0,1] 0.9997047098774546 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.57, Z:-1.14 [[ 9.92643597e-01 1.16794305e-01 3.19026558e-02 2.41399431e+01] [-1.16774086e-01 9.93155350e-01 -2.50258807e-03 -5.71352656e-01] [-3.19765814e-02 -1.24122546e-03 9.99487848e-01 -1.14035767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182640000000003 meters Centerline goodness [0,1] 0.9997432056494757 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.57, Z:-1.14 [[ 9.92531322e-01 1.17946695e-01 3.11472493e-02 2.41706758e+01] [-1.17927990e-01 9.93019144e-01 -2.44333058e-03 -5.74091771e-01] [-3.12179976e-02 -1.24805036e-03 9.99511820e-01 -1.14165722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.21264 meters Centerline goodness [0,1] 0.9996781254023432 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.57, Z:-1.14 [[ 9.92560692e-01 1.17656706e-01 3.13077030e-02 2.41994914e+01] [-1.17637654e-01 9.93053548e-01 -2.45621252e-03 -5.68714185e-01] [-3.13792155e-02 -1.24502473e-03 9.99506776e-01 -1.14437396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24264 meters Centerline goodness [0,1] 0.9996621550286112 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.57, Z:-1.15 [[ 9.92664511e-01 1.16743895e-01 3.14329674e-02 2.42287438e+01] [-1.16724273e-01 9.93161301e-01 -2.46478302e-03 -5.72106026e-01] [-3.15057552e-02 -1.22228762e-03 9.99502823e-01 -1.14505036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272640000000003 meters Centerline goodness [0,1] 0.9998929565403554 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.58, Z:-1.15 [[ 9.93110900e-01 1.12955698e-01 3.11729130e-02 2.42587331e+01] [-1.12934564e-01 9.93599423e-01 -2.44347755e-03 -5.77104767e-01] [-3.12493930e-02 -1.09385513e-03 9.99511020e-01 -1.14680179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters Centerline goodness [0,1] 0.9998929931943672 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.58, Z:-1.15 [[ 9.93369169e-01 1.10654454e-01 3.11975261e-02 2.42879235e+01] [-1.10632150e-01 9.93858414e-01 -2.44550307e-03 -5.79546884e-01] [-3.12765296e-02 -1.02216203e-03 9.99510247e-01 -1.14865401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33264 meters Centerline goodness [0,1] 0.9998937977909941 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.59, Z:-1.15 [[ 9.93652415e-01 1.07914089e-01 3.17714981e-02 2.43179982e+01] [-1.07889572e-01 9.94159766e-01 -2.49002469e-03 -5.86944336e-01] [-3.18546538e-02 -9.53594280e-04 9.99492057e-01 -1.14860190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362640000000003 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:24.35, Y:-0.59, Z:-1.15 [[ 9.94229092e-01 1.02566204e-01 3.14434000e-02 2.43470773e+01] [-1.02539514e-01 9.94725879e-01 -2.46440535e-03 -5.91634362e-01] [-3.15303284e-02 -7.74007464e-04 9.99502496e-01 -1.15105133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39264 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:24.38, Y:-0.60, Z:-1.15 [[ 9.94499483e-01 9.99666767e-02 3.12640547e-02 2.43785093e+01] [-9.99390340e-02 9.94990547e-01 -2.44948062e-03 -5.97352022e-01] [-3.13523054e-02 -6.88492222e-04 9.99508159e-01 -1.15260781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.61, Z:-1.15 [[ 9.95070481e-01 9.41352837e-02 3.11975273e-02 2.44082315e+01] [-9.41048318e-02 9.95559288e-01 -2.44621237e-03 -6.06754043e-01] [-3.12892629e-02 -5.01684339e-04 9.99510245e-01 -1.15382650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.61, Z:-1.16 [[ 9.95311598e-01 9.16663773e-02 3.08560995e-02 2.44396507e+01] [-9.16354464e-02 9.95789686e-01 -2.41801311e-03 -6.11521996e-01] [-3.09478362e-02 -4.20835959e-04 9.99520912e-01 -1.15595328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.62, Z:-1.16 [[ 9.95531981e-01 8.94056496e-02 3.03760644e-02 2.44712508e+01] [-8.93744712e-02 9.95995238e-01 -2.38533044e-03 -6.17548360e-01] [-3.04676775e-02 -3.40171947e-04 9.99535695e-01 -1.15721538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.62, Z:-1.16 [[ 9.95720012e-01 8.73832187e-02 3.00970114e-02 2.45026935e+01] [-8.73515334e-02 9.96174734e-01 -2.36850026e-03 -6.22172416e-01] [-3.01888495e-02 -2.70656989e-04 9.99544176e-01 -1.15889527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.63, Z:-1.16 [[ 9.96056460e-01 8.33615556e-02 3.03706980e-02 2.45333475e+01] [-8.33272557e-02 9.96519358e-01 -2.39548584e-03 -6.29342134e-01] [-3.04646799e-02 -1.44667767e-04 9.99535833e-01 -1.16077689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.63, Z:-1.16 [[ 9.96205949e-01 8.14422840e-02 3.06734534e-02 2.45640658e+01] [-8.14062339e-02 9.96678056e-01 -2.42433787e-03 -6.34376110e-01] [-3.07690015e-02 -8.18705067e-05 9.99526519e-01 -1.16256716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.64, Z:-1.16 [[ 9.96190854e-01 8.16268603e-02 3.06730958e-02 2.45964571e+01] [-8.15907586e-02 9.96662956e-01 -2.42885300e-03 -6.37139687e-01] [-3.07689980e-02 -8.30400080e-05 9.99526519e-01 -1.16385247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.64, Z:-1.16 [[ 9.96328734e-01 7.98684203e-02 3.08235170e-02 2.46286672e+01] [-7.98309435e-02 9.96805415e-01 -2.44653707e-03 -6.42630142e-01] [-3.09204497e-02 -2.31152661e-05 9.99521848e-01 -1.16449612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.65, Z:-1.17 [[ 9.96539809e-01 7.71413372e-02 3.09454744e-02 2.46598407e+01] [-7.71020639e-02 9.97020165e-01 -2.46215835e-03 -6.49490946e-01] [-3.10431962e-02 6.76788724e-05 9.99518042e-01 -1.16566817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.65, Z:-1.17 [[ 9.96617788e-01 7.61767549e-02 3.08234656e-02 2.46916527e+01] [-7.61371486e-02 9.97094324e-01 -2.45829844e-03 -6.54532656e-01] [-3.09211678e-02 1.03173169e-04 9.99521821e-01 -1.16784485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.66, Z:-1.17 [[ 9.96667887e-01 7.56061008e-02 3.06078536e-02 2.47245774e+01] [-7.55666918e-02 9.97137755e-01 -2.44389914e-03 -6.58850404e-01] [-3.07050201e-02 1.22821549e-04 9.99528482e-01 -1.16831638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.66, Z:-1.17 [[ 9.96688201e-01 7.51410786e-02 3.10877620e-02 2.47561964e+01] [-7.51000011e-02 9.97172902e-01 -2.48851850e-03 -6.63725311e-01] [-3.11868638e-02 1.45586069e-04 9.99513561e-01 -1.16985666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.67, Z:-1.17 [[ 9.96707168e-01 7.51143043e-02 3.05395092e-02 2.47892049e+01] [-7.50744867e-02 9.97174919e-01 -2.44997959e-03 -6.66218572e-01] [-3.06372612e-02 1.49174239e-04 9.99530558e-01 -1.17102809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.67, Z:-1.18 [[ 9.96740723e-01 7.49577516e-02 2.98205850e-02 2.48196003e+01] [-7.49195212e-02 9.97186698e-01 -2.39884921e-03 -6.70943923e-01] [-2.99165031e-02 1.56886744e-04 9.99552389e-01 -1.17615087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.68, Z:-1.18 [[ 9.96790615e-01 7.49427776e-02 2.81433643e-02 2.48511147e+01] [-7.49086785e-02 9.97187825e-01 -2.26545858e-03 -6.76588429e-01] [-2.82340000e-02 1.50005621e-04 9.99601330e-01 -1.17781910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.68, Z:-1.18 [[ 9.96790834e-01 7.49182057e-02 2.82009829e-02 2.48827607e+01] [-7.48838233e-02 9.97189670e-01 -2.27482109e-03 -6.81357104e-01] [-2.82921544e-02 1.55723388e-04 9.99599685e-01 -1.18066490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.68, Z:-1.18 [[ 9.96806921e-01 7.46742002e-02 2.82794363e-02 2.49158453e+01] [-7.46393831e-02 9.97207970e-01 -2.28625268e-03 -6.84900190e-01] [-2.83712034e-02 1.68192817e-04 9.99597442e-01 -1.18123208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932640000000003 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.69, Z:-1.18 [[ 9.96807316e-01 7.43327605e-02 2.91515822e-02 2.49478302e+01] [-7.42954427e-02 9.97233476e-01 -2.36269278e-03 -6.90198234e-01] [-2.92465591e-02 1.89319738e-04 9.99572210e-01 -1.18218303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.69, Z:-1.18 [[ 9.96758660e-01 7.46188082e-02 3.00700259e-02 2.49800667e+01] [-7.45790707e-02 9.97212112e-01 -2.44245751e-03 -6.94464286e-01] [-3.01684473e-02 1.91946090e-04 9.99544810e-01 -1.17908233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.70, Z:-1.18 [[ 9.96738241e-01 7.47077109e-02 3.05227221e-02 2.50118387e+01] [-7.46666475e-02 9.97205455e-01 -2.48450612e-03 -6.99898762e-01] [-3.06230367e-02 1.97372929e-04 9.99530985e-01 -1.18023736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.71, Z:-1.18 [[ 9.96732306e-01 7.47892375e-02 3.05168850e-02 2.50436584e+01] [-7.47480384e-02 9.97199343e-01 -2.49022157e-03 -7.07202722e-01] [-3.06176595e-02 2.01006991e-04 9.99531149e-01 -1.18283467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.71, Z:-1.18 [[ 9.96677492e-01 7.54899568e-02 3.05817431e-02 2.50764955e+01] [-7.54488184e-02 9.97146545e-01 -2.49856615e-03 -7.10983632e-01] [-3.06830961e-02 1.82908260e-04 9.99529146e-01 -1.18282087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.72, Z:-1.18 [[ 9.96579234e-01 7.65182684e-02 3.12215562e-02 2.51072576e+01] [-7.64756883e-02 9.97068167e-01 -2.55742365e-03 -7.15403261e-01] [-3.13257094e-02 1.60985297e-04 9.99509217e-01 -1.18452848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.72, Z:-1.18 [[ 9.96437750e-01 7.83490812e-02 3.11966491e-02 2.51394482e+01] [-7.83073151e-02 9.96925980e-01 -2.56020058e-03 -7.17964466e-01] [-3.13013393e-02 1.08154676e-04 9.99509987e-01 -1.18446563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.72, Z:-1.19 [[ 9.96342614e-01 7.93343281e-02 3.17405028e-02 2.51701086e+01] [-7.92914124e-02 9.96848061e-01 -2.61048410e-03 -7.20957953e-01] [-3.18475596e-02 8.41872553e-05 9.99492734e-01 -1.18568604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.73, Z:-1.19 [[ 9.96225270e-01 8.04654039e-02 3.25657705e-02 2.52020829e+01] [-8.04206585e-02 9.96757401e-01 -2.68363279e-03 -7.27733687e-01] [-3.26761124e-02 5.45420944e-05 9.99465992e-01 -1.18580145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.73, Z:-1.19 [[ 9.96203356e-01 8.08753747e-02 3.22187422e-02 2.52347339e+01] [-8.08316270e-02 9.96724220e-01 -2.66014992e-03 -7.33040169e-01] [-3.23283413e-02 4.57569212e-05 9.99477302e-01 -1.18689439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.74, Z:-1.19 [[ 9.96146287e-01 8.17028158e-02 3.18939464e-02 2.52676747e+01] [-8.16601745e-02 9.96656736e-01 -2.63943681e-03 -7.37013967e-01] [-3.20029659e-02 2.47999531e-05 9.99487774e-01 -1.18880232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.74, Z:-1.19 [[ 9.96077249e-01 8.26422554e-02 3.16286381e-02 2.53003668e+01] [-8.26006003e-02 9.96579278e-01 -2.62358704e-03 -7.40604075e-01] [-3.17372645e-02 7.50866087e-07 9.99496246e-01 -1.19048903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.74, Z:-1.19 [[ 9.95863325e-01 8.52709291e-02 3.13864091e-02 2.53322482e+01] [-8.52310190e-02 9.96357799e-01 -2.60970342e-03 -7.43539826e-01] [-3.14946253e-02 -7.61877006e-05 9.99503918e-01 -1.19334735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322640000000003 meters Centerline goodness [0,1] 0.9999573278713009 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.75, Z:-1.19 [[ 9.95703955e-01 8.72936353e-02 3.08780774e-02 2.53643039e+01] [-8.72558038e-02 9.96182616e-01 -2.57312228e-03 -7.45276780e-01] [-3.09848211e-02 -1.32223430e-04 9.99519846e-01 -1.19489139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:-0.75, Z:-1.20 [[ 9.95506313e-01 8.95120189e-02 3.08995148e-02 2.53960537e+01] [-8.94750221e-02 9.95985723e-01 -2.58073712e-03 -7.45995546e-01] [-3.10064826e-02 -1.95594677e-04 9.99519164e-01 -1.19577147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-0.74, Z:-1.20 [[ 9.95129561e-01 9.36569746e-02 3.07494355e-02 2.54279641e+01] [-9.36222427e-02 9.95604474e-01 -2.57050639e-03 -7.44292945e-01] [-3.08550214e-02 -3.20844216e-04 9.99523819e-01 -1.19736144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-0.74, Z:-1.20 [[ 9.94930997e-01 9.57303542e-02 3.07897791e-02 2.54596211e+01] [-9.56963725e-02 9.95407230e-01 -2.57875992e-03 -7.44198371e-01] [-3.08952343e-02 -3.80781985e-04 9.99522556e-01 -1.19874128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.49, Y:-0.74, Z:-1.20 [[ 9.94601851e-01 9.92807766e-02 3.01742627e-02 2.54914799e+01] [-9.92496319e-02 9.95059345e-01 -2.53185985e-03 -7.39725920e-01] [-3.02765471e-02 -4.76591981e-04 9.99541447e-01 -1.20168116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472640000000002 meters Centerline goodness [0,1] 0.9999784960110101 Centerline is valid? [True, True] Translation: X:25.52, Y:-0.74, Z:-1.20 [[ 9.94482457e-01 1.00615810e-01 2.96833624e-02 2.55235565e+01] [-1.00586135e-01 9.94925225e-01 -2.49502762e-03 -7.41338718e-01] [-2.97837652e-02 -5.04473503e-04 9.99556238e-01 -1.20265117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.55, Y:-0.74, Z:-1.21 [[ 9.94383590e-01 1.01608015e-01 2.96156563e-02 2.55542512e+01] [-1.01578753e-01 9.94824373e-01 -2.49481364e-03 -7.41402861e-01] [-2.97158697e-02 -5.27519679e-04 9.99558247e-01 -1.20540215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.75, Z:-1.21 [[ 9.94337385e-01 1.02245000e-01 2.89676527e-02 2.55862605e+01] [-1.02217175e-01 9.94759105e-01 -2.44364058e-03 -7.45232499e-01] [-2.90656863e-02 -5.31188422e-04 9.99577363e-01 -1.20697993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.75, Z:-1.21 [[ 9.94333952e-01 1.02416819e-01 2.84743196e-02 2.56179524e+01] [-1.02389868e-01 9.94741435e-01 -2.40675492e-03 -7.45465685e-01] [-2.85710777e-02 -5.22363702e-04 9.99591627e-01 -1.21073834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592640000000003 meters Centerline goodness [0,1] 0.9999787811916483 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.75, Z:-1.21 [[ 9.94377306e-01 1.01881994e-01 2.88761620e-02 2.56489590e+01] [-1.01853882e-01 9.94796362e-01 -2.44658049e-03 -7.46731094e-01] [-2.89751634e-02 -5.08325083e-04 9.99580003e-01 -1.21157163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62264 meters Centerline goodness [0,1] 0.9999577113375904 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.75, Z:-1.21 [[ 9.94689526e-01 9.88716239e-02 2.85858327e-02 2.56802388e+01] [-9.88427095e-02 9.95100112e-01 -2.42624589e-03 -7.52335419e-01] [-2.86856522e-02 -4.12139780e-04 9.99588397e-01 -1.21419954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.76, Z:-1.22 [[ 9.94941195e-01 9.64893359e-02 2.79611449e-02 2.57106585e+01] [-9.64606028e-02 9.95333963e-01 -2.37778669e-03 -7.58426305e-01] [-2.80601082e-02 -3.31390957e-04 9.99606183e-01 -1.21741350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.77, Z:-1.22 [[ 9.95203826e-01 9.37053872e-02 2.80828371e-02 2.57424452e+01] [-9.36751821e-02 9.95599939e-01 -2.39214287e-03 -7.68271398e-01] [-2.81834275e-02 -2.49995143e-04 9.99602737e-01 -1.21640226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.78, Z:-1.22 [[ 9.95876759e-01 8.58994893e-02 2.91677696e-02 2.57726028e+01] [-8.58633980e-02 9.96303808e-01 -2.48993069e-03 -7.84402691e-01] [-2.92738437e-02 -2.47797091e-05 9.99571429e-01 -1.21681545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.80, Z:-1.22 [[ 9.96222510e-01 8.16800428e-02 2.94801705e-02 2.58045322e+01] [-8.16411964e-02 9.96658597e-01 -2.52099189e-03 -7.95336077e-01] [-2.95875801e-02 1.04672483e-04 9.99562186e-01 -1.21722054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.84, Y:-0.81, Z:-1.22 [[ 9.96567211e-01 7.73341388e-02 2.95503927e-02 2.58356846e+01] [-7.72930206e-02 9.97005202e-01 -2.53291637e-03 -8.06096020e-01] [-2.96577762e-02 2.40182293e-04 9.99560083e-01 -1.21789302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80264 meters Centerline goodness [0,1] 0.9999787034670755 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.82, Z:-1.22 [[ 9.97159075e-01 6.95956998e-02 2.88135159e-02 2.58644427e+01] [-6.95531935e-02 9.97575171e-01 -2.47606178e-03 -8.23941428e-01] [-2.89159713e-02 4.64955431e-04 9.99581738e-01 -1.22051116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.90, Y:-0.83, Z:-1.22 [[ 9.97372762e-01 6.68401890e-02 2.79278205e-02 2.58952480e+01] [-6.67992141e-02 9.97763555e-01 -2.39861103e-03 -8.33358364e-01] [-2.80256851e-02 5.26752847e-04 9.99607065e-01 -1.22232586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.93, Y:-0.84, Z:-1.22 [[ 9.97491413e-01 6.50784574e-02 2.78509600e-02 2.59263105e+01] [-6.50369005e-02 9.97879982e-01 -2.39632982e-03 -8.41026988e-01] [-2.79478649e-02 5.78978306e-04 9.99609214e-01 -1.22309330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89264 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:25.96, Y:-0.85, Z:-1.23 [[ 9.97525458e-01 6.43059069e-02 2.84202531e-02 2.59570006e+01] [-6.42621870e-02 9.97930042e-01 -2.44997391e-03 -8.48637903e-01] [-2.85189722e-02 6.17563729e-04 9.99593061e-01 -1.22576022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.86, Z:-1.22 [[ 9.97347232e-01 6.65515333e-02 2.94854624e-02 2.59881075e+01] [-6.65053078e-02 9.97782821e-01 -2.54674735e-03 -8.55323510e-01] [-2.95895778e-02 5.79051668e-04 9.99561965e-01 -1.22301639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.86, Z:-1.22 [[ 9.97202903e-01 6.87663538e-02 2.92840977e-02 2.60187441e+01] [-6.87215830e-02 9.97632660e-01 -2.53374382e-03 -8.60569662e-01] [-2.93890087e-02 5.14207140e-04 9.99567918e-01 -1.22444921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.86, Z:-1.23 [[ 9.96770406e-01 7.47617739e-02 2.93161273e-02 2.60494315e+01] [-7.47193073e-02 9.97201363e-01 -2.54292047e-03 -8.58787642e-01] [-2.94241953e-02 3.44227150e-04 9.99566955e-01 -1.22558004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.86, Z:-1.23 [[ 9.96497214e-01 7.84359787e-02 2.90017063e-02 2.60809629e+01] [-7.83959881e-02 9.96919126e-01 -2.51514723e-03 -8.57325086e-01] [-2.91096337e-02 2.32719787e-04 9.99576198e-01 -1.22720377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.86, Z:-1.23 [[ 9.96163697e-01 8.26022118e-02 2.88922892e-02 2.61135116e+01] [-8.25642197e-02 9.96582592e-01 -2.50751957e-03 -8.55078122e-01] [-2.90006791e-02 1.12430649e-04 9.99579386e-01 -1.22778421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.15, Y:-0.85, Z:-1.23 [[ 9.95427591e-01 9.10652756e-02 2.88275200e-02 2.61464307e+01] [-9.10308646e-02 9.95844917e-01 -2.50654540e-03 -8.48275150e-01] [-2.89359985e-02 -1.29109616e-04 9.99581258e-01 -1.22988614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10264 meters Centerline goodness [0,1] 0.9999786206011887 Centerline is valid? [True, True] Translation: X:26.18, Y:-0.85, Z:-1.23 [[ 9.95035162e-01 9.52282210e-02 2.89242658e-02 2.61788245e+01] [-9.51951828e-02 9.95455436e-01 -2.52024128e-03 -8.46258392e-01] [-2.90328157e-02 -2.45722082e-04 9.99578429e-01 -1.22942977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.84, Z:-1.23 [[ 9.94620697e-01 9.93971824e-02 2.91525172e-02 2.62115950e+01] [-9.93652656e-02 9.95047771e-01 -2.54506459e-03 -8.43300577e-01] [-2.92611195e-02 -3.65373702e-04 9.99571735e-01 -1.23024623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162640000000003 meters Centerline goodness [0,1] 0.9999785407725322 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.83, Z:-1.23 [[ 9.93882926e-01 1.06379260e-01 2.96678606e-02 2.62433470e+01] [-1.06349116e-01 9.94325461e-01 -2.59662951e-03 -8.34558843e-01] [-2.97757367e-02 -5.74405014e-04 9.99556439e-01 -1.23094080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19264 meters Centerline goodness [0,1] 0.9999789362822539 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.83, Z:-1.23 [[ 9.93264302e-01 1.10881401e-01 3.36354208e-02 2.62737743e+01] [-1.10706826e-01 9.93828352e-01 -7.01469497e-03 -8.28270381e-01] [-3.42056340e-02 3.24377544e-03 9.99409552e-01 -1.23238862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222640000000002 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.83, Z:-1.23 [[ 9.93271615e-01 1.11736943e-01 3.04360717e-02 2.63056757e+01] [-1.11833504e-01 9.93725851e-01 1.48365960e-03 -8.30927472e-01] [-3.00793316e-02 -4.87744952e-03 9.99535614e-01 -1.23318996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252640000000003 meters Centerline goodness [0,1] 0.9999361742867476 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.82, Z:-1.23 [[ 9.92887518e-01 1.15329519e-01 2.95546803e-02 2.63372981e+01] [-1.15303395e-01 9.93326938e-01 -2.59236237e-03 -8.23806125e-01] [-2.96564360e-02 -8.33830745e-04 9.99559803e-01 -1.23471406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28264 meters Centerline goodness [0,1] 0.9998095520240388 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.82, Z:-1.24 [[ 9.92815106e-01 1.15911144e-01 2.97114879e-02 2.63686651e+01] [-1.15885032e-01 9.93259217e-01 -2.60510124e-03 -8.17761910e-01] [-2.98131695e-02 -8.56732865e-04 9.99555122e-01 -1.23836308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312640000000002 meters Centerline goodness [0,1] 0.9998519051346605 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.82, Z:-1.24 [[ 9.92838137e-01 1.15664446e-01 2.99026773e-02 2.64006816e+01] [-1.15637747e-01 9.93287981e-01 -2.62645958e-03 -8.23258612e-01] [-3.00057580e-02 -8.50229012e-04 9.99549364e-01 -1.23832559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342640000000003 meters Centerline goodness [0,1] 0.9999142532530172 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.83, Z:-1.24 [[ 9.92936725e-01 1.14818955e-01 2.98875736e-02 2.64321268e+01] [-1.14791761e-01 9.93386096e-01 -2.62981134e-03 -8.29447284e-01] [-2.99918523e-02 -8.19610934e-04 9.99549807e-01 -1.23874858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.37264 meters Centerline goodness [0,1] 0.9999572192513368 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.83, Z:-1.24 [[ 9.93326442e-01 1.11629928e-01 2.90058279e-02 2.64627173e+01] [-1.11602780e-01 9.93749604e-01 -2.55826063e-03 -8.31018600e-01] [-2.91101084e-02 -6.95943098e-04 9.99575969e-01 -1.24250381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40264 meters Centerline goodness [0,1] 0.9999362217781368 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.84, Z:-1.24 [[ 9.93539517e-01 1.09839117e-01 2.85411456e-02 2.64948698e+01] [-1.09812085e-01 9.93949178e-01 -2.51755817e-03 -8.36836251e-01] [-2.86449746e-02 -6.32869181e-04 9.99589448e-01 -1.24444056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432640000000003 meters Centerline goodness [0,1] 0.999957720277355 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.84, Z:-1.25 [[ 9.93945008e-01 1.06157906e-01 2.83517323e-02 2.65253355e+01] [-1.06129677e-01 9.94349148e-01 -2.50286581e-03 -8.39127416e-01] [-2.84572198e-02 -5.21249205e-04 9.99594875e-01 -1.24810629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46264 meters Centerline goodness [0,1] 0.9999783465419427 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.85, Z:-1.25 [[ 9.94129659e-01 1.04616238e-01 2.75982479e-02 2.65570997e+01] [-1.04588927e-01 9.94512557e-01 -2.43522346e-03 -8.45721184e-01] [-2.77015680e-02 -4.65543282e-04 9.99616130e-01 -1.24758336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.85, Z:-1.25 [[ 9.94270650e-01 1.03254136e-01 2.76488387e-02 2.65889879e+01] [-1.03226067e-01 9.94654917e-01 -2.44442365e-03 -8.48762751e-01] [-2.77534502e-02 -4.23662171e-04 9.99614709e-01 -1.24938766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.85, Z:-1.25 [[ 9.94250425e-01 1.03448811e-01 2.76484444e-02 2.66213512e+01] [-1.03420694e-01 9.94634688e-01 -2.44887302e-03 -8.51823548e-01] [-2.77534349e-02 -4.24628252e-04 9.99614709e-01 -1.25067310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.65, Y:-0.86, Z:-1.25 [[ 9.94533106e-01 1.00751673e-01 2.74408602e-02 2.66536981e+01] [-1.00722758e-01 9.94911546e-01 -2.43745604e-03 -8.56103844e-01] [-2.75468064e-02 -3.39788380e-04 9.99620457e-01 -1.25263782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-0.86, Z:-1.26 [[ 9.94646192e-01 9.97323701e-02 2.70630094e-02 2.66847062e+01] [-9.97038563e-02 9.95014251e-01 -2.40433510e-03 -8.56099517e-01] [-2.71678701e-02 -3.06823649e-04 9.99630838e-01 -1.25778036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.86, Z:-1.26 [[ 9.94778854e-01 9.87464569e-02 2.57714775e-02 2.67178508e+01] [-9.87201862e-02 9.95112591e-01 -2.29280202e-03 -8.61782881e-01] [-2.58719278e-02 -2.63334093e-04 9.99665231e-01 -1.25709702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.86, Z:-1.26 [[ 9.94881568e-01 9.78151159e-02 2.53548721e-02 2.67501882e+01] [-9.77892513e-02 9.95204577e-01 -2.26100026e-03 -8.62433445e-01] [-2.54544447e-02 -2.30006474e-04 9.99675957e-01 -1.26045162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.67264 meters Centerline goodness [0,1] 0.9999786980231765 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.86, Z:-1.26 [[ 9.95057562e-01 9.60202441e-02 2.53093203e-02 2.67816079e+01] [-9.59937590e-02 9.95379365e-01 -2.26216503e-03 -8.62368642e-01] [-2.54095889e-02 -1.78552377e-04 9.99677108e-01 -1.26322318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.86, Z:-1.26 [[ 9.95138342e-01 9.51494071e-02 2.54218479e-02 2.68134547e+01] [-9.51223002e-02 9.95462991e-01 -2.27620351e-03 -8.64805591e-01] [-2.55230882e-02 -1.53047261e-04 9.99674221e-01 -1.26430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-0.87, Z:-1.26 [[ 9.95340928e-01 9.28661986e-02 2.59288838e-02 2.68458017e+01] [-9.28371107e-02 9.95678593e-01 -2.32598074e-03 -8.69431940e-01] [-2.60328395e-02 -9.20188218e-05 9.99661084e-01 -1.26477961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.88, Y:-0.87, Z:-1.26 [[ 9.95450608e-01 9.16696540e-02 2.59761576e-02 2.68781038e+01] [-9.16399502e-02 9.95789471e-01 -2.33414143e-03 -8.74110243e-01] [-2.60807542e-02 -5.69312866e-05 9.99659838e-01 -1.26414161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-0.88, Z:-1.27 [[ 9.95582092e-01 9.00180313e-02 2.67030264e-02 2.69093930e+01] [-8.99858649e-02 9.95940136e-01 -2.40626886e-03 -8.78029208e-01] [-2.68112233e-02 -7.25673617e-06 9.99640515e-01 -1.26602837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.94, Y:-0.88, Z:-1.26 [[ 9.95942394e-01 8.56391167e-02 2.76530272e-02 2.69425564e+01] [-8.56028851e-02 9.96326216e-01 -2.49356898e-03 -8.83751090e-01] [-2.77649830e-02 1.16272146e-04 9.99614472e-01 -1.26405314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.97, Y:-0.89, Z:-1.27 [[ 9.96135549e-01 8.30831909e-02 2.84807185e-02 2.69736523e+01] [-8.30435405e-02 9.96542595e-01 -2.57422874e-03 -8.90684610e-01] [-2.85961242e-02 1.99141062e-04 9.99591027e-01 -1.26603934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.00, Y:-0.90, Z:-1.27 [[ 9.96598121e-01 7.71306368e-02 2.90353302e-02 2.70047633e+01] [-7.70866986e-02 9.97020921e-01 -2.63126081e-03 -9.02337211e-01] [-2.91517825e-02 3.84071826e-04 9.99574923e-01 -1.26600679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.04, Y:-0.91, Z:-1.27 [[ 9.96800079e-01 7.45814357e-02 2.87613091e-02 2.70365079e+01] [-7.45372609e-02 9.97214823e-01 -2.60647526e-03 -9.08968603e-01] [-2.88755984e-02 4.54345542e-04 9.99582910e-01 -1.26684311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.07, Y:-0.92, Z:-1.27 [[ 9.96963475e-01 7.24630800e-02 2.85119458e-02 2.70669615e+01] [-7.24186614e-02 9.97370962e-01 -2.58879094e-03 -9.17079635e-01] [-2.86245786e-02 5.16133061e-04 9.99590100e-01 -1.26884047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.10, Y:-0.92, Z:-1.27 [[ 9.97083328e-01 7.09537866e-02 2.81140096e-02 2.70989672e+01] [-7.09098828e-02 9.97479449e-01 -2.55680513e-03 -9.23471108e-01] [-2.82245618e-02 5.55786642e-04 9.99601453e-01 -1.26997593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.13, Y:-0.93, Z:-1.27 [[ 9.97183154e-01 6.97909132e-02 2.74770001e-02 2.71292419e+01] [-6.97484078e-02 9.97561473e-01 -2.50351018e-03 -9.31527497e-01] [-2.75847189e-02 5.79981173e-04 9.99619301e-01 -1.27243155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03264 meters Centerline goodness [0,1] 0.9997398148348908 Centerline is valid? [True, True] Translation: X:27.16, Y:-0.93, Z:-1.28 [[ 9.97206145e-01 6.98774376e-02 2.64016739e-02 2.71600121e+01] [-6.98381219e-02 9.97555428e-01 -2.40942333e-03 -9.34953682e-01] [-2.65054974e-02 5.58848430e-04 9.99648511e-01 -1.27973973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-0.93, Z:-1.28 [[ 9.96988269e-01 7.27540732e-02 2.68558585e-02 2.71906628e+01] [-7.27142720e-02 9.97349787e-01 -2.45694215e-03 -9.34323819e-01] [-2.69634373e-02 4.96738296e-04 9.99636297e-01 -1.27690463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092640000000003 meters Centerline goodness [0,1] 0.9999576378886724 Centerline is valid? [True, True] Translation: X:27.22, Y:-0.94, Z:-1.28 [[ 9.96897081e-01 7.41297355e-02 2.64762707e-02 2.72227482e+01] [-7.40915807e-02 9.97248504e-01 -2.42055536e-03 -9.36041413e-01] [-2.65828565e-02 4.51375826e-04 9.99646512e-01 -1.27828117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12264 meters Centerline goodness [0,1] 0.9998934583422118 Centerline is valid? [True, True] Translation: X:27.25, Y:-0.94, Z:-1.28 [[ 9.96811211e-01 7.53118543e-02 2.63729840e-02 2.72531778e+01] [-7.52742918e-02 9.97159940e-01 -2.41558334e-03 -9.38777084e-01] [-2.64800052e-02 4.22672865e-04 9.99649254e-01 -1.28366636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.28, Y:-0.94, Z:-1.28 [[ 9.96496311e-01 7.90553501e-02 2.73011810e-02 2.72848599e+01] [-7.90163386e-02 9.96870170e-01 -2.50649668e-03 -9.35906224e-01] [-2.74138850e-02 3.40475324e-04 9.99624111e-01 -1.27884071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.93, Z:-1.28 [[ 9.96340813e-01 8.09905301e-02 2.73041927e-02 2.73168756e+01] [-8.09522671e-02 9.96714830e-01 -2.50565452e-03 -9.34561233e-01] [-2.74174281e-02 2.86149555e-04 9.99624031e-01 -1.27903264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.94, Z:-1.28 [[ 9.96175746e-01 8.27418122e-02 2.80655642e-02 2.73484870e+01] [-8.27019390e-02 9.96570986e-01 -2.58051157e-03 -9.36053568e-01] [-2.81828432e-02 2.49566459e-04 9.99602754e-01 -1.28126276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.94, Z:-1.28 [[ 9.96060862e-01 8.41064868e-02 2.80866106e-02 2.73798730e+01] [-8.40669558e-02 9.96456749e-01 -2.58742157e-03 -9.36799018e-01] [-2.82047116e-02 2.16073501e-04 9.99602145e-01 -1.28255157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.41, Y:-0.94, Z:-1.28 [[ 9.95830333e-01 8.66756689e-02 2.84477864e-02 2.74108612e+01] [-8.66360360e-02 9.96236571e-01 -2.62511363e-03 -9.35765069e-01] [-2.85682587e-02 1.49564336e-04 9.99591833e-01 -1.28393461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.44, Y:-0.94, Z:-1.28 [[ 9.95729678e-01 8.76777104e-02 2.88968545e-02 2.74423018e+01] [-8.76371081e-02 9.96148886e-01 -2.67102400e-03 -9.37479165e-01] [-2.90197586e-02 1.27181105e-04 9.99578830e-01 -1.28441682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.47, Y:-0.94, Z:-1.28 [[ 9.95626350e-01 8.84487058e-02 3.00831848e-02 2.74738223e+01] [-8.84049080e-02 9.96080726e-01 -2.78544908e-03 -9.39434942e-01] [-3.02116499e-02 1.13765315e-04 9.99543517e-01 -1.28368912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362640000000003 meters Centerline goodness [0,1] 0.9998699017758408 Centerline is valid? [True, True] Translation: X:27.51, Y:-0.94, Z:-1.29 [[ 9.95645763e-01 8.81511820e-02 3.03130815e-02 2.75068129e+01] [-8.81064483e-02 9.96107099e-01 -2.81087254e-03 -9.41633155e-01] [-3.04428574e-02 1.27855382e-04 9.99536501e-01 -1.28677238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.54, Y:-0.95, Z:-1.28 [[ 9.95629021e-01 8.80263792e-02 3.12123373e-02 2.75377196e+01] [-8.79786818e-02 9.96118134e-01 -2.90089686e-03 -9.46951143e-01] [-3.13465306e-02 1.42196810e-04 9.99508567e-01 -1.28460973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.57, Y:-0.95, Z:-1.29 [[ 9.95665674e-01 8.78129704e-02 3.06389802e-02 2.75698111e+01] [-8.77667664e-02 9.96136968e-01 -2.85223121e-03 -9.51220571e-01] [-3.07710838e-02 1.50784493e-04 9.99526447e-01 -1.28739035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.60, Y:-0.95, Z:-1.29 [[ 9.95688425e-01 8.77590251e-02 3.00485158e-02 2.76029385e+01] [-8.77144124e-02 9.96141722e-01 -2.80217383e-03 -9.54875339e-01] [-3.01784963e-02 1.54404138e-04 9.99544514e-01 -1.28984680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.96, Z:-1.29 [[ 9.95664696e-01 8.81105372e-02 2.98051557e-02 2.76362530e+01] [-8.80666461e-02 9.96110692e-01 -2.78468074e-03 -9.57179553e-01] [-2.99345940e-02 1.47768201e-04 9.99551849e-01 -1.29052627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.67, Y:-0.96, Z:-1.30 [[ 9.95585558e-01 8.92664146e-02 2.89983590e-02 2.76682473e+01] [-8.92251996e-02 9.96007778e-01 -2.71474695e-03 -9.59168556e-01] [-2.91249269e-02 1.15378486e-04 9.99575773e-01 -1.29506722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.70, Y:-0.96, Z:-1.29 [[ 9.95519825e-01 9.01381012e-02 2.85552107e-02 2.77015246e+01] [-9.00983584e-02 9.95929272e-01 -2.67802257e-03 -9.60323482e-01] [-2.86803620e-02 9.32469528e-05 9.99588629e-01 -1.29454310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.73, Y:-0.96, Z:-1.30 [[ 9.95374405e-01 9.16421684e-02 2.88358583e-02 2.77326228e+01] [-9.16020957e-02 9.95792001e-01 -2.71040193e-03 -9.62535947e-01] [-2.89629042e-02 5.64396528e-05 9.99580486e-01 -1.29795972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-0.96, Z:-1.30 [[ 9.95049436e-01 9.52674826e-02 2.82971048e-02 2.77661057e+01] [-9.52302467e-02 9.95451709e-01 -2.66369956e-03 -9.60637153e-01] [-2.84221653e-02 -4.42275258e-05 9.99596008e-01 -1.29797604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.80, Y:-0.96, Z:-1.30 [[ 9.94858794e-01 9.72381220e-02 2.82971343e-02 2.77978007e+01] [-9.72015247e-02 9.95261141e-01 -2.66926645e-03 -9.60069963e-01] [-2.84225926e-02 -9.49814016e-05 9.99595992e-01 -1.29976651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.83, Y:-0.96, Z:-1.30 [[ 9.94655239e-01 9.92121633e-02 2.85989958e-02 2.78298724e+01] [-9.91754468e-02 9.95066292e-01 -2.70295356e-03 -9.59397881e-01] [-2.87260626e-02 -1.47811262e-04 9.99587311e-01 -1.30162726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.86, Y:-0.96, Z:-1.30 [[ 9.94345418e-01 1.02012749e-01 2.95057501e-02 2.78632446e+01] [-1.01974741e-01 9.94783065e-01 -2.79401647e-03 -9.56820829e-01] [-2.96368458e-02 -2.30623738e-04 9.99560706e-01 -1.30195961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.89, Y:-0.96, Z:-1.30 [[ 9.94284178e-01 1.02719578e-01 2.91146444e-02 2.78943470e+01] [-1.02682703e-01 9.94710324e-01 -2.76278183e-03 -9.57272440e-01] [-2.92444292e-02 -2.42580129e-04 9.99572261e-01 -1.30372903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.96, Z:-1.31 [[ 9.94290673e-01 1.02791439e-01 2.86352497e-02 2.79266533e+01] [-1.02755682e-01 9.94702902e-01 -2.72133046e-03 -9.56660137e-01] [-2.87632955e-02 -2.36641124e-04 9.99586223e-01 -1.30652438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.96, Z:-1.31 [[ 9.94354140e-01 1.02317758e-01 2.81233074e-02 2.79592945e+01] [-1.02282947e-01 9.94751743e-01 -2.67737079e-03 -9.60045093e-01] [-2.82496516e-02 -2.14280028e-04 9.99600876e-01 -1.30829056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812640000000002 meters Centerline goodness [0,1] 0.9998929221544063 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.96, Z:-1.31 [[ 9.94517817e-01 1.00939002e-01 2.73061986e-02 2.79920594e+01] [-1.00905531e-01 9.94892603e-01 -2.60449011e-03 -9.64144959e-01] [-2.74296296e-02 -1.65134633e-04 9.99623723e-01 -1.31466628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.02, Y:-0.97, Z:-1.31 [[ 9.94627757e-01 9.98063804e-02 2.74647396e-02 2.80240913e+01] [-9.97719369e-02 9.95006869e-01 -2.62504808e-03 -9.70498841e-01] [-2.75896011e-02 -1.29264587e-04 9.99619326e-01 -1.31105336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.06, Y:-0.98, Z:-1.31 [[ 9.94991866e-01 9.59815448e-02 2.79057187e-02 2.80551250e+01] [-9.59443447e-02 9.95383114e-01 -2.67208049e-03 -9.79205446e-01] [-2.80333516e-02 -1.86975361e-05 9.99606988e-01 -1.31184450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-0.99, Z:-1.31 [[ 9.95196319e-01 9.37817191e-02 2.80940606e-02 2.80874854e+01] [-9.37430076e-02 9.95592782e-01 -2.69475006e-03 -9.85559355e-01] [-2.82229622e-02 4.81836030e-05 9.99601652e-01 -1.31326944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.12, Y:-0.99, Z:-1.31 [[ 9.95386784e-01 9.16646964e-02 2.83325454e-02 2.81186639e+01] [-9.16243022e-02 9.95789923e-01 -2.72341853e-03 -9.91925356e-01] [-2.84629045e-02 1.14905112e-04 9.99594843e-01 -1.31491179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.00, Z:-1.32 [[ 9.95742017e-01 8.76150199e-02 2.86608487e-02 2.81484702e+01] [-8.75718032e-02 9.96154381e-01 -2.76202240e-03 -1.00222548e+00] [-2.87926247e-02 2.40379552e-04 9.99585378e-01 -1.31685918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.01, Z:-1.32 [[ 9.95856607e-01 8.62674561e-02 2.87670638e-02 2.81801557e+01] [-8.62233797e-02 9.96271975e-01 -2.77144898e-03 -1.00826314e+00] [-2.88989053e-02 2.79572315e-04 9.99582300e-01 -1.31809609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.01, Z:-1.32 [[ 9.95992021e-01 8.49651180e-02 2.79431914e-02 2.82116818e+01] [-8.49228926e-02 9.96383877e-01 -2.69655356e-03 -1.01473770e+00] [-2.80712584e-02 3.12729191e-04 9.99605876e-01 -1.32066114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.02, Z:-1.32 [[ 9.96115287e-01 8.37415221e-02 2.72340385e-02 2.82417964e+01] [-8.37008318e-02 9.96487451e-01 -2.63265463e-03 -1.02245287e+00] [-2.73588401e-02 3.42915843e-04 9.99625618e-01 -1.32364189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-1.03, Z:-1.32 [[ 9.96121576e-01 8.35931078e-02 2.74590360e-02 2.82732514e+01] [-8.35515748e-02 9.96499908e-01 -2.65843205e-03 -1.02719542e+00] [-2.75851534e-02 3.53875820e-04 9.99619395e-01 -1.32461517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.03, Z:-1.33 [[ 9.96129314e-01 8.34796527e-02 2.75233893e-02 2.83052089e+01] [-8.34377459e-02 9.96509416e-01 -2.66956320e-03 -1.03315388e+00] [-2.76501708e-02 3.62740595e-04 9.99617595e-01 -1.32610413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.04, Z:-1.33 [[ 9.96110746e-01 8.37429353e-02 2.73952940e-02 2.83381479e+01] [-8.37013891e-02 9.96487327e-01 -2.66179142e-03 -1.03707755e+00] [-2.75219695e-02 3.58414878e-04 9.99621135e-01 -1.32753916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.04, Z:-1.33 [[ 9.96065871e-01 8.42742654e-02 2.73976103e-02 2.83713422e+01] [-8.42327725e-02 9.96442535e-01 -2.66712330e-03 -1.04068543e+00] [-2.75249141e-02 3.48853816e-04 9.99621057e-01 -1.32947326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.05, Z:-1.33 [[ 9.95960079e-01 8.55268740e-02 2.73619222e-02 2.84025384e+01] [-8.54858104e-02 9.96335813e-01 -2.66914932e-03 -1.04590807e+00] [-2.74899470e-02 3.19310072e-04 9.99622029e-01 -1.33185783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.44, Y:-1.05, Z:-1.33 [[ 9.95896654e-01 8.63180760e-02 2.71853807e-02 2.84350644e+01] [-8.62777365e-02 9.96267585e-01 -2.65554662e-03 -1.05001948e+00] [-2.73131352e-02 2.99156876e-04 9.99626882e-01 -1.33302759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.05, Z:-1.33 [[ 9.95809459e-01 8.73247195e-02 2.71645936e-02 2.84672217e+01] [-8.72846728e-02 9.96179862e-01 -2.65876085e-03 -1.05224520e+00] [-2.72929967e-02 2.76566538e-04 9.99627439e-01 -1.33328110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292640000000002 meters Centerline goodness [0,1] 0.9998937639434824 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.05, Z:-1.34 [[ 9.95680056e-01 8.86398693e-02 2.76441616e-02 2.84984177e+01] [-8.85987687e-02 9.96063708e-01 -2.71051895e-03 -1.05462997e+00] [-2.77756061e-02 2.49570988e-04 9.99614152e-01 -1.33882034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.06, Z:-1.33 [[ 9.95580065e-01 8.97174179e-02 2.77690346e-02 2.85312265e+01] [-8.96762509e-02 9.95967236e-01 -2.72681401e-03 -1.05626370e+00] [-2.79016913e-02 2.24538759e-04 9.99610647e-01 -1.33317237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.06, Z:-1.34 [[ 9.95388468e-01 9.18363304e-02 2.77107439e-02 2.85621901e+01] [-9.17960205e-02 9.95774101e-01 -2.72598710e-03 -1.05857376e+00] [-2.78439857e-02 1.69680109e-04 9.99612267e-01 -1.33519725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.06, Z:-1.34 [[ 9.95326984e-01 9.26073271e-02 2.73510158e-02 2.85951063e+01] [-9.25682437e-02 9.95702697e-01 -2.69439552e-03 -1.06054415e+00] [-2.74830009e-02 1.49969073e-04 9.99622260e-01 -1.33668290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.06, Z:-1.34 [[ 9.95308978e-01 9.28008004e-02 2.73504898e-02 2.86274324e+01] [-9.27616438e-02 9.95684683e-01 -2.69972155e-03 -1.06391868e+00] [-2.74830001e-02 1.49980704e-04 9.99622260e-01 -1.33796818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.07, Z:-1.34 [[ 9.95318682e-01 9.28065996e-02 2.69751180e-02 2.86603265e+01] [-9.27683725e-02 9.95684143e-01 -2.66784264e-03 -1.06889230e+00] [-2.71062907e-02 1.52915822e-04 9.99632545e-01 -1.33986209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.07, Z:-1.34 [[ 9.95326877e-01 9.24203445e-02 2.79801372e-02 2.86918844e+01] [-9.23788915e-02 9.95720066e-01 -2.77332039e-03 -1.07425158e+00] [-2.81166952e-02 1.75586267e-04 9.99604632e-01 -1.33895283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502640000000003 meters Centerline goodness [0,1] 0.9999578005654725 Centerline is valid? [True, True] Translation: X:28.72, Y:-1.08, Z:-1.34 [[ 9.95317573e-01 9.22321604e-02 2.89163794e-02 2.87227328e+01] [-9.21876504e-02 9.95737511e-01 -2.87150009e-03 -1.07887464e+00] [-2.90579683e-02 1.92321429e-04 9.99577710e-01 -1.34023191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:-1.08, Z:-1.34 [[ 9.95335556e-01 9.21680736e-02 2.84987306e-02 2.87540787e+01] [-9.21246913e-02 9.95743445e-01 -2.83431340e-03 -1.08302597e+00] [-2.86386574e-02 1.95656137e-04 9.99589810e-01 -1.34379429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.09, Z:-1.34 [[ 9.95321975e-01 9.24232832e-02 2.81443211e-02 2.87870477e+01] [-9.23809425e-02 9.95719790e-01 -2.80376371e-03 -1.08541532e+00] [-2.82829905e-02 1.90648723e-04 9.99599938e-01 -1.34294407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.09, Z:-1.34 [[ 9.95212111e-01 9.33803938e-02 2.88609785e-02 2.88179252e+01] [-9.33360910e-02 9.95630490e-01 -2.88136371e-03 -1.08748150e+00] [-2.90039331e-02 1.73797142e-04 9.99579282e-01 -1.34466603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.85, Y:-1.09, Z:-1.35 [[ 9.95134466e-01 9.42139000e-02 2.88294338e-02 2.88513485e+01] [-9.41699224e-02 9.95551966e-01 -2.88240281e-03 -1.08912077e+00] [-2.89727619e-02 1.53512842e-04 9.99580190e-01 -1.34553740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.88, Y:-1.09, Z:-1.35 [[ 9.95056415e-01 9.49180878e-02 2.92110960e-02 2.88834157e+01] [-9.48730700e-02 9.95485076e-01 -2.92638805e-03 -1.09064357e+00] [-2.93569773e-02 1.40574846e-04 9.99568981e-01 -1.34573641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.09, Z:-1.35 [[ 9.94956907e-01 9.58361319e-02 2.96004822e-02 2.89158704e+01] [-9.57901569e-02 9.95397117e-01 -2.97059925e-03 -1.09289177e+00] [-2.97489254e-02 1.20183404e-04 9.99557396e-01 -1.34646130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.95, Y:-1.09, Z:-1.35 [[ 9.94814833e-01 9.75290210e-02 2.88363962e-02 2.89474901e+01] [-9.74859643e-02 9.95232679e-01 -2.89861110e-03 -1.09279125e+00] [-2.89816225e-02 7.24374266e-05 9.99579942e-01 -1.34967940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.98, Y:-1.09, Z:-1.35 [[ 9.94766146e-01 9.82287819e-02 2.81322101e-02 2.89803409e+01] [-9.81879436e-02 9.95163858e-01 -2.83274073e-03 -1.09467474e+00] [-2.82744154e-02 5.56707177e-05 9.99600197e-01 -1.35216370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.01, Y:-1.10, Z:-1.35 [[ 9.94705352e-01 9.88798918e-02 2.80005293e-02 2.90137216e+01] [-9.88395456e-02 9.95099375e-01 -2.82471487e-03 -1.09701375e+00] [-2.81426167e-02 4.21994139e-05 9.99603917e-01 -1.35260088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802640000000004 meters Centerline goodness [0,1] 0.9997875775342 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.10, Z:-1.36 [[ 9.94626869e-01 9.95872128e-02 2.82803647e-02 2.90454535e+01] [-9.95461751e-02 9.95028837e-01 -2.85880600e-03 -1.09984258e+00] [-2.84244789e-02 2.82431226e-05 9.99595942e-01 -1.35949551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.10, Z:-1.36 [[ 9.94684410e-01 9.91668351e-02 2.77284002e-02 2.90786860e+01] [-9.91270851e-02 9.95070820e-01 -2.80787017e-03 -1.10434711e+00] [-2.78701695e-02 4.43091883e-05 9.99611550e-01 -1.35604432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862640000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.11, Z:-1.36 [[ 9.94681084e-01 9.91590256e-02 2.78752436e-02 2.91105470e+01] [-9.91186910e-02 9.95071598e-01 -2.82842679e-03 -1.10777081e+00] [-2.80183272e-02 5.04249620e-05 9.99607408e-01 -1.35833223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.11, Z:-1.36 [[ 9.94685639e-01 9.91673778e-02 2.76823281e-02 2.91437527e+01] [-9.91274636e-02 9.95070765e-01 -2.81385637e-03 -1.10952529e+00] [-2.78249182e-02 5.48235519e-05 9.99612811e-01 -1.35875410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.11, Z:-1.36 [[ 9.94616494e-01 9.99272845e-02 2.74329609e-02 2.91763180e+01] [-9.98882334e-02 9.94994742e-01 -2.79365389e-03 -1.11126825e+00] [-2.75748140e-02 3.83842396e-05 9.99619742e-01 -1.36012557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952640000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.11, Z:-1.36 [[ 9.94484967e-01 1.01161660e-01 2.76761413e-02 2.92094200e+01] [-1.01122244e-01 9.94870001e-01 -2.82371186e-03 -1.11246801e+00] [-2.78198141e-02 9.46549109e-06 9.99612954e-01 -1.36039028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.11, Z:-1.36 [[ 9.94100975e-01 1.04801127e-01 2.79280303e-02 2.92433208e+01] [-1.04762271e-01 9.94493196e-01 -2.85490492e-03 -1.11037358e+00] [-2.80734333e-02 -8.77401093e-05 9.99605860e-01 -1.36061385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.28, Y:-1.11, Z:-1.36 [[ 9.93852620e-01 1.07051617e-01 2.82297748e-02 2.92761038e+01] [-1.07012667e-01 9.94253453e-01 -2.89130700e-03 -1.11006061e+00] [-2.83770702e-02 -1.47410446e-04 9.99597279e-01 -1.36066087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-1.11, Z:-1.36 [[ 9.93629147e-01 1.09081737e-01 2.83247734e-02 2.93071211e+01] [-1.09043180e-01 9.94032763e-01 -2.90693057e-03 -1.10899859e+00] [-2.84728458e-02 -2.00212433e-04 9.99594546e-01 -1.36232139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07264 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:29.34, Y:-1.11, Z:-1.36 [[ 9.93341900e-01 1.11709971e-01 2.81558606e-02 2.93396000e+01] [-1.11672809e-01 9.93740816e-01 -2.89377914e-03 -1.10732024e+00] [-2.83028918e-02 -2.69731978e-04 9.99599357e-01 -1.36273912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-1.11, Z:-1.36 [[ 9.93282114e-01 1.12238444e-01 2.81633574e-02 2.93715075e+01] [-1.12201324e-01 9.93681264e-01 -2.89988172e-03 -1.10808884e+00] [-2.83108788e-02 -2.79565342e-04 9.99599128e-01 -1.36459182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-1.11, Z:-1.37 [[ 9.93291980e-01 1.12110993e-01 2.83225769e-02 2.94038617e+01] [-1.12073317e-01 9.93695653e-01 -2.91921176e-03 -1.11065685e+00] [-2.84712973e-02 -2.74575499e-04 9.99594573e-01 -1.36524892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.44, Y:-1.11, Z:-1.37 [[ 9.93540598e-01 1.09721326e-01 2.89535816e-02 2.94351974e+01] [-1.09680792e-01 9.93962368e-01 -2.98926573e-03 -1.11467004e+00] [-2.91067567e-02 -2.05694890e-04 9.99576287e-01 -1.36686945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:-1.12, Z:-1.37 [[ 9.93735321e-01 1.07816570e-01 2.94227536e-02 2.94670489e+01] [-1.07773726e-01 9.94170793e-01 -3.04276666e-03 -1.12156980e+00] [-2.95793029e-02 -1.47295062e-04 9.99562426e-01 -1.36595215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:-1.13, Z:-1.37 [[ 9.93973090e-01 1.05661033e-01 2.92103123e-02 2.94984813e+01] [-1.05617736e-01 9.94402202e-01 -3.02553512e-03 -1.12877705e+00] [-2.93664800e-02 -7.78265601e-05 9.99568709e-01 -1.36712622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-1.14, Z:-1.37 [[ 9.94236182e-01 1.03397433e-01 2.83440569e-02 2.95310432e+01] [-1.03355628e-01 9.94640121e-01 -2.93995701e-03 -1.13751155e+00] [-2.84961202e-02 -6.50616212e-06 9.99593903e-01 -1.36954051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:-1.15, Z:-1.37 [[ 9.94771461e-01 9.84646148e-02 2.71009265e-02 2.95619152e+01] [-9.84244271e-02 9.95140544e-01 -2.81610755e-03 -1.15145143e+00] [-2.72465177e-02 1.33990256e-04 9.99628736e-01 -1.37306718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.16, Z:-1.37 [[ 9.95016166e-01 9.59399252e-02 2.71727880e-02 2.95918363e+01] [-9.58984469e-02 9.95387104e-01 -2.82854114e-03 -1.16004677e+00] [-2.73188128e-02 2.08615997e-04 9.99626750e-01 -1.37449046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.17, Z:-1.38 [[ 9.95458098e-01 9.11771344e-02 2.73844039e-02 2.96220417e+01] [-9.11331130e-02 9.95834630e-01 -2.85390907e-03 -1.17341019e+00] [-2.75305490e-02 3.45320919e-04 9.99620903e-01 -1.37637107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.18, Z:-1.38 [[ 9.95635266e-01 8.94562380e-02 2.66082381e-02 2.96538751e+01] [-8.94139636e-02 9.95990679e-01 -2.77672711e-03 -1.17964660e+00] [-2.67499527e-02 3.85459397e-04 9.99642082e-01 -1.37690844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.69, Y:-1.19, Z:-1.38 [[ 9.95794869e-01 8.78504766e-02 2.59783007e-02 2.96852500e+01] [-8.78095290e-02 9.96133583e-01 -2.71501780e-03 -1.18668511e+00] [-2.61163733e-02 4.22458445e-04 9.99658820e-01 -1.37827044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.20, Z:-1.38 [[ 9.95960007e-01 8.62564813e-02 2.49696724e-02 2.97160243e+01] [-8.62180243e-02 9.96272862e-01 -2.61467065e-03 -1.19690386e+00] [-2.51021393e-02 4.51271574e-04 9.99684790e-01 -1.38026206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.20, Z:-1.38 [[ 9.95961358e-01 8.64782668e-02 2.41346911e-02 2.97475346e+01] [-8.64423853e-02 9.96253644e-01 -2.52802085e-03 -1.20290677e+00] [-2.42628929e-02 4.31550806e-04 9.99705520e-01 -1.38294040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.21, Z:-1.38 [[ 9.95881349e-01 8.75043230e-02 2.37346182e-02 2.97795249e+01] [-8.74698191e-02 9.96164058e-01 -2.49003532e-03 -1.20699645e+00] [-2.38614625e-02 4.03716969e-04 9.99715193e-01 -1.38472775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.21, Z:-1.39 [[ 9.95738656e-01 8.91171009e-02 2.37206827e-02 2.98103330e+01] [-8.90829936e-02 9.96021087e-01 -2.49281678e-03 -1.21124834e+00] [-2.38484528e-02 3.69084598e-04 9.99715517e-01 -1.38736220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.21, Z:-1.39 [[ 9.95382577e-01 9.29499191e-02 2.39548952e-02 2.98430611e+01] [-9.29161542e-02 9.95670745e-01 -2.52116050e-03 -1.21001269e+00] [-2.40855300e-02 2.83722507e-04 9.99709861e-01 -1.38785783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.21, Z:-1.39 [[ 9.95184225e-01 9.51013131e-02 2.37507787e-02 2.98754554e+01] [-9.50686454e-02 9.95467571e-01 -2.50337108e-03 -1.20893189e+00] [-2.38812038e-02 2.33361049e-04 9.99714776e-01 -1.38592681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.21, Z:-1.39 [[ 9.94747448e-01 9.93925174e-02 2.44671589e-02 2.99066376e+01] [-9.93590312e-02 9.95048294e-01 -2.58355285e-03 -1.20939586e+00] [-2.46027905e-02 1.38949410e-04 9.99697296e-01 -1.38789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.21, Z:-1.39 [[ 9.94529138e-01 1.01400058e-01 2.50962688e-02 2.99388229e+01] [-1.01365363e-01 9.94845726e-01 -2.65408489e-03 -1.21160711e+00] [-2.52360401e-02 9.56723628e-05 9.99681516e-01 -1.38876973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.21, Z:-1.39 [[ 9.94344757e-01 1.03058797e-01 2.56395783e-02 2.99710518e+01] [-1.03023021e-01 9.94675264e-01 -2.71591966e-03 -1.21385352e+00] [-2.57829537e-02 5.90936620e-05 9.99667563e-01 -1.38901360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.22, Z:-1.39 [[ 9.94176335e-01 1.04619860e-01 2.58476318e-02 3.00044803e+01] [-1.04583924e-01 9.94512285e-01 -2.74199370e-03 -1.21576896e+00] [-2.59926543e-02 2.27785029e-05 9.99662134e-01 -1.38994123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.21, Z:-1.39 [[ 9.93837777e-01 1.07597097e-01 2.66333928e-02 3.00371072e+01] [-1.07559862e-01 9.94194580e-01 -2.83089957e-03 -1.21481405e+00] [-2.67833713e-02 -5.12291175e-05 9.99641260e-01 -1.38949732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.22, Z:-1.39 [[ 9.93700852e-01 1.08656919e-01 2.74279359e-02 3.00687397e+01] [-1.08617702e-01 9.94079307e-01 -2.92009075e-03 -1.21700437e+00] [-2.75828316e-02 -7.74626997e-05 9.99619518e-01 -1.39027174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.22, Z:-1.39 [[ 9.93640254e-01 1.09176553e-01 2.75594923e-02 3.01018104e+01] [-1.09137043e-01 9.94022370e-01 -2.93827401e-03 -1.22149334e+00] [-2.77155424e-02 -8.81741531e-05 9.99615847e-01 -1.38929889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.23, Z:-1.39 [[ 9.93807206e-01 1.07747796e-01 2.71597259e-02 3.01328074e+01] [-1.07708721e-01 9.94178259e-01 -2.90184859e-03 -1.23038276e+00] [-2.73142768e-02 -4.14612897e-05 9.99626895e-01 -1.39310575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.24, Z:-1.40 [[ 9.93954465e-01 1.06451581e-01 2.68808990e-02 3.01643232e+01] [-1.06412760e-01 9.94317887e-01 -2.87465627e-03 -1.23755740e+00] [-2.70341704e-02 -3.19322541e-06 9.99634510e-01 -1.39576713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.24, Z:-1.40 [[ 9.94140044e-01 1.04789234e-01 2.65478846e-02 3.01970161e+01] [-1.04750660e-01 9.94494452e-01 -2.84340927e-03 -1.24480503e+00] [-2.66996826e-02 4.58385941e-05 9.99643499e-01 -1.39523433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.26, Z:-1.40 [[ 9.94498818e-01 1.01349178e-01 2.64659388e-02 3.02271399e+01] [-1.01309469e-01 9.94850905e-01 -2.84041978e-03 -1.25671550e+00] [-2.66175374e-02 1.43543901e-04 9.99645680e-01 -1.39903146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.26, Z:-1.40 [[ 9.94593421e-01 1.00518009e-01 2.60779090e-02 3.02590364e+01] [-1.00479066e-01 9.94935225e-01 -2.80274770e-03 -1.26266170e+00] [-2.62275569e-02 1.67310477e-04 9.99655984e-01 -1.39937344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972640000000006 meters Centerline goodness [0,1] 0.9998717756929455 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.27, Z:-1.40 [[ 9.94570881e-01 1.00771472e-01 2.59590593e-02 3.02920051e+01] [-1.00732863e-01 9.94909586e-01 -2.79407066e-03 -1.26746032e+00] [-2.61084796e-02 1.63970943e-04 9.99659102e-01 -1.40446698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.27, Z:-1.40 [[ 9.94343730e-01 1.03103788e-01 2.54981520e-02 3.03236595e+01] [-1.03067166e-01 9.94670598e-01 -2.74984993e-03 -1.26981675e+00] [-2.56457821e-02 1.06273779e-04 9.99671087e-01 -1.40319925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.27, Z:-1.40 [[ 9.94075648e-01 1.05615757e-01 2.56693988e-02 3.03562429e+01] [-1.05579377e-01 9.94407014e-01 -2.77226544e-03 -1.27036244e+00] [-2.58186252e-02 4.56824250e-05 9.99666643e-01 -1.40285959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.27, Z:-1.40 [[ 9.93785182e-01 1.08302924e-01 2.57194098e-02 3.03894623e+01] [-1.08267197e-01 9.94117939e-01 -2.78170302e-03 -1.27068727e+00] [-2.58693933e-02 -2.01531719e-05 9.99665331e-01 -1.40384640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.42, Y:-1.27, Z:-1.41 [[ 9.93486372e-01 1.10920669e-01 2.61043046e-02 3.04214544e+01] [-1.10884625e-01 9.93829260e-01 -2.82874487e-03 -1.27021255e+00] [-2.62569880e-02 -8.42465497e-05 9.99655222e-01 -1.40578894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.27, Z:-1.41 [[ 9.92972668e-01 1.15396725e-01 2.62464541e-02 3.04540391e+01] [-1.15361716e-01 9.93319463e-01 -2.84921632e-03 -1.26578672e+00] [-2.63999039e-02 -1.98642046e-04 9.99651442e-01 -1.40637866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.49, Y:-1.27, Z:-1.41 [[ 9.92798402e-01 1.17022443e-01 2.56335703e-02 3.04858519e+01] [-1.16989483e-01 9.93129243e-01 -2.78691837e-03 -1.26688734e+00] [-2.57835803e-02 -2.32010025e-04 9.99667521e-01 -1.40682087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.52, Y:-1.27, Z:-1.41 [[ 9.92618606e-01 1.18603523e-01 2.53279971e-02 3.05169319e+01] [-1.18571755e-01 9.92941657e-01 -2.75774862e-03 -1.26635937e+00] [-2.54763021e-02 -2.65792474e-04 9.99675391e-01 -1.40940307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:-1.27, Z:-1.41 [[ 9.92612397e-01 1.18639956e-01 2.54006085e-02 3.05489025e+01] [-1.18607920e-01 9.92937305e-01 -2.76946984e-03 -1.26896580e+00] [-2.55497815e-02 -2.63703252e-04 9.99673516e-01 -1.41240320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:30.58, Y:-1.27, Z:-1.41 [[ 9.92639947e-01 1.18460732e-01 2.51592867e-02 3.05803925e+01] [-1.18429123e-01 9.92958706e-01 -2.74797404e-03 -1.27328496e+00] [-2.53076597e-02 -2.51843443e-04 9.99679678e-01 -1.41336708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.61, Y:-1.28, Z:-1.41 [[ 9.92688479e-01 1.17926424e-01 2.57476494e-02 3.06126007e+01] [-1.17893024e-01 9.93022306e-01 -2.81669022e-03 -1.27785953e+00] [-2.59001524e-02 -2.39372319e-04 9.99664506e-01 -1.41305968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.65, Y:-1.28, Z:-1.41 [[ 9.92600928e-01 1.18593580e-01 2.60568696e-02 3.06457545e+01] [-1.18559496e-01 9.92942847e-01 -2.85458301e-03 -1.28015332e+00] [-2.62115175e-02 -2.55827577e-04 9.99656386e-01 -1.41223175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-1.28, Z:-1.41 [[ 9.92577630e-01 1.18788537e-01 2.60563101e-02 3.06780429e+01] [-1.18754386e-01 9.92919543e-01 -2.85967872e-03 -1.28389128e+00] [-2.62115165e-02 -2.55847975e-04 9.99656386e-01 -1.41351708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-1.28, Z:-1.41 [[ 9.92447969e-01 1.19681566e-01 2.68952106e-02 3.07098340e+01] [-1.19645352e-01 9.92812290e-01 -2.95750963e-03 -1.28426173e+00] [-2.70558550e-02 -2.82712509e-04 9.99633883e-01 -1.41325457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39264 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:30.74, Y:-1.28, Z:-1.41 [[ 9.92124073e-01 1.22104948e-01 2.79321530e-02 3.07423107e+01] [-1.22066690e-01 9.92517131e-01 -3.07713871e-03 -1.28054455e+00] [-2.80988742e-02 -3.56682066e-04 9.99605085e-01 -1.41189493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters Centerline goodness [0,1] 0.9999787780395153 Centerline is valid? [True, True] Translation: X:30.77, Y:-1.28, Z:-1.41 [[ 9.91984113e-01 1.23227327e-01 2.79740169e-02 3.07738764e+01] [-1.23189259e-01 9.92378395e-01 -3.08673714e-03 -1.27957754e+00] [-2.81411803e-02 -3.84104220e-04 9.99603885e-01 -1.41399962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45264 meters Centerline goodness [0,1] 0.999978926516764 Centerline is valid? [True, True] Translation: X:30.80, Y:-1.28, Z:-1.42 [[ 9.91877014e-01 1.24169510e-01 2.76029330e-02 3.08041478e+01] [-1.24132655e-01 9.92260940e-01 -3.05138177e-03 -1.27866227e+00] [-2.77682008e-02 -3.99829920e-04 9.99614309e-01 -1.41684014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48264 meters Centerline goodness [0,1] 0.9999357752991801 Centerline is valid? [True, True] Translation: X:30.84, Y:-1.28, Z:-1.42 [[ 9.91760305e-01 1.25446818e-01 2.59729347e-02 3.08353714e+01] [-1.25414585e-01 9.92100262e-01 -2.87274310e-03 -1.27903202e+00] [-2.61281318e-02 -4.08312259e-04 9.99658519e-01 -1.41905838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.86, Y:-1.28, Z:-1.42 [[ 9.91725479e-01 1.25801541e-01 2.55840882e-02 3.08647155e+01] [-1.25770356e-01 9.92055343e-01 -2.83083796e-03 -1.27843999e+00] [-2.57369552e-02 -4.10305754e-04 9.99668666e-01 -1.42183211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters Centerline goodness [0,1] 0.9999574169097452 Centerline is valid? [True, True] Translation: X:30.89, Y:-1.28, Z:-1.42 [[ 9.91713306e-01 1.25854817e-01 2.57930964e-02 3.08944438e+01] [-1.25823155e-01 9.92048584e-01 -2.85333579e-03 -1.27818961e+00] [-2.59471108e-02 -4.15677695e-04 9.99663231e-01 -1.42279380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.92, Y:-1.28, Z:-1.42 [[ 9.91729871e-01 1.25641541e-01 2.61928635e-02 3.09247213e+01] [-1.25608796e-01 9.92075617e-01 -2.89831667e-03 -1.27811416e+00] [-2.63494502e-02 -4.15706818e-04 9.99652707e-01 -1.42271137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.96, Y:-1.28, Z:-1.42 [[ 9.91939896e-01 1.23776593e-01 2.71034619e-02 3.09565135e+01] [-1.23802170e-01 9.92306645e-01 -7.38790958e-04 -1.28145548e+00] [-2.69863904e-02 -2.62263117e-03 9.99632361e-01 -1.42124220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63264 meters Centerline goodness [0,1] 0.99995789562325 Centerline is valid? [True, True] Translation: X:30.99, Y:-1.28, Z:-1.42 [[ 9.92133601e-01 1.22303550e-01 2.66975668e-02 3.09853502e+01] [-1.22204499e-01 9.92490701e-01 -5.31685220e-03 -1.27830672e+00] [-2.71473567e-02 2.01246495e-03 9.99629417e-01 -1.42460941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.01, Y:-1.28, Z:-1.43 [[ 9.92371569e-01 1.20453271e-01 2.62617439e-02 3.10148063e+01] [-1.20418561e-01 9.92718959e-01 -2.90498841e-03 -1.28492446e+00] [-2.64204464e-02 -2.79573499e-04 9.99650880e-01 -1.42590082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.29, Z:-1.43 [[ 9.92617707e-01 1.18476070e-01 2.59520390e-02 3.10442762e+01] [-1.18441504e-01 9.92956882e-01 -2.87050656e-03 -1.28901028e+00] [-2.61093421e-02 -2.24482896e-04 9.99659068e-01 -1.42807519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.29, Z:-1.43 [[ 9.93105450e-01 1.14432559e-01 2.54313733e-02 3.10745171e+01] [-1.14398028e-01 9.93431012e-01 -2.81339623e-03 -1.29387690e+00] [-2.55862591e-02 -1.15299814e-04 9.99672611e-01 -1.43125951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.11, Y:-1.30, Z:-1.43 [[ 9.93322941e-01 1.12578269e-01 2.52124608e-02 3.11059985e+01] [-1.12543728e-01 9.93642858e-01 -2.78931162e-03 -1.29771624e+00] [-2.53661974e-02 -6.68171136e-05 9.99678224e-01 -1.43240113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.14, Y:-1.30, Z:-1.43 [[ 9.93534734e-01 1.10756324e-01 2.49353157e-02 3.11372536e+01] [-1.10721950e-01 9.93847592e-01 -2.75922853e-03 -1.30129649e+00] [-2.50875055e-02 -1.94973982e-05 9.99685259e-01 -1.43361450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.17, Y:-1.31, Z:-1.43 [[ 9.93976298e-01 1.06487925e-01 2.59121678e-02 3.11675265e+01] [-1.06449337e-01 9.94313991e-01 -2.86797508e-03 -1.30817701e+00] [-2.60702357e-02 9.23661641e-05 9.99660109e-01 -1.43419215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.20, Y:-1.31, Z:-1.43 [[ 9.94206608e-01 1.04135156e-01 2.66287405e-02 3.12000257e+01] [-1.04093600e-01 9.94563143e-01 -2.94581987e-03 -1.31423854e+00] [-2.67907273e-02 1.56872122e-04 9.99641052e-01 -1.43329173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.23, Y:-1.32, Z:-1.43 [[ 9.94405030e-01 1.01680764e-01 2.86296902e-02 3.12329599e+01] [-1.01875406e-01 9.94782399e-01 5.42033183e-03 -1.32400983e+00] [-2.79291684e-02 -8.30666656e-03 9.99575390e-01 -1.43268598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.26, Y:-1.32, Z:-1.43 [[ 9.94919445e-01 9.70601473e-02 2.67324846e-02 3.12624867e+01] [-9.67780080e-02 9.95237735e-01 -1.16562031e-02 -1.32423081e+00] [-2.77365303e-02 9.00986648e-03 9.99574663e-01 -1.43370177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93264 meters Centerline goodness [0,1] 0.9999786109982247 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.34, Z:-1.44 [[ 9.95142787e-01 9.42682692e-02 2.83606628e-02 3.12926021e+01] [-9.42167421e-02 9.95546724e-01 -3.15067272e-03 -1.33811998e+00] [-2.85313734e-02 4.63319979e-04 9.99592790e-01 -1.43613059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.34, Z:-1.43 [[ 9.95363873e-01 9.18012432e-02 2.86930626e-02 3.13239732e+01] [-9.17474233e-02 9.95777203e-01 -3.18943462e-03 -1.34316080e+00] [-2.88646917e-02 5.42133430e-04 9.99583181e-01 -1.43485365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.36, Z:-1.44 [[ 9.95788627e-01 8.75019263e-02 2.73573183e-02 3.13526637e+01] [-8.74512218e-02 9.96164144e-01 -3.04669529e-03 -1.35866373e+00] [-2.75189713e-02 6.41433609e-04 9.99621076e-01 -1.44039158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02264 meters Centerline goodness [0,1] 0.999957373345553 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.37, Z:-1.44 [[ 9.95946565e-01 8.57512603e-02 2.71507044e-02 3.13825356e+01] [-8.57006635e-02 9.96316342e-01 -3.02387912e-03 -1.36662384e+00] [-2.73099919e-02 6.84788641e-04 9.99626778e-01 -1.44243958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052640000000004 meters Centerline goodness [0,1] 0.999957497449847 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.38, Z:-1.44 [[ 9.96141919e-01 8.32089757e-02 2.78844727e-02 3.14122179e+01] [-8.31546107e-02 9.96531819e-01 -3.10561637e-03 -1.37744186e+00] [-2.80461794e-02 7.74912184e-04 9.99606328e-01 -1.44296753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082640000000005 meters Centerline goodness [0,1] 0.9999145810199026 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.38, Z:-1.44 [[ 9.96190600e-01 8.25767113e-02 2.80245423e-02 3.14443569e+01] [-8.25215141e-02 9.96584392e-01 -3.12244108e-03 -1.37875429e+00] [-2.81866624e-02 7.97918789e-04 9.99602359e-01 -1.44142642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11264 meters Centerline goodness [0,1] 0.9999787184234608 Centerline is valid? [True, True] Translation: X:31.48, Y:-1.38, Z:-1.44 [[ 9.96110472e-01 8.35742589e-02 2.79154349e-02 3.14768630e+01] [-8.35745752e-02 9.96500853e-01 -1.15745186e-03 -1.38325377e+00] [-2.79144878e-02 -1.18007069e-03 9.99609618e-01 -1.44178631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.39, Z:-1.44 [[ 9.96174998e-01 8.26174673e-02 2.84557178e-02 3.15072466e+01] [-8.25038172e-02 9.96577457e-01 -5.14713678e-03 -1.38785035e+00] [-2.87835703e-02 2.77974363e-03 9.99581802e-01 -1.44227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17264 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.40, Z:-1.45 [[ 9.96103880e-01 8.36706859e-02 2.78617377e-02 3.15382191e+01] [-8.36161114e-02 9.96493156e-01 -3.12015054e-03 -1.39713544e+00] [-2.80250961e-02 7.78303893e-04 9.99606917e-01 -1.44557201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.40, Z:-1.45 [[ 9.95991222e-01 8.50487473e-02 2.77163604e-02 3.15703225e+01] [-8.49952637e-02 9.96376520e-01 -3.10424196e-03 -1.40136465e+00] [-2.78799426e-02 7.36038379e-04 9.99611008e-01 -1.44668224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23264 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.40, Z:-1.45 [[ 9.95822006e-01 8.69623603e-02 2.78582134e-02 3.16018987e+01] [-8.69089418e-02 9.96211358e-01 -3.12490852e-03 -1.40497535e+00] [-2.80244180e-02 6.90724826e-04 9.99607000e-01 -1.44715739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262640000000005 meters Centerline goodness [0,1] 0.9999579115722133 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.41, Z:-1.45 [[ 9.95574362e-01 8.96593316e-02 2.81583716e-02 3.16317303e+01] [-8.96056468e-02 9.95972294e-01 -3.16515324e-03 -1.40857620e+00] [-2.83287435e-02 6.27996315e-04 9.99598463e-01 -1.44954369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.40, Z:-1.45 [[ 9.94913103e-01 9.68141911e-02 2.78375683e-02 3.16633644e+01] [-9.67645102e-02 9.95302384e-01 -3.12944582e-03 -1.40485159e+00] [-2.80097729e-02 4.19837987e-04 9.99607561e-01 -1.45075461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.41, Z:-1.45 [[ 9.94474490e-01 1.01199654e-01 2.79126967e-02 3.16949220e+01] [-1.01151469e-01 9.94866093e-01 -3.13653824e-03 -1.40512813e+00] [-2.80868121e-02 2.95796990e-04 9.99605444e-01 -1.45165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.40, Z:-1.45 [[ 9.93514917e-01 1.10195246e-01 2.80199338e-02 3.17278561e+01] [-1.10150146e-01 9.93909959e-01 -3.15270252e-03 -1.39826888e+00] [-2.81967040e-02 4.58571784e-05 9.99602393e-01 -1.45116960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.40, Z:-1.45 [[ 9.93004367e-01 1.14700096e-01 2.80395086e-02 3.17606446e+01] [-1.14656598e-01 9.93400162e-01 -3.15954003e-03 -1.39624689e+00] [-2.82168520e-02 -7.74776186e-05 9.99601822e-01 -1.45449326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.39, Z:-1.46 [[ 9.92557994e-01 1.18586115e-01 2.76760343e-02 3.17926592e+01] [-1.18545100e-01 9.92943755e-01 -3.12384188e-03 -1.39499429e+00] [-2.78511897e-02 -1.80264021e-04 9.99612064e-01 -1.45618854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442640000000004 meters Centerline goodness [0,1] 0.999978912740922 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.39, Z:-1.46 [[ 9.91890621e-01 1.24176789e-01 2.70762027e-02 3.18241388e+01] [-1.24139456e-01 9.92260057e-01 -3.06193219e-03 -1.39073203e+00] [-2.72468553e-02 -3.24123234e-04 9.99628683e-01 -1.45901474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472640000000006 meters Centerline goodness [0,1] 0.999914944288509 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.39, Z:-1.46 [[ 9.91662294e-01 1.26065086e-01 2.67111982e-02 3.18542550e+01] [-1.26029421e-01 9.92021903e-01 -3.02126923e-03 -1.39133259e+00] [-2.68789702e-02 -3.70318062e-04 9.99638627e-01 -1.46003401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters Centerline goodness [0,1] 0.9999138617912441 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.39, Z:-1.46 [[ 9.91495972e-01 1.27416023e-01 2.64744076e-02 3.18842560e+01] [-1.27381477e-01 9.91849280e-01 -2.99417135e-03 -1.39286554e+00] [-2.66401275e-02 -4.03640315e-04 9.99645007e-01 -1.46061054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53264 meters Centerline goodness [0,1] 0.9999786525488856 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.39, Z:-1.46 [[ 9.91236022e-01 1.29438826e-01 2.63958290e-02 3.19144726e+01] [-1.29405211e-01 9.91587304e-01 -2.98495061e-03 -1.38901209e+00] [-2.65601374e-02 -4.56967250e-04 9.99647113e-01 -1.46417936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters Centerline goodness [0,1] 0.999935917975008 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.39, Z:-1.46 [[ 9.91127569e-01 1.30240639e-01 2.65239024e-02 3.19436760e+01] [-1.30206989e-01 9.91482297e-01 -2.99924786e-03 -1.39142789e+00] [-2.66886037e-02 -4.80960219e-04 9.99643680e-01 -1.46417168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59264 meters Centerline goodness [0,1] 0.9999364931518449 Centerline is valid? [True, True] Translation: X:31.97, Y:-1.39, Z:-1.47 [[ 9.91039018e-01 1.30831364e-01 2.69224643e-02 3.19722045e+01] [-1.30796927e-01 9.91404508e-01 -3.04379485e-03 -1.39184117e+00] [-2.70892763e-02 -5.04856121e-04 9.99632891e-01 -1.46506219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622640000000004 meters Centerline goodness [0,1] 0.9998940273833241 Centerline is valid? [True, True] Translation: X:32.00, Y:-1.39, Z:-1.47 [[ 9.90960986e-01 1.31343364e-01 2.72991775e-02 3.20006504e+01] [-1.31308170e-01 9.91336796e-01 -3.08565059e-03 -1.39163649e+00] [-2.74679589e-02 -5.26845695e-04 9.99622546e-01 -1.46544466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.39, Z:-1.46 [[ 9.90848179e-01 1.32087102e-01 2.78008013e-02 3.20306842e+01] [-1.32050954e-01 9.91237955e-01 -3.14025022e-03 -1.38964242e+00] [-2.79719960e-02 -5.59611132e-04 9.99608551e-01 -1.46494675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters Centerline goodness [0,1] 0.9999364877738964 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.39, Z:-1.47 [[ 9.90879311e-01 1.31972440e-01 2.72298851e-02 3.20586904e+01] [-1.31937724e-01 9.91253236e-01 -3.07555642e-03 -1.38917450e+00] [-2.73976004e-02 -5.45143844e-04 9.99624467e-01 -1.46761092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71264 meters Centerline goodness [0,1] 0.9999784997097461 Centerline is valid? [True, True] Translation: X:32.09, Y:-1.39, Z:-1.47 [[ 9.90961778e-01 1.31394978e-01 2.70206407e-02 3.20880223e+01] [-1.31360618e-01 9.91329956e-01 -3.05048812e-03 -1.39019113e+00] [-2.71871894e-02 -5.26530924e-04 9.99630221e-01 -1.46947987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters Centerline goodness [0,1] 0.9999785430747774 Centerline is valid? [True, True] Translation: X:32.12, Y:-1.39, Z:-1.47 [[ 9.91197597e-01 1.29312734e-01 2.83820388e-02 3.21179721e+01] [-1.29274053e-01 9.91603737e-01 -3.20130539e-03 -1.39445204e+00] [-2.85577053e-02 -4.95934964e-04 9.99592023e-01 -1.46743577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77264 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:32.15, Y:-1.40, Z:-1.47 [[ 9.91398875e-01 1.27624392e-01 2.89876820e-02 3.21473232e+01] [-1.27583328e-01 9.91822467e-01 -3.26937935e-03 -1.39801355e+00] [-2.91678868e-02 -4.57085931e-04 9.99574422e-01 -1.46718062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802640000000004 meters Centerline goodness [0,1] 0.9998291036486371 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.40, Z:-1.47 [[ 9.91635368e-01 1.25796122e-01 2.88900161e-02 3.21761252e+01] [-1.25754583e-01 9.92056033e-01 -3.25752726e-03 -1.40088447e+00] [-2.90702991e-02 -4.02772684e-04 9.99577288e-01 -1.47135546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.40, Z:-1.47 [[ 9.92058508e-01 1.22397024e-01 2.89635294e-02 3.22058037e+01] [-1.22353834e-01 9.92481172e-01 -3.26545409e-03 -1.40411062e+00] [-2.91454395e-02 -3.04277369e-04 9.99575135e-01 -1.47150411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.41, Z:-1.47 [[ 9.92249033e-01 1.20662419e-01 2.97058565e-02 3.22360344e+01] [-1.20616224e-01 9.92693564e-01 -3.34866772e-03 -1.40992885e+00] [-2.98928709e-02 -2.60295946e-04 9.99553074e-01 -1.46978174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.41, Z:-1.47 [[ 9.92447651e-01 1.18896773e-01 3.01863731e-02 3.22661635e+01] [-1.18848254e-01 9.92906598e-01 -3.40283517e-03 -1.41402989e+00] [-3.03768351e-02 -2.10461973e-04 9.99538495e-01 -1.46914752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters Centerline goodness [0,1] 0.9999574477138784 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.41, Z:-1.47 [[ 9.92724120e-01 1.16732397e-01 2.95359043e-02 3.22961599e+01] [-1.16685007e-01 9.93163394e-01 -3.32890850e-03 -1.41419683e+00] [-2.97225705e-02 -1.41709456e-04 9.99558177e-01 -1.47316605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.42, Z:-1.47 [[ 9.92794947e-01 1.16165706e-01 2.93891387e-02 3.23269199e+01] [-1.16118467e-01 9.93229839e-01 -3.31477491e-03 -1.41703586e+00] [-2.95752327e-02 -1.21729946e-04 9.99562550e-01 -1.47197690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.42, Z:-1.48 [[ 9.92900284e-01 1.15452328e-01 2.86318966e-02 3.23571394e+01] [-1.15407214e-01 9.93313017e-01 -3.22873668e-03 -1.41788344e+00] [-2.88132008e-02 -9.85138474e-05 9.99584809e-01 -1.47549352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.42, Z:-1.48 [[ 9.92934526e-01 1.15277218e-01 2.81458796e-02 3.23868604e+01] [-1.15233480e-01 9.93333355e-01 -3.17647832e-03 -1.41999503e+00] [-2.83244166e-02 -8.93126565e-05 9.99598779e-01 -1.47798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.42, Z:-1.48 [[ 9.92960574e-01 1.15148416e-01 2.77514173e-02 3.24157756e+01] [-1.15105863e-01 9.93348295e-01 -3.13133326e-03 -1.42142821e+00] [-2.79273911e-02 -8.50603767e-05 9.99609951e-01 -1.48055508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.42, Z:-1.48 [[ 9.92965811e-01 1.15155906e-01 2.75320857e-02 3.24452764e+01] [-1.15114047e-01 9.93347427e-01 -3.10584530e-03 -1.42244798e+00] [-2.77065829e-02 -8.53316036e-05 9.99616095e-01 -1.48065900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-1.42, Z:-1.48 [[ 9.92908714e-01 1.15775070e-01 2.69892281e-02 3.24747892e+01] [-1.15735090e-01 9.93275452e-01 -3.04401533e-03 -1.41939398e+00] [-2.71601588e-02 -1.01171377e-04 9.99631090e-01 -1.48268845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13264 meters Centerline goodness [0,1] 0.9998710065786645 Centerline is valid? [True, True] Translation: X:32.50, Y:-1.42, Z:-1.48 [[ 9.92891142e-01 1.15916449e-01 2.70288191e-02 3.25040708e+01] [-1.15876424e-01 9.93258962e-01 -3.04772929e-03 -1.42054444e+00] [-2.71998987e-02 -1.05939484e-04 9.99630009e-01 -1.48426177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-1.42, Z:-1.49 [[ 9.92826508e-01 1.16441611e-01 2.71454629e-02 3.25328230e+01] [-1.16401451e-01 9.93197531e-01 -3.06034660e-03 -1.42062161e+00] [-2.73171585e-02 -1.21378055e-04 9.99626809e-01 -1.48572198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.56, Y:-1.42, Z:-1.48 [[ 9.92819284e-01 1.16421451e-01 2.74939021e-02 3.25620903e+01] [-1.16380279e-01 9.93199895e-01 -3.09843079e-03 -1.42253547e+00] [-2.76676644e-02 -1.23566149e-04 9.99617169e-01 -1.48405576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.59, Y:-1.43, Z:-1.49 [[ 9.92822095e-01 1.16397457e-01 2.74939769e-02 3.25910535e+01] [-1.16356294e-01 9.93202707e-01 -3.09776686e-03 -1.42575437e+00] [-2.76676644e-02 -1.23565877e-04 9.99617169e-01 -1.48520914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-1.43, Z:-1.49 [[ 9.92909263e-01 1.15619747e-01 2.76273457e-02 3.26201624e+01] [-1.15577898e-01 9.93293543e-01 -3.11225356e-03 -1.42670108e+00] [-2.78019021e-02 -1.02925144e-04 9.99613447e-01 -1.48692995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-1.43, Z:-1.49 [[ 9.93042103e-01 1.14451373e-01 2.77175913e-02 3.26488298e+01] [-1.14408823e-01 9.93428849e-01 -3.12139074e-03 -1.43044229e+00] [-2.78927023e-02 -7.14645913e-05 9.99610920e-01 -1.48921013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.68, Y:-1.43, Z:-1.49 [[ 9.93220204e-01 1.12915934e-01 2.76336608e-02 3.26781094e+01] [-1.12873078e-01 9.93604545e-01 -3.11082916e-03 -1.43490680e+00] [-2.78081931e-02 -2.93579717e-05 9.99613277e-01 -1.48883178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:-1.44, Z:-1.49 [[ 9.93581686e-01 1.09827448e-01 2.70807263e-02 3.27066035e+01] [-1.09785156e-01 9.93950667e-01 -3.04809847e-03 -1.43909743e+00] [-2.72516708e-02 5.54730554e-05 9.99628603e-01 -1.49113232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:-1.44, Z:-1.49 [[ 9.93763052e-01 1.08133495e-01 2.72422997e-02 3.27355233e+01] [-1.08090092e-01 9.94136377e-01 -3.06516549e-03 -1.44389457e+00] [-2.74140082e-02 1.01425544e-04 9.99624160e-01 -1.49229790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.77, Y:-1.45, Z:-1.49 [[ 9.93949988e-01 1.06364521e-01 2.73863129e-02 3.27654571e+01] [-1.06320011e-01 9.94327193e-01 -3.08044211e-03 -1.44956641e+00] [-2.75586054e-02 1.50092301e-04 9.99620178e-01 -1.49249197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.80, Y:-1.46, Z:-1.49 [[ 9.94186201e-01 1.03944378e-01 2.80956069e-02 3.27961839e+01] [-1.03896574e-01 9.94583087e-01 -3.15995598e-03 -1.45693430e+00] [-2.82718751e-02 2.22547335e-04 9.99600246e-01 -1.49259849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:-1.46, Z:-1.49 [[ 9.94244931e-01 1.03316358e-01 2.83327951e-02 3.28259280e+01] [-1.03267464e-01 9.94648516e-01 -3.18745116e-03 -1.46093196e+00] [-2.85104884e-02 2.43251269e-04 9.99593464e-01 -1.49337493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:-1.47, Z:-1.50 [[ 9.94289521e-01 1.02929757e-01 2.81747021e-02 3.28553795e+01] [-1.02881257e-01 9.94688595e-01 -3.16950927e-03 -1.46614746e+00] [-2.83512917e-02 2.52761088e-04 9.99597989e-01 -1.49613220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:-1.47, Z:-1.50 [[ 9.94343307e-01 1.02616134e-01 2.74101666e-02 3.28860195e+01] [-1.02570061e-01 9.94720998e-01 -3.08535850e-03 -1.47074566e+00] [-2.75820758e-02 2.56443123e-04 9.99619509e-01 -1.49626579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:-1.47, Z:-1.50 [[ 9.94287432e-01 1.03033571e-01 2.78672971e-02 3.29171904e+01] [-1.02986092e-01 9.94677848e-01 -3.13750482e-03 -1.47365592e+00] [-2.80422514e-02 2.49637584e-04 9.99606708e-01 -1.49635001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.95, Y:-1.48, Z:-1.50 [[ 9.94195951e-01 1.03829875e-01 2.81738785e-02 3.29476712e+01] [-1.03781641e-01 9.94595045e-01 -3.17285968e-03 -1.47684091e+00] [-2.83510376e-02 2.30512918e-04 9.99598002e-01 -1.49794057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:-1.48, Z:-1.50 [[ 9.93996980e-01 1.05620225e-01 2.85372157e-02 3.29780546e+01] [-1.05571466e-01 9.94406524e-01 -3.21413643e-03 -1.47915839e+00] [-2.87170713e-02 1.82126216e-04 9.99587563e-01 -1.49832838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.48, Z:-1.50 [[ 9.93909210e-01 1.06451018e-01 2.85072375e-02 3.30091510e+01] [-1.06402697e-01 9.94317935e-01 -3.21096773e-03 -1.48178793e+00] [-2.86870683e-02 1.58163460e-04 9.99588429e-01 -1.49899143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:-1.48, Z:-1.50 [[ 9.93830425e-01 1.07276720e-01 2.81565614e-02 3.30407401e+01] [-1.07229893e-01 9.94229193e-01 -3.17212472e-03 -1.48405805e+00] [-2.83343704e-02 1.33328985e-04 9.99598492e-01 -1.50006300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.49, Z:-1.50 [[ 9.93827416e-01 1.07420058e-01 2.77127671e-02 3.30707115e+01] [-1.07374729e-01 9.94213717e-01 -3.12291959e-03 -1.48921192e+00] [-2.78878774e-02 1.27992240e-04 9.99611049e-01 -1.50283410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.50, Z:-1.51 [[ 9.93910530e-01 1.06733198e-01 2.73839990e-02 3.30998975e+01] [-1.06688666e-01 9.94287686e-01 -3.08633560e-03 -1.49549193e+00] [-2.75569875e-02 1.45979122e-04 9.99620223e-01 -1.50515068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.50, Z:-1.51 [[ 9.94019485e-01 1.05783087e-01 2.71145978e-02 3.31306666e+01] [-1.05739081e-01 9.94389214e-01 -3.05568076e-03 -1.50204871e+00] [-2.72857029e-02 1.70333564e-04 9.99627661e-01 -1.50609929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.16, Y:-1.51, Z:-1.51 [[ 9.94263236e-01 1.03314357e-01 2.76904690e-02 3.31598464e+01] [-1.03267481e-01 9.94648724e-01 -3.12140161e-03 -1.51334556e+00] [-2.78647753e-02 2.43969879e-04 9.99611672e-01 -1.50658955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.19, Y:-1.52, Z:-1.51 [[ 9.94391464e-01 1.02160827e-01 2.73638892e-02 3.31901242e+01] [-1.02114652e-01 9.94767858e-01 -3.08322514e-03 -1.52137292e+00] [-2.75357022e-02 2.71678750e-04 9.99620784e-01 -1.50844132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.22, Y:-1.53, Z:-1.51 [[ 9.94478064e-01 1.01514297e-01 2.66125626e-02 3.32217287e+01] [-1.01470291e-01 9.94834039e-01 -3.00232868e-03 -1.52787674e+00] [-2.67798624e-02 2.85365544e-04 9.99641314e-01 -1.51031997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88264 meters Centerline goodness [0,1] 0.999914486061228 Centerline is valid? [True, True] Translation: X:33.25, Y:-1.53, Z:-1.51 [[ 9.94561447e-01 1.00945453e-01 2.56426285e-02 3.32530113e+01] [-1.00904305e-01 9.94891918e-01 -2.89689157e-03 -1.53307441e+00] [-2.58040719e-02 2.93685068e-04 9.99666976e-01 -1.51476069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.54, Z:-1.51 [[ 9.94487660e-01 1.01595677e-01 2.59347602e-02 3.32832382e+01] [-1.01553688e-01 9.94825732e-01 -2.93442323e-03 -1.54034581e+00] [-2.60986916e-02 2.84477135e-04 9.99659331e-01 -1.51343367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.55, Z:-1.52 [[ 9.94390356e-01 1.02585642e-01 2.57683104e-02 3.33149722e+01] [-1.02544426e-01 9.94724142e-01 -2.91932282e-03 -1.54555898e+00] [-2.59318411e-02 2.60549846e-04 9.99663679e-01 -1.51531780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.35, Y:-1.55, Z:-1.52 [[ 9.94117753e-01 1.05500418e-01 2.44858252e-02 3.33459616e+01] [-1.05463945e-01 9.94419242e-01 -2.77977717e-03 -1.54765622e+00] [-2.46424434e-02 1.81054108e-04 9.99696312e-01 -1.51789828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.55, Z:-1.52 [[ 9.93935746e-01 1.07183112e-01 2.45665032e-02 3.33767296e+01] [-1.07146899e-01 9.94239287e-01 -2.78951457e-03 -1.54979724e+00] [-2.47239715e-02 1.40373614e-04 9.99694306e-01 -1.51954675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.41, Y:-1.55, Z:-1.52 [[ 9.93764658e-01 1.08725491e-01 2.47097414e-02 3.34081713e+01] [-1.08689316e-01 9.94071807e-01 -2.80634676e-03 -1.55123079e+00] [-2.48683787e-02 1.03163338e-04 9.99690729e-01 -1.51866510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:-1.55, Z:-1.52 [[ 9.93470794e-01 1.11201789e-01 2.54940025e-02 3.34374574e+01] [-1.11164078e-01 9.93797847e-01 -2.89615039e-03 -1.55131509e+00] [-2.56579419e-02 4.32235464e-05 9.99670780e-01 -1.52029512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.55, Z:-1.52 [[ 9.93412091e-01 1.11593520e-01 2.60634417e-02 3.34666396e+01] [-1.11554217e-01 9.93753936e-01 -2.96168396e-03 -1.55468917e+00] [-2.62311525e-02 3.46858148e-05 9.99655904e-01 -1.52090301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.56, Z:-1.52 [[ 9.93435956e-01 1.11296043e-01 2.64233101e-02 3.34969235e+01] [-1.11255553e-01 9.93787296e-01 -3.00212271e-03 -1.56038960e+00] [-2.65932743e-02 4.26766591e-05 9.99646335e-01 -1.52239248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.57, Z:-1.52 [[ 9.93650172e-01 1.09434373e-01 2.61429329e-02 3.35261347e+01] [-1.09394098e-01 9.93994019e-01 -2.97011846e-03 -1.57150866e+00] [-2.63109520e-02 9.13761462e-05 9.99653803e-01 -1.52485259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.58, Z:-1.53 [[ 9.93752861e-01 1.08464705e-01 2.62804042e-02 3.35566676e+01] [-1.08423705e-01 9.94100294e-01 -2.98429070e-03 -1.57814648e+00] [-2.64490477e-02 1.16228634e-04 9.99650156e-01 -1.52669763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.58, Z:-1.53 [[ 9.93888384e-01 1.07229988e-01 2.62223316e-02 3.35875367e+01] [-1.07188638e-01 9.94234231e-01 -2.98151261e-03 -1.58476769e+00] [-2.63908473e-02 1.52554723e-04 9.99651689e-01 -1.52795030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.59, Z:-1.53 [[ 9.93990270e-01 1.06250588e-01 2.63468346e-02 3.36189249e+01] [-1.06208402e-01 9.94339368e-01 -2.99936796e-03 -1.59145124e+00] [-2.65163795e-02 1.83087359e-04 9.99648362e-01 -1.52882533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-1.60, Z:-1.53 [[ 9.94178174e-01 1.04437762e-01 2.65049362e-02 3.36506325e+01] [-1.04394319e-01 9.94531396e-01 -3.02131436e-03 -1.59963848e+00] [-2.66755305e-02 2.36760010e-04 9.99644117e-01 -1.52577578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.68, Y:-1.61, Z:-1.53 [[ 9.94217645e-01 1.03993839e-01 2.67685492e-02 3.36821872e+01] [-1.03949245e-01 9.94577909e-01 -3.05585422e-03 -1.60877020e+00] [-2.69411977e-02 2.55613704e-04 9.99636987e-01 -1.52863178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.71, Y:-1.62, Z:-1.53 [[ 9.94264120e-01 1.03426900e-01 2.72348295e-02 3.37135735e+01] [-1.03380383e-01 9.94637018e-01 -3.11432656e-03 -1.61720992e+00] [-2.74108747e-02 2.80916058e-04 9.99624212e-01 -1.52977430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.74, Y:-1.63, Z:-1.53 [[ 9.94417490e-01 1.02009396e-01 2.69803444e-02 3.37448267e+01] [-1.01963095e-01 9.94783383e-01 -3.08991511e-03 -1.62988422e+00] [-2.71547986e-02 3.21666192e-04 9.99631189e-01 -1.53197342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.64, Z:-1.53 [[ 9.94446529e-01 1.01852455e-01 2.64986492e-02 3.37764814e+01] [-1.01807628e-01 9.94799463e-01 -3.03885995e-03 -1.63688702e+00] [-2.66703573e-02 3.24219116e-04 9.99644230e-01 -1.53407890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.81, Y:-1.64, Z:-1.53 [[ 9.94430282e-01 1.02116142e-01 2.60903857e-02 3.38088211e+01] [-1.02072681e-01 9.94772433e-01 -2.99567201e-03 -1.64107917e+00] [-2.62599029e-02 3.15871335e-04 9.99655099e-01 -1.53457397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.84, Y:-1.65, Z:-1.54 [[ 9.94350819e-01 1.03014670e-01 2.55817739e-02 3.38409442e+01] [-1.02973019e-01 9.94679794e-01 -2.94368139e-03 -1.64744243e+00] [-2.57489160e-02 2.92819493e-04 9.99668399e-01 -1.53623469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.87, Y:-1.65, Z:-1.54 [[ 9.94296311e-01 1.03586650e-01 2.53899890e-02 3.38732887e+01] [-1.03545817e-01 9.94620395e-01 -2.92124896e-03 -1.65394290e+00] [-2.55560033e-02 2.75559905e-04 9.99673354e-01 -1.53790591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.90, Y:-1.66, Z:-1.54 [[ 9.94236979e-01 1.04143285e-01 2.54363113e-02 3.39046510e+01] [-1.04102356e-01 9.94562268e-01 -2.93164729e-03 -1.66155509e+00] [-2.56033069e-02 2.66772217e-04 9.99672146e-01 -1.53959066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.93, Y:-1.67, Z:-1.54 [[ 9.94077338e-01 1.05233369e-01 2.71327018e-02 3.39345742e+01] [-1.05187047e-01 9.94447520e-01 -3.13285315e-03 -1.67102733e+00] [-2.73117287e-02 2.60289533e-04 9.99626931e-01 -1.53912300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-1.68, Z:-1.54 [[ 9.94001253e-01 1.05869447e-01 2.74439156e-02 3.39659865e+01] [-1.05822185e-01 9.94380007e-01 -3.17290762e-03 -1.67579230e+00] [-2.76255950e-02 2.49699045e-04 9.99618309e-01 -1.53882498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.68, Z:-1.54 [[ 9.93916264e-01 1.06764452e-01 2.70520314e-02 3.39987007e+01] [-1.06718754e-01 9.94284316e-01 -3.13153546e-03 -1.68103285e+00] [-2.72317472e-02 2.25524925e-04 9.99629122e-01 -1.53922352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.03, Y:-1.69, Z:-1.54 [[ 9.93735636e-01 1.08540820e-01 2.66153421e-02 3.40301086e+01] [-1.08497078e-01 9.94091977e-01 -3.08638804e-03 -1.68865028e+00] [-2.67930971e-02 1.79366943e-04 9.99640984e-01 -1.54170111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.69, Z:-1.54 [[ 9.93612781e-01 1.09689200e-01 2.64937916e-02 3.40616607e+01] [-1.09646149e-01 9.93965923e-01 -3.07664851e-03 -1.69364925e+00] [-2.66714012e-02 1.52055058e-04 9.99644243e-01 -1.54406772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692640000000004 meters Centerline goodness [0,1] 0.9998711893516531 Centerline is valid? [True, True] Translation: X:34.09, Y:-1.70, Z:-1.55 [[ 9.93500452e-01 1.10800887e-01 2.60770899e-02 3.40944474e+01] [-1.10759445e-01 9.93842617e-01 -3.03273418e-03 -1.69780646e+00] [-2.62525529e-02 1.24738794e-04 9.99655335e-01 -1.54639472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.71, Z:-1.55 [[ 9.93264630e-01 1.12997778e-01 2.56296112e-02 3.41253034e+01] [-1.12958351e-01 9.93595238e-01 -2.98557579e-03 -1.70632163e+00] [-2.58028230e-02 7.03882152e-05 9.99667049e-01 -1.54829338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.71, Z:-1.55 [[ 9.93133087e-01 1.14248337e-01 2.51791440e-02 3.41578919e+01] [-1.14210566e-01 9.93452221e-01 -2.93783500e-03 -1.71124066e+00] [-2.53499193e-02 4.19368524e-05 9.99678638e-01 -1.54924735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.72, Z:-1.55 [[ 9.92976088e-01 1.15606538e-01 2.51717698e-02 3.41909297e+01] [-1.15569103e-01 9.93295086e-01 -2.94180745e-03 -1.71554387e+00] [-2.53430875e-02 1.20655911e-05 9.99678812e-01 -1.54950231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:-1.72, Z:-1.55 [[ 9.92629470e-01 1.18440037e-01 2.56650027e-02 3.42225458e+01] [-1.18401927e-01 9.92961205e-01 -3.00487823e-03 -1.72003022e+00] [-2.58402499e-02 -5.60550895e-05 9.99666083e-01 -1.55353087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.26, Y:-1.73, Z:-1.55 [[ 9.92471981e-01 1.19733080e-01 2.57556985e-02 3.42551128e+01] [-1.19695013e-01 9.92806115e-01 -3.02018901e-03 -1.72538156e+00] [-2.59320315e-02 -8.53757013e-05 9.99663705e-01 -1.55199494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.29, Y:-1.73, Z:-1.55 [[ 9.92315478e-01 1.20948798e-01 2.61032469e-02 3.42869398e+01] [-1.20909977e-01 9.92658741e-01 -3.06625202e-03 -1.73041506e+00] [-2.62824757e-02 -1.13453661e-04 9.99654550e-01 -1.55378662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.32, Y:-1.74, Z:-1.56 [[ 9.92211975e-01 1.21768252e-01 2.62276629e-02 3.43197873e+01] [-1.21729225e-01 9.92558550e-01 -3.08549575e-03 -1.73589880e+00] [-2.64082065e-02 -1.31207234e-04 9.99651234e-01 -1.55516255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.35, Y:-1.74, Z:-1.56 [[ 9.92150850e-01 1.22295586e-01 2.60860239e-02 3.43524733e+01] [-1.22257035e-01 9.92493713e-01 -3.07366697e-03 -1.74181665e+00] [-2.62661106e-02 -1.39658633e-04 9.99654976e-01 -1.55544769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.38, Y:-1.75, Z:-1.56 [[ 9.92103705e-01 1.22703089e-01 2.59651938e-02 3.43843475e+01] [-1.22664900e-01 9.92443415e-01 -3.06449277e-03 -1.74926474e+00] [-2.61450083e-02 -1.44723281e-04 9.99658150e-01 -1.55660885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.76, Z:-1.56 [[ 9.92101718e-01 1.22724662e-01 2.59391433e-02 3.44160568e+01] [-1.22686418e-01 9.92440748e-01 -3.06673108e-03 -1.75583113e+00] [-2.61194263e-02 -1.39871420e-04 9.99658820e-01 -1.55985958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.76, Z:-1.56 [[ 9.92136320e-01 1.22471128e-01 2.58136559e-02 3.44483744e+01] [-1.22433049e-01 9.92472068e-01 -3.05651171e-03 -1.76407327e+00] [-2.59936669e-02 -1.27968308e-04 9.99662099e-01 -1.56108677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.78, Z:-1.56 [[ 9.92262555e-01 1.21535379e-01 2.53805889e-02 3.44799935e+01] [-1.21498141e-01 9.92587096e-01 -3.00990795e-03 -1.77525541e+00] [-2.55582553e-02 -9.70754125e-05 9.99673330e-01 -1.56127641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.78, Z:-1.56 [[ 9.92294974e-01 1.21192267e-01 2.57510916e-02 3.45105613e+01] [-1.21153647e-01 9.92629048e-01 -3.06044503e-03 -1.78103448e+00] [-2.59321838e-02 -8.29744356e-05 9.99663701e-01 -1.56409473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.54, Y:-1.79, Z:-1.57 [[ 9.92272280e-01 1.21377969e-01 2.57509432e-02 3.45428018e+01] [-1.21339379e-01 9.92606358e-01 -3.06169339e-03 -1.78507407e+00] [-2.59321721e-02 -8.65699753e-05 9.99663701e-01 -1.56538068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.79, Z:-1.56 [[ 9.92260684e-01 1.21393729e-01 2.61208150e-02 3.45750117e+01] [-1.21353897e-01 9.92604431e-01 -3.11062005e-03 -1.79169574e+00] [-2.63052464e-02 -8.33167241e-05 9.99653954e-01 -1.56422535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.80, Z:-1.56 [[ 9.92134302e-01 1.22281788e-01 2.67710721e-02 3.46068744e+01] [-1.22240114e-01 9.92495417e-01 -3.19388436e-03 -1.79785357e+00] [-2.69607202e-02 -1.03736670e-04 9.99636488e-01 -1.56372379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-1.80, Z:-1.57 [[ 9.92015396e-01 1.23257180e-01 2.67043518e-02 3.46388406e+01] [-1.23215947e-01 9.92374754e-01 -3.19040178e-03 -1.80100321e+00] [-2.68939645e-02 -1.25474307e-04 9.99638284e-01 -1.56818207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:-1.80, Z:-1.57 [[ 9.91656850e-01 1.26000351e-01 2.72140188e-02 3.46706610e+01] [-1.25958413e-01 9.92030177e-01 -3.25669681e-03 -1.80354820e+00] [-2.74074728e-02 -1.98308921e-04 9.99624325e-01 -1.56662277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262640000000005 meters Centerline goodness [0,1] 0.9999578005654725 Centerline is valid? [True, True] Translation: X:34.70, Y:-1.81, Z:-1.57 [[ 9.91406364e-01 1.28037023e-01 2.68317462e-02 3.47015379e+01] [-1.27996877e-01 9.91769358e-01 -3.21550307e-03 -1.80530871e+00] [-2.70226072e-02 -2.46509519e-04 9.99634792e-01 -1.56916092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.73, Y:-1.81, Z:-1.57 [[ 9.91188066e-01 1.29923713e-01 2.58078840e-02 3.47330845e+01] [-1.29887122e-01 9.91523953e-01 -3.09626768e-03 -1.80949448e+00] [-2.59914137e-02 -2.83128210e-04 9.99662126e-01 -1.56980906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.76, Y:-1.81, Z:-1.57 [[ 9.90838116e-01 1.32601802e-01 2.56240113e-02 3.47639675e+01] [-1.32566506e-01 9.91169331e-01 -3.07883966e-03 -1.81011825e+00] [-2.58059938e-02 -3.46253964e-04 9.99666910e-01 -1.57350804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35264 meters Centerline goodness [0,1] 0.9999364904629845 Centerline is valid? [True, True] Translation: X:34.79, Y:-1.81, Z:-1.57 [[ 9.90735217e-01 1.33370977e-01 2.56107797e-02 3.47948346e+01] [-1.33335842e-01 9.91066119e-01 -3.08237198e-03 -1.81221029e+00] [-2.57930750e-02 -3.61020419e-04 9.99667238e-01 -1.57475264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-1.82, Z:-1.57 [[ 9.90746547e-01 1.33288251e-01 2.56031461e-02 3.48278109e+01] [-1.33253086e-01 9.91077249e-01 -3.08236720e-03 -1.81721177e+00] [-2.57855390e-02 -3.57853566e-04 9.99667434e-01 -1.57451185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-1.82, Z:-1.58 [[ 9.90834621e-01 1.32481966e-01 2.63682152e-02 3.48588358e+01] [-1.32444226e-01 9.91185357e-01 -3.18034218e-03 -1.82127762e+00] [-2.65571268e-02 -3.41124725e-04 9.99647239e-01 -1.57606672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-1.83, Z:-1.57 [[ 9.91305663e-01 1.28497701e-01 2.83094026e-02 3.48891631e+01] [-1.28452392e-01 9.91709776e-01 -3.42087949e-03 -1.83245711e+00] [-2.85142865e-02 -2.45273271e-04 9.99593355e-01 -1.57331577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-1.84, Z:-1.57 [[ 9.91573395e-01 1.26259982e-01 2.89934277e-02 3.49211913e+01] [-1.26211490e-01 9.91997169e-01 -3.50387180e-03 -1.84025749e+00] [-2.92037970e-02 -1.84957653e-04 9.99573461e-01 -1.57224824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.95, Y:-1.85, Z:-1.57 [[ 9.91792868e-01 1.24447046e-01 2.93230067e-02 3.49527392e+01] [-1.24396633e-01 9.92226242e-01 -3.54438077e-03 -1.84779168e+00] [-2.95361444e-02 -1.32391714e-04 9.99563704e-01 -1.57219389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:-1.86, Z:-1.57 [[ 9.92131997e-01 1.21732345e-01 2.92461378e-02 3.49827029e+01] [-1.21680862e-01 9.92562962e-01 -3.54031689e-03 -1.85771565e+00] [-2.94596042e-02 -4.62335829e-05 9.99565971e-01 -1.57398457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.01, Y:-1.86, Z:-1.58 [[ 9.92267906e-01 1.20689183e-01 2.89572795e-02 3.50141584e+01] [-1.20638139e-01 9.92690345e-01 -3.50974633e-03 -1.86428885e+00] [-2.91692002e-02 -1.07436837e-05 9.99574488e-01 -1.57654321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.05, Y:-1.87, Z:-1.58 [[ 9.92349099e-01 1.20125068e-01 2.85172608e-02 3.50462283e+01] [-1.20075187e-01 9.92758766e-01 -3.46144152e-03 -1.87021741e+00] [-2.87265665e-02 1.07429449e-05 9.99587307e-01 -1.57843639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.08, Y:-1.88, Z:-1.58 [[ 9.92446544e-01 1.19661660e-01 2.70359872e-02 3.50763627e+01] [-1.19616512e-01 9.92814729e-01 -3.28691664e-03 -1.87763442e+00] [-2.72350442e-02 2.81385876e-05 9.99629057e-01 -1.58320227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.11, Y:-1.88, Z:-1.58 [[ 9.92408168e-01 1.20026469e-01 2.68267606e-02 3.51085972e+01] [-1.19982051e-01 9.92770692e-01 -3.26512075e-03 -1.88319315e+00] [-2.70247226e-02 2.16027351e-05 9.99634765e-01 -1.58421336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.14, Y:-1.89, Z:-1.59 [[ 9.92345392e-01 1.20609109e-01 2.65342464e-02 3.51416294e+01] [-1.20565728e-01 9.92700077e-01 -3.23457509e-03 -1.88833270e+00] [-2.67306677e-02 1.06949322e-05 9.99642672e-01 -1.58547856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.17, Y:-1.89, Z:-1.59 [[ 9.92146206e-01 1.22480966e-01 2.53834487e-02 3.51722078e+01] [-1.22441722e-01 9.92470862e-01 -3.10044070e-03 -1.89296623e+00] [-2.55720782e-02 -3.19027029e-05 9.99672980e-01 -1.59015996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.20, Y:-1.90, Z:-1.59 [[ 9.91995237e-01 1.23669121e-01 2.55224985e-02 3.52044510e+01] [-1.23629812e-01 9.92323508e-01 -3.11848857e-03 -1.89774699e+00] [-2.57122360e-02 -6.18158720e-05 9.99669384e-01 -1.59119692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.24, Y:-1.90, Z:-1.59 [[ 9.91773901e-01 1.25428006e-01 2.55410402e-02 3.52377334e+01] [-1.25389098e-01 9.92102719e-01 -3.12557550e-03 -1.90159977e+00] [-2.57313702e-02 -1.02703806e-04 9.99668888e-01 -1.59064708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.27, Y:-1.90, Z:-1.59 [[ 9.91129104e-01 1.30480806e-01 2.52558538e-02 3.52695832e+01] [-1.30444260e-01 9.91450810e-01 -3.09621756e-03 -1.89937088e+00] [-2.54439336e-02 -2.25729823e-04 9.99676225e-01 -1.59357903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.30, Y:-1.90, Z:-1.59 [[ 9.90750887e-01 1.33327709e-01 2.52270071e-02 3.53012542e+01] [-1.33292065e-01 9.91071963e-01 -3.09678092e-03 -1.90105543e+00] [-2.54146661e-02 -2.94421427e-04 9.99676952e-01 -1.59409447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:-1.90, Z:-1.60 [[ 9.90353832e-01 1.36201666e-01 2.54635946e-02 3.53328842e+01] [-1.36166192e-01 9.90681064e-01 -3.12998136e-03 -1.90067182e+00] [-2.56526096e-02 -3.67491691e-04 9.99670850e-01 -1.59615448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89264 meters Centerline goodness [0,1] 0.9999360409338024 Centerline is valid? [True, True] Translation: X:35.36, Y:-1.90, Z:-1.60 [[ 9.89650561e-01 1.41326190e-01 2.48731846e-02 3.53641499e+01] [-1.41293811e-01 9.89962966e-01 -3.06335215e-03 -1.89815575e+00] [-2.50564635e-02 -4.82778876e-04 9.99685921e-01 -1.59804772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters Centerline goodness [0,1] 0.9999568295631152 Centerline is valid? [True, True] Translation: X:35.40, Y:-1.90, Z:-1.60 [[ 9.89319581e-01 1.43721698e-01 2.43072169e-02 3.53959650e+01] [-1.43691545e-01 9.89618002e-01 -2.99169587e-03 -1.90023206e+00] [-2.44848310e-02 -5.32998250e-04 9.99700059e-01 -1.59892318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95264 meters Centerline goodness [0,1] 0.9996846884722106 Centerline is valid? [True, True] Translation: X:35.43, Y:-1.90, Z:-1.60 [[ 9.89018792e-01 1.45805494e-01 2.41368215e-02 3.54275451e+01] [-1.45776288e-01 9.89313108e-01 -2.97459092e-03 -1.89515060e+00] [-2.43125856e-02 -5.76649929e-04 9.99704239e-01 -1.60424615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98264 meters Centerline goodness [0,1] 0.999894583711075 Centerline is valid? [True, True] Translation: X:35.46, Y:-1.90, Z:-1.60 [[ 9.88774316e-01 1.47402213e-01 2.44528167e-02 3.54595019e+01] [-1.47372627e-01 9.89076440e-01 -3.01753966e-03 -1.89720402e+00] [-2.46304969e-02 -6.20010130e-04 9.99696431e-01 -1.60391961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012640000000005 meters Centerline goodness [0,1] 0.999913845093478 Centerline is valid? [True, True] Translation: X:35.49, Y:-1.90, Z:-1.60 [[ 9.88468770e-01 1.49301549e-01 2.52693223e-02 3.54915394e+01] [-1.49270467e-01 9.88791473e-01 -3.12253049e-03 -1.89830459e+00] [-2.54522891e-02 -6.85439657e-04 9.99675803e-01 -1.60255799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042640000000006 meters Centerline goodness [0,1] 0.9999143963875275 Centerline is valid? [True, True] Translation: X:35.52, Y:-1.90, Z:-1.60 [[ 9.88357381e-01 1.50075835e-01 2.50386014e-02 3.55221310e+01] [-1.50045432e-01 9.88674245e-01 -3.09931724e-03 -1.90020966e+00] [-2.52201530e-02 -6.93694692e-04 9.99681681e-01 -1.60429833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07264 meters Centerline goodness [0,1] 0.9998300764655905 Centerline is valid? [True, True] Translation: X:35.55, Y:-1.90, Z:-1.61 [[ 9.88305102e-01 1.50484185e-01 2.46482521e-02 3.55538659e+01] [-1.50454830e-01 9.88612174e-01 -3.05177355e-03 -1.90358919e+00] [-2.48268058e-02 -6.92365212e-04 9.99691528e-01 -1.60558583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters Centerline goodness [0,1] 0.999871690689021 Centerline is valid? [True, True] Translation: X:35.59, Y:-1.91, Z:-1.61 [[ 9.88408591e-01 1.49642857e-01 2.56021888e-02 3.55860480e+01] [-1.49610788e-01 9.88739872e-01 -3.17438286e-03 -1.90740922e+00] [-2.57889286e-02 -6.92776367e-04 9.99667170e-01 -1.60548023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13264 meters Centerline goodness [0,1] 0.999892387491122 Centerline is valid? [True, True] Translation: X:35.62, Y:-1.91, Z:-1.61 [[ 9.88578131e-01 1.48420020e-01 2.61682399e-02 3.56178243e+01] [-1.48385971e-01 9.88924187e-01 -3.24904845e-03 -1.91248379e+00] [-2.63606292e-02 -6.71061440e-04 9.99652273e-01 -1.60602474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16264 meters Centerline goodness [0,1] 0.999810110557853 Centerline is valid? [True, True] Translation: X:35.65, Y:-1.92, Z:-1.61 [[ 9.88796122e-01 1.46940829e-01 2.62797036e-02 3.56488541e+01] [-1.46905847e-01 9.89145083e-01 -3.26743208e-03 -1.91727787e+00] [-2.64745588e-02 -6.29817937e-04 9.99649289e-01 -1.60699472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192640000000004 meters Centerline goodness [0,1] 0.9999571330589849 Centerline is valid? [True, True] Translation: X:35.68, Y:-1.93, Z:-1.60 [[ 9.89416395e-01 1.42420207e-01 2.77791553e-02 3.56786654e+01] [-1.42379159e-01 9.89806144e-01 -3.46021326e-03 -1.92661149e+00] [-2.79887829e-02 -5.31581049e-04 9.99608096e-01 -1.60472497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.71, Y:-1.93, Z:-1.61 [[ 9.89670838e-01 1.40464564e-01 2.86590208e-02 3.57103987e+01] [-1.40420106e-01 9.90085584e-01 -3.56801086e-03 -1.93295487e+00] [-2.88760625e-02 -4.93146455e-04 9.99582878e-01 -1.60534904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25264 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:35.74, Y:-1.94, Z:-1.61 [[ 9.89946033e-01 1.38468438e-01 2.88676729e-02 3.57418327e+01] [-1.38422338e-01 9.90366752e-01 -3.59890634e-03 -1.94050097e+00] [-2.90879184e-02 -4.33207731e-04 9.99576763e-01 -1.60680856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.77, Y:-1.95, Z:-1.61 [[ 9.90493301e-01 1.34589802e-01 2.84359808e-02 3.57726333e+01] [-1.34543333e-01 9.90901352e-01 -3.54994691e-03 -1.94946474e+00] [-2.86550384e-02 -3.09673002e-04 9.99589312e-01 -1.60873204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.80, Y:-1.96, Z:-1.61 [[ 9.90744638e-01 1.32778502e-01 2.81945199e-02 3.58039379e+01] [-1.32731949e-01 9.91145704e-01 -3.52463734e-03 -1.95657849e+00] [-2.84128733e-02 -2.50298030e-04 9.99596241e-01 -1.60904167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34264 meters Centerline goodness [0,1] 0.9998494461770083 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.96, Z:-1.61 [[ 9.90954341e-01 1.31242630e-01 2.80154713e-02 3.58358838e+01] [-1.31195918e-01 9.91350257e-01 -3.50702133e-03 -1.96109964e+00] [-2.82334154e-02 -2.00217466e-04 9.99601338e-01 -1.61274960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372640000000004 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.97, Z:-1.61 [[ 9.91243867e-01 1.29223285e-01 2.71466299e-02 3.58670738e+01] [-1.29178550e-01 9.91615513e-01 -3.40257758e-03 -1.96843999e+00] [-2.73587115e-02 -1.33978119e-04 9.99625671e-01 -1.61467167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.97, Z:-1.62 [[ 9.91299075e-01 1.28805528e-01 2.71160414e-02 3.58988611e+01] [-1.28760601e-01 9.91669865e-01 -3.40373932e-03 -1.97351363e+00] [-2.73285816e-02 -1.17354152e-04 9.99626498e-01 -1.61619385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43264 meters Centerline goodness [0,1] 0.9999786953001832 Centerline is valid? [True, True] Translation: X:35.93, Y:-1.98, Z:-1.62 [[ 9.91317124e-01 1.28606310e-01 2.74002887e-02 3.59313113e+01] [-1.28560223e-01 9.91695722e-01 -3.44435682e-03 -1.97781633e+00] [-2.76157151e-02 -1.08137327e-04 9.99618608e-01 -1.61566662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-1.98, Z:-1.62 [[ 9.91303275e-01 1.28887901e-01 2.65654904e-02 3.59634532e+01] [-1.28844542e-01 9.91659164e-01 -3.34462805e-03 -1.98086276e+00] [-2.67749940e-02 -1.07277698e-04 9.99641480e-01 -1.61647153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.98, Z:-1.62 [[ 9.91216642e-01 1.29669874e-01 2.59863944e-02 3.59947562e+01] [-1.29628532e-01 9.91557214e-01 -3.27637096e-03 -1.98387822e+00] [-2.61918434e-02 -1.20984737e-04 9.99656928e-01 -1.62067813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.99, Z:-1.62 [[ 9.91086245e-01 1.30702596e-01 2.57854033e-02 3.60260905e+01] [-1.30662136e-01 9.91421611e-01 -3.25502591e-03 -1.98718541e+00] [-2.59896464e-02 -1.43164471e-04 9.99662202e-01 -1.62221850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552640000000004 meters Centerline goodness [0,1] 0.9998710731015514 Centerline is valid? [True, True] Translation: X:36.06, Y:-1.99, Z:-1.62 [[ 9.90958601e-01 1.31655702e-01 2.58423342e-02 3.60587008e+01] [-1.31615272e-01 9.91295490e-01 -3.26663717e-03 -1.98992812e+00] [-2.60474608e-02 -1.64143655e-04 9.99660694e-01 -1.62327565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582640000000005 meters Centerline goodness [0,1] 0.9998080941617979 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.99, Z:-1.62 [[ 9.90759422e-01 1.32971567e-01 2.67269515e-02 3.60910487e+01] [-1.32928646e-01 9.91119833e-01 -3.38418293e-03 -1.99164435e+00] [-2.69396118e-02 -1.99866339e-04 9.99637043e-01 -1.62427243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612640000000006 meters Centerline goodness [0,1] 0.9998287084618019 Centerline is valid? [True, True] Translation: X:36.12, Y:-2.00, Z:-1.62 [[ 9.90672963e-01 1.33429645e-01 2.76335054e-02 3.61225341e+01] [-1.33383788e-01 9.91058265e-01 -3.50444585e-03 -1.99696568e+00] [-2.78540108e-02 -2.14101871e-04 9.99611979e-01 -1.62211075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-2.00, Z:-1.62 [[ 9.90591963e-01 1.33897880e-01 2.82651972e-02 3.61543612e+01] [-1.33849950e-01 9.90995109e-01 -3.58953257e-03 -2.00098263e+00] [-2.84913029e-02 -2.27533124e-04 9.99594015e-01 -1.62170447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.00, Z:-1.62 [[ 9.90458071e-01 1.35099956e-01 2.72178452e-02 3.61864187e+01] [-1.35055829e-01 9.90831944e-01 -3.46157577e-03 -2.00225962e+00] [-2.74359692e-02 -2.47382975e-04 9.99623532e-01 -1.62465533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.22, Y:-2.00, Z:-1.63 [[ 9.90310253e-01 1.36348393e-01 2.63574963e-02 3.62180656e+01] [-1.36307340e-01 9.90660912e-01 -3.35645333e-03 -2.00355225e+00] [-2.65689883e-02 -2.68790040e-04 9.99646946e-01 -1.62745232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73264 meters Centerline goodness [0,1] 0.9998935739979992 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.00, Z:-1.63 [[ 9.89835360e-01 1.39746866e-01 2.63964775e-02 3.62508301e+01] [-1.39706794e-01 9.90187198e-01 -3.36531348e-03 -2.00014842e+00] [-2.66077461e-02 -3.56660967e-04 9.99645888e-01 -1.63075497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.00, Z:-1.63 [[ 9.89564236e-01 1.41741237e-01 2.59238359e-02 3.62822939e+01] [-1.41703158e-01 9.89903663e-01 -3.30943150e-03 -2.00156734e+00] [-2.61311830e-02 -3.98594351e-04 9.99658443e-01 -1.63116292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792640000000006 meters Centerline goodness [0,1] 0.9997022923489134 Centerline is valid? [True, True] Translation: X:36.31, Y:-2.00, Z:-1.63 [[ 9.89302892e-01 1.43596415e-01 2.56876758e-02 3.63144392e+01] [-1.43559554e-01 9.89636234e-01 -3.28303450e-03 -2.00117854e+00] [-2.58928868e-02 -4.39795759e-04 9.99664626e-01 -1.63465606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:36.35, Y:-2.01, Z:-1.63 [[ 9.89114712e-01 1.45018916e-01 2.49319383e-02 3.63463416e+01] [-1.44984548e-01 9.89428776e-01 -3.19025263e-03 -2.00580171e+00] [-2.51310242e-02 -4.59219990e-04 9.99684060e-01 -1.63408089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85264 meters Centerline goodness [0,1] 0.999936231267935 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.01, Z:-1.64 [[ 9.88912616e-01 1.46465328e-01 2.44896982e-02 3.63776495e+01] [-1.46432507e-01 9.89215686e-01 -3.13792459e-03 -2.00514590e+00] [-2.46851908e-02 -4.82954681e-04 9.99695158e-01 -1.63701815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88264 meters Centerline goodness [0,1] 0.9999787043741215 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.01, Z:-1.64 [[ 9.88943559e-01 1.46271286e-01 2.43997318e-02 3.64099583e+01] [-1.46238557e-01 9.89244402e-01 -3.13005177e-03 -2.00929072e+00] [-2.45951348e-02 -4.72737025e-04 9.99697382e-01 -1.63768023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.02, Z:-1.64 [[ 9.89441967e-01 1.42705619e-01 2.52922832e-02 3.64394083e+01] [-1.42669119e-01 9.89765100e-01 -3.25110855e-03 -2.01581248e+00] [-2.54973707e-02 -3.91644518e-04 9.99674812e-01 -1.63766609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.47, Y:-2.02, Z:-1.64 [[ 9.89753034e-01 1.40447068e-01 2.57595126e-02 3.64699377e+01] [-1.40408471e-01 9.90088130e-01 -3.31003795e-03 -2.02206311e+00] [-2.59690728e-02 -3.40733676e-04 9.99662689e-01 -1.64031836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972640000000006 meters Centerline goodness [0,1] 0.9997849601101004 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.03, Z:-1.64 [[ 9.90178470e-01 1.37371318e-01 2.59945776e-02 3.65012580e+01] [-1.37330812e-01 9.90519588e-01 -3.34560702e-03 -2.03305311e+00] [-2.62077288e-02 -2.57108431e-04 9.99656485e-01 -1.64048662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters Centerline goodness [0,1] 0.9997849601101004 Centerline is valid? [True, True] Translation: X:36.53, Y:-2.04, Z:-1.64 [[ 9.90152312e-01 1.37559733e-01 2.59946031e-02 3.65334603e+01] [-1.37519297e-01 9.90493438e-01 -3.34541093e-03 -2.03740123e+00] [-2.62076777e-02 -2.62293187e-04 9.99656485e-01 -1.64177260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.56, Y:-2.05, Z:-1.64 [[ 9.90999403e-01 1.31381566e-01 2.56723193e-02 3.65626084e+01] [-1.31339914e-01 9.91331870e-01 -3.30931466e-03 -2.05476147e+00] [-2.58845712e-02 -9.22713412e-05 9.99664934e-01 -1.64264867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06264 meters Centerline goodness [0,1] 0.9997627469588474 Centerline is valid? [True, True] Translation: X:36.59, Y:-2.06, Z:-1.64 [[ 9.91366136e-01 1.28466734e-01 2.62579925e-02 3.65938810e+01] [-1.28422030e-01 9.91713819e-01 -3.38883400e-03 -2.06490805e+00] [-2.64757665e-02 -1.25294296e-05 9.99649455e-01 -1.64344298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09264 meters Centerline goodness [0,1] 0.9998928050767516 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.07, Z:-1.64 [[ 9.91626671e-01 1.26362443e-01 2.66285270e-02 3.66259841e+01] [-1.26315592e-01 9.91984138e-01 -3.44103103e-03 -2.07496706e+00] [-2.68498934e-02 4.86200137e-05 9.99639475e-01 -1.64318829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.09, Z:-1.64 [[ 9.91929565e-01 1.23945632e-01 2.67061291e-02 3.66571720e+01] [-1.23897487e-01 9.92289003e-01 -3.45642190e-03 -2.08917381e+00] [-2.69286066e-02 1.19704795e-04 9.99637352e-01 -1.64186352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.10, Z:-1.64 [[ 9.91959187e-01 1.23736752e-01 2.65741783e-02 3.66880956e+01] [-1.23688859e-01 9.92315071e-01 -3.44484668e-03 -2.09724323e+00] [-2.67962118e-02 1.30217515e-04 9.99640909e-01 -1.64453986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.10, Z:-1.64 [[ 9.91879339e-01 1.24389431e-01 2.65074655e-02 3.67202910e+01] [-1.24341882e-01 9.92233468e-01 -3.44099834e-03 -2.10242060e+00] [-2.67296183e-02 1.17067000e-04 9.99642693e-01 -1.64424277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:-2.11, Z:-1.65 [[ 9.91561932e-01 1.26957465e-01 2.62056592e-02 3.67532971e+01] [-1.26911755e-01 9.91908161e-01 -3.40692763e-03 -2.10672913e+00] [-2.64261421e-02 5.23735636e-05 9.99650767e-01 -1.64543269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.78, Y:-2.11, Z:-1.65 [[ 9.91311637e-01 1.28909268e-01 2.61465066e-02 3.67845535e+01] [-1.28864298e-01 9.91656392e-01 -3.40471827e-03 -2.11064766e+00] [-2.63672502e-02 5.78561329e-06 9.99652324e-01 -1.64755728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27264 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:36.82, Y:-2.11, Z:-1.65 [[ 9.91044985e-01 1.30938239e-01 2.61727946e-02 3.68162364e+01] [-1.30893753e-01 9.91390526e-01 -3.41315819e-03 -2.11350812e+00] [-2.63943735e-02 -4.32620050e-05 9.99651607e-01 -1.65243660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.12, Z:-1.65 [[ 9.90786846e-01 1.32984848e-01 2.56214075e-02 3.68481469e+01] [-1.32942776e-01 9.91118067e-01 -3.34609757e-03 -2.11881269e+00] [-2.58388202e-02 -9.09115779e-05 9.99666118e-01 -1.65079588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332640000000005 meters Centerline goodness [0,1] 0.9998712446351932 Centerline is valid? [True, True] Translation: X:36.88, Y:-2.12, Z:-1.66 [[ 9.90292140e-01 1.36756449e-01 2.48827333e-02 3.68797789e+01] [-1.36717849e-01 9.90604685e-01 -3.25397965e-03 -2.11905321e+00] [-2.50939549e-02 -1.79523314e-04 9.99685081e-01 -1.65663948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.12, Z:-1.66 [[ 9.90064015e-01 1.38548419e-01 2.40329170e-02 3.69109992e+01] [-1.38512848e-01 9.90355638e-01 -3.14658426e-03 -2.12245733e+00] [-2.42370891e-02 -2.13547918e-04 9.99706216e-01 -1.65835778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.12, Z:-1.66 [[ 9.89597311e-01 1.41971263e-01 2.32663329e-02 3.69436154e+01] [-1.41938794e-01 9.89870739e-01 -3.04944785e-03 -2.12348911e+00] [-2.34635961e-02 -2.84669849e-04 9.99724651e-01 -1.66009885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.13, Z:-1.66 [[ 9.89314699e-01 1.43925575e-01 2.32777997e-02 3.69754206e+01] [-1.43893522e-01 9.89588461e-01 -3.05492063e-03 -2.12526813e+00] [-2.34751231e-02 -3.27246698e-04 9.99724368e-01 -1.66071243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.01, Y:-2.13, Z:-1.66 [[ 9.89064012e-01 1.45615429e-01 2.34206417e-02 3.70070062e+01] [-1.45583354e-01 9.89341202e-01 -3.07791054e-03 -2.12672371e+00] [-2.36191970e-02 -3.65405024e-04 9.99720961e-01 -1.66201787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48264 meters Centerline goodness [0,1] 0.9998930046435984 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.12, Z:-1.66 [[ 9.88593684e-01 1.48755256e-01 2.35457383e-02 3.70386401e+01] [-1.48723639e-01 9.88873946e-01 -3.09809765e-03 -2.12487075e+00] [-2.37446254e-02 -4.39048105e-04 9.99717960e-01 -1.66484363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512640000000005 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:37.07, Y:-2.13, Z:-1.66 [[ 9.88430434e-01 1.49816068e-01 2.36732549e-02 3.70700484e+01] [-1.49784329e-01 9.88713776e-01 -3.11834183e-03 -2.13042064e+00] [-2.38732509e-02 -4.63618628e-04 9.99714886e-01 -1.66262356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542640000000006 meters Centerline goodness [0,1] 0.9999787784898774 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.13, Z:-1.66 [[ 9.88327017e-01 1.50356446e-01 2.45488746e-02 3.71013034e+01] [-1.50322366e-01 9.88631731e-01 -3.23836080e-03 -2.13163181e+00] [-2.47567048e-02 -4.89685453e-04 9.99693386e-01 -1.66384363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.14, Z:-1.66 [[ 9.88310011e-01 1.50448665e-01 2.46682434e-02 3.71337442e+01] [-1.50414195e-01 9.88617701e-01 -3.25757835e-03 -2.13750644e+00] [-2.48775604e-02 -4.90956663e-04 9.99690385e-01 -1.66369611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters Centerline goodness [0,1] 0.9999145810199026 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.14, Z:-1.67 [[ 9.88544795e-01 1.48968381e-01 2.42406820e-02 3.71640488e+01] [-1.48934526e-01 9.88841862e-01 -3.20621923e-03 -2.14377335e+00] [-2.44478264e-02 -4.40783146e-04 9.99701010e-01 -1.66608918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.15, Z:-1.67 [[ 9.88738114e-01 1.47728908e-01 2.39397630e-02 3.71953902e+01] [-1.47695442e-01 9.89027810e-01 -3.16983631e-03 -2.15054652e+00] [-2.41453679e-02 -4.01655922e-04 9.99708377e-01 -1.66682811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.16, Z:-1.67 [[ 9.89188695e-01 1.44498829e-01 2.50162632e-02 3.72254953e+01] [-1.44461083e-01 9.89504916e-01 -3.31907962e-03 -2.15876669e+00] [-2.52333186e-02 -3.30680443e-04 9.99681534e-01 -1.66730653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.17, Z:-1.67 [[ 9.89443232e-01 1.42674481e-01 2.54181449e-02 3.72566901e+01] [-1.42634945e-01 9.89769624e-01 -3.37105903e-03 -2.16701375e+00] [-2.56390718e-02 -2.90044173e-04 9.99671223e-01 -1.66807064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722640000000006 meters Centerline goodness [0,1] 0.9998069870681335 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.17, Z:-1.67 [[ 9.89728015e-01 1.40687816e-01 2.54046013e-02 3.72883902e+01] [-1.40647560e-01 9.90053980e-01 -3.37349845e-03 -2.17443762e+00] [-2.56265368e-02 -2.34249256e-04 9.99671559e-01 -1.66978414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.18, Z:-1.67 [[ 9.90022724e-01 1.38588217e-01 2.54619540e-02 3.73202411e+01] [-1.38546933e-01 9.90350077e-01 -3.38701614e-03 -2.18322538e+00] [-2.56856487e-02 -1.74452686e-04 9.99670054e-01 -1.66977622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.19, Z:-1.67 [[ 9.90442216e-01 1.35547309e-01 2.55175333e-02 3.73504826e+01] [-1.35504807e-01 9.90770871e-01 -3.39549472e-03 -2.19093457e+00] [-2.57422788e-02 -9.47071044e-05 9.99668608e-01 -1.67232108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.20, Z:-1.67 [[ 9.90583231e-01 1.34552076e-01 2.53101022e-02 3.73820769e+01] [-1.34509902e-01 9.90906521e-01 -3.36925708e-03 -2.19736828e+00] [-2.55332859e-02 -6.69298175e-05 9.99673970e-01 -1.67452418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.20, Z:-1.67 [[ 9.90662348e-01 1.33952767e-01 2.53922941e-02 3.74145212e+01] [-1.33910014e-01 9.90987716e-01 -3.38441419e-03 -2.20385878e+00] [-2.56168031e-02 -4.74707484e-05 9.99671835e-01 -1.67334454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872640000000004 meters Centerline goodness [0,1] 0.99980795903126 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.21, Z:-1.68 [[ 9.90744734e-01 1.33342053e-01 2.53923184e-02 3.74459604e+01] [-1.33298965e-01 9.91070076e-01 -3.38965394e-03 -2.20746786e+00] [-2.56175504e-02 -2.64879862e-05 9.99671816e-01 -1.67955895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.21, Z:-1.68 [[ 9.90791914e-01 1.33180060e-01 2.43814499e-02 3.74776971e+01] [-1.33140177e-01 9.91091858e-01 -3.25911992e-03 -2.21333788e+00] [-2.45983063e-02 -1.70408959e-05 9.99697416e-01 -1.67711383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.22, Z:-1.68 [[ 9.90871199e-01 1.32767634e-01 2.33885105e-02 3.75087444e+01] [-1.32730723e-01 9.91147192e-01 -3.13043829e-03 -2.21835390e+00] [-2.35970774e-02 -2.51277830e-06 9.99721550e-01 -1.68183269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.22, Z:-1.68 [[ 9.90897789e-01 1.32597919e-01 2.32241999e-02 3.75411066e+01] [-1.32561404e-01 9.91169911e-01 -3.11166569e-03 -2.22345893e+00] [-2.34317286e-02 4.71010598e-06 9.99725439e-01 -1.68405010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.23, Z:-1.69 [[ 9.90952541e-01 1.32169773e-01 2.33283816e-02 3.75729663e+01] [-1.32132698e-01 9.91227093e-01 -3.13039210e-03 -2.22933501e+00] [-2.35374671e-02 1.96280017e-05 9.99722955e-01 -1.68531757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.24, Z:-1.68 [[ 9.91014840e-01 1.31670407e-01 2.35051219e-02 3.76050301e+01] [-1.31632533e-01 9.91293550e-01 -3.15808129e-03 -2.23566876e+00] [-2.37163016e-02 3.56666859e-05 9.99718728e-01 -1.68359530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.25, Z:-1.68 [[ 9.91215557e-01 1.29819802e-01 2.52693309e-02 3.76348691e+01] [-1.29775269e-01 9.91537599e-01 -3.40134301e-03 -2.24522564e+00] [-2.54970534e-02 9.21298882e-05 9.99674893e-01 -1.68301158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.25, Z:-1.68 [[ 9.91372779e-01 1.28586670e-01 2.54063304e-02 3.76668434e+01] [-1.28541156e-01 9.91698267e-01 -3.42333022e-03 -2.25242213e+00] [-2.56356085e-02 1.28037306e-04 9.99671346e-01 -1.68214580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.26, Z:-1.69 [[ 9.91581585e-01 1.27056938e-01 2.49498587e-02 3.76966010e+01] [-1.27012412e-01 9.91895411e-01 -3.36776618e-03 -2.26088796e+00] [-2.51755484e-02 1.70473189e-04 9.99683031e-01 -1.68506366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters Centerline goodness [0,1] 0.9998723078232741 Centerline is valid? [True, True] Translation: X:37.73, Y:-2.27, Z:-1.69 [[ 9.92013171e-01 1.23577989e-01 2.52655736e-02 3.77260090e+01] [-1.23531114e-01 9.92334828e-01 -3.41375012e-03 -2.27440408e+00] [-2.54937730e-02 2.65400632e-04 9.99674946e-01 -1.68943510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.28, Z:-1.69 [[ 9.92290939e-01 1.21383980e-01 2.49924224e-02 3.77577566e+01] [-1.21337322e-01 9.92605574e-01 -3.38059311e-03 -2.28278760e+00] [-2.52179676e-02 3.22018300e-04 9.99681925e-01 -1.68705780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.30, Z:-1.69 [[ 9.92545846e-01 1.19281048e-01 2.49955034e-02 3.77870048e+01] [-1.19233572e-01 9.92860457e-01 -3.38656876e-03 -2.29505281e+00] [-2.52210004e-02 3.81021582e-04 9.99681827e-01 -1.69159841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.30, Z:-1.69 [[ 9.92804016e-01 1.17140157e-01 2.48670501e-02 3.78183542e+01] [-1.17092468e-01 9.93115298e-01 -3.37030365e-03 -2.30254564e+00] [-2.50906458e-02 4.34306717e-04 9.99685086e-01 -1.69031539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.32, Z:-1.69 [[ 9.93234244e-01 1.13324263e-01 2.53642942e-02 3.78494360e+01] [-1.13273245e-01 9.93557906e-01 -3.44385855e-03 -2.31551602e+00] [-2.55911678e-02 5.47462324e-04 9.99672343e-01 -1.68868656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292640000000006 meters Centerline goodness [0,1] 0.9999362759675432 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.33, Z:-1.69 [[ 9.93311761e-01 1.12329102e-01 2.67192461e-02 3.78795965e+01] [-1.12272134e-01 9.93670875e-01 -3.62757014e-03 -2.32720285e+00] [-2.69576183e-02 6.03481312e-04 9.99636395e-01 -1.69119572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters Centerline goodness [0,1] 0.9999362570117287 Centerline is valid? [True, True] Translation: X:37.91, Y:-2.34, Z:-1.69 [[ 9.93390100e-01 1.11521956e-01 2.71838823e-02 3.79095138e+01] [-1.11462532e-01 9.93761763e-01 -3.69631343e-03 -2.33750357e+00] [-2.74265229e-02 6.41896820e-04 9.99623616e-01 -1.69014554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.35, Z:-1.69 [[ 9.93350936e-01 1.11816222e-01 2.74053051e-02 3.79409053e+01] [-1.11755831e-01 9.93728695e-01 -3.73027870e-03 -2.35050934e+00] [-2.76505437e-02 6.42773191e-04 9.99617444e-01 -1.69089472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38264 meters Centerline goodness [0,1] 0.999936396209214 Centerline is valid? [True, True] Translation: X:37.97, Y:-2.36, Z:-1.69 [[ 9.93243982e-01 1.12759487e-01 2.74169879e-02 3.79711948e+01] [-1.12699225e-01 9.93622116e-01 -3.73830715e-03 -2.36107466e+00] [-2.76636551e-02 6.23177804e-04 9.99617094e-01 -1.69328090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.36, Z:-1.69 [[ 9.93072565e-01 1.14214428e-01 2.76033700e-02 3.80035971e+01] [-1.14153855e-01 9.93455947e-01 -3.76551019e-03 -2.36357605e+00] [-2.78528076e-02 5.88393762e-04 9.99611862e-01 -1.69180895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.03, Y:-2.37, Z:-1.69 [[ 9.92536931e-01 1.18907827e-01 2.70438308e-02 3.80340734e+01] [-1.18851253e-01 9.92905193e-01 -3.69552612e-03 -2.36683807e+00] [-2.72913870e-02 4.53752976e-04 9.99627418e-01 -1.69400941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.37, Z:-1.70 [[ 9.92233129e-01 1.21653297e-01 2.59594660e-02 3.80663106e+01] [-1.21602106e-01 9.92572588e-01 -3.54746482e-03 -2.37089946e+00] [-2.61982152e-02 3.63186389e-04 9.99656702e-01 -1.69752381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters Centerline goodness [0,1] 0.99974386339381 Centerline is valid? [True, True] Translation: X:38.10, Y:-2.37, Z:-1.70 [[ 9.91842429e-01 1.24989329e-01 2.50252404e-02 3.80979764e+01] [-1.24942822e-01 9.92158051e-01 -3.41964925e-03 -2.37399339e+00] [-2.52564134e-02 2.65029064e-04 9.99680971e-01 -1.70104282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53264 meters Centerline goodness [0,1] 0.9999573224078697 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.38, Z:-1.71 [[ 9.91177894e-01 1.30585882e-01 2.26651496e-02 3.81288099e+01] [-1.30549115e-01 9.91436995e-01 -3.10069358e-03 -2.37942086e+00] [-2.28759746e-02 1.14423722e-04 9.99738304e-01 -1.70747875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.38, Z:-1.71 [[ 9.90822534e-01 1.33370290e-01 2.19789010e-02 3.81617553e+01] [-1.33336338e-01 9.91066276e-01 -3.00963542e-03 -2.38440181e+00] [-2.21839435e-02 5.14284150e-05 9.99753905e-01 -1.70832649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.39, Z:-1.71 [[ 9.90435989e-01 1.36172178e-01 2.22191216e-02 3.81936062e+01] [-1.36138079e-01 9.90685186e-01 -3.04724239e-03 -2.38903136e+00] [-2.24271043e-02 -6.77000567e-06 9.99748481e-01 -1.70810334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622640000000004 meters Centerline goodness [0,1] 0.9998706952286539 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.39, Z:-1.71 [[ 9.89629312e-01 1.41771138e-01 2.31250646e-02 3.82254970e+01] [-1.41735632e-01 9.89899453e-01 -3.17556816e-03 -2.39214509e+00] [-2.33416927e-02 -1.35010331e-04 9.99727536e-01 -1.70807413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.40, Z:-1.71 [[ 9.89297803e-01 1.44004889e-01 2.35042450e-02 3.82561405e+01] [-1.43968701e-01 9.89576959e-01 -3.23348527e-03 -2.39522486e+00] [-2.37248969e-02 -1.84995750e-04 9.99718508e-01 -1.71028029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters Centerline goodness [0,1] 0.9999578716771286 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.40, Z:-1.71 [[ 9.88942397e-01 1.46361617e-01 2.39000450e-02 3.82870713e+01] [-1.46324852e-01 9.89231124e-01 -3.28939169e-03 -2.39848977e+00] [-2.41241091e-02 -2.44151658e-04 9.99708942e-01 -1.71140775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71264 meters Centerline goodness [0,1] 0.9999787685774947 Centerline is valid? [True, True] Translation: X:38.32, Y:-2.40, Z:-1.71 [[ 9.88402769e-01 1.49841209e-01 2.46490926e-02 3.83193404e+01] [-1.49803093e-01 9.88710018e-01 -3.39614727e-03 -2.40333392e+00] [-2.48796876e-02 -3.35748948e-04 9.99690396e-01 -1.71080762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.41, Z:-1.71 [[ 9.88143028e-01 1.51528765e-01 2.47465088e-02 3.83508982e+01] [-1.51490776e-01 9.88452777e-01 -3.41357472e-03 -2.40875849e+00] [-2.49780101e-02 -3.75767758e-04 9.99687930e-01 -1.71093189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77264 meters Centerline goodness [0,1] 0.9999360341151385 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.41, Z:-1.71 [[ 9.87892987e-01 1.53189851e-01 2.45013430e-02 3.83827004e+01] [-1.53153024e-01 9.88196692e-01 -3.38371783e-03 -2.41429629e+00] [-2.47304973e-02 -4.09703657e-04 9.99694071e-01 -1.71173514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802640000000004 meters Centerline goodness [0,1] 0.9999787396887491 Centerline is valid? [True, True] Translation: X:38.41, Y:-2.42, Z:-1.71 [[ 9.87643767e-01 1.54796819e-01 2.44485941e-02 3.84139494e+01] [-1.54760536e-01 9.87946227e-01 -3.38072976e-03 -2.41750740e+00] [-2.46772225e-02 -4.44720846e-04 9.99695372e-01 -1.71407586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832640000000005 meters Centerline goodness [0,1] 0.9999361226445225 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.42, Z:-1.71 [[ 9.87154310e-01 1.57789290e-01 2.50780560e-02 3.84457678e+01] [-1.57751981e-01 9.87472663e-01 -3.47163799e-03 -2.42269549e+00] [-2.53116820e-02 -5.29070625e-04 9.99679468e-01 -1.71287520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862640000000006 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.43, Z:-1.71 [[ 9.86916947e-01 1.59261352e-01 2.51149596e-02 3.84773004e+01] [-1.59224302e-01 9.87236296e-01 -3.48098160e-03 -2.42674184e+00] [-2.53487855e-02 -5.63472186e-04 9.99678509e-01 -1.71328133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89264 meters Centerline goodness [0,1] 0.9998504720810014 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.43, Z:-1.71 [[ 9.86640631e-01 1.60916660e-01 2.54183708e-02 3.85080621e+01] [-1.60879143e-01 9.86967810e-01 -3.52755985e-03 -2.42900791e+00] [-2.56547569e-02 -6.08851819e-04 9.99670677e-01 -1.71443091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.43, Z:-1.71 [[ 9.86122439e-01 1.63909494e-01 2.63858430e-02 3.85408239e+01] [-1.63869985e-01 9.86475128e-01 -3.66751981e-03 -2.42915055e+00] [-2.66301192e-02 -7.07224108e-04 9.99645105e-01 -1.71444479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95264 meters Centerline goodness [0,1] 0.9999573460726396 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.43, Z:-1.72 [[ 9.86091779e-01 1.64093833e-01 2.63859207e-02 3.85729716e+01] [-1.64054404e-01 9.86444477e-01 -3.66696308e-03 -2.43380586e+00] [-2.66299718e-02 -7.12764342e-04 9.99645105e-01 -1.71573053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98264 meters Centerline goodness [0,1] 0.999806563930621 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.44, Z:-1.72 [[ 9.85864476e-01 1.65502960e-01 2.60769222e-02 3.86043932e+01] [-1.65464801e-01 9.86209018e-01 -3.62935471e-03 -2.43749494e+00] [-2.63179647e-02 -7.36760845e-04 9.99653351e-01 -1.71676600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012640000000005 meters Centerline goodness [0,1] 0.9999572640441035 Centerline is valid? [True, True] Translation: X:38.64, Y:-2.44, Z:-1.72 [[ 9.85688249e-01 1.66592060e-01 2.58023339e-02 3.86363121e+01] [-1.66554975e-01 9.86025617e-01 -3.59492248e-03 -2.44165846e+00] [-2.60406477e-02 -7.54034217e-04 9.99660600e-01 -1.71815789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042640000000006 meters Centerline goodness [0,1] 0.9996572774981257 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.44, Z:-1.72 [[ 9.85462900e-01 1.67927089e-01 2.57558951e-02 3.86686054e+01] [-1.67890478e-01 9.85799107e-01 -3.59282422e-03 -2.44385866e+00] [-2.59934709e-02 -7.83574576e-04 9.99661806e-01 -1.71951330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07264 meters Centerline goodness [0,1] 0.9995509654243376 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.44, Z:-1.72 [[ 9.85442855e-01 1.68046412e-01 2.57445781e-02 3.87005935e+01] [-1.68009743e-01 9.85778775e-01 -3.59630846e-03 -2.44325466e+00] [-2.59828054e-02 -7.81383467e-04 9.99662085e-01 -1.72273584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters Centerline goodness [0,1] 0.9998494429388738 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.45, Z:-1.72 [[ 9.85493238e-01 1.67809550e-01 2.53580768e-02 3.87319188e+01] [-1.67773835e-01 9.85819139e-01 -3.54468136e-03 -2.45002674e+00] [-2.55933088e-02 -7.61162270e-04 9.99672148e-01 -1.72297963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13264 meters Centerline goodness [0,1] 0.9998924430485943 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.46, Z:-1.72 [[ 9.85557739e-01 1.67394860e-01 2.55910858e-02 3.87632476e+01] [-1.67358234e-01 9.85889646e-01 -3.58155111e-03 -2.45682516e+00] [-2.58295197e-02 -7.53053508e-04 9.99666079e-01 -1.72300992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16264 meters Centerline goodness [0,1] 0.9999148682586302 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.46, Z:-1.72 [[ 9.85634313e-01 1.66923343e-01 2.57215717e-02 3.87947536e+01] [-1.66886062e-01 9.85969599e-01 -3.60446721e-03 -2.45864241e+00] [-2.59623575e-02 -7.39885240e-04 9.99662647e-01 -1.72454288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192640000000004 meters Centerline goodness [0,1] 0.9998921600345088 Centerline is valid? [True, True] Translation: X:38.83, Y:-2.46, Z:-1.72 [[ 9.85900615e-01 1.65312207e-01 2.59200888e-02 3.88273589e+01] [-1.65273647e-01 9.86241039e-01 -3.63780090e-03 -2.46187179e+00] [-2.61648282e-02 -6.97397462e-04 9.99657399e-01 -1.72484993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222640000000006 meters Centerline goodness [0,1] 0.9999573478919196 Centerline is valid? [True, True] Translation: X:38.86, Y:-2.47, Z:-1.73 [[ 9.86099907e-01 1.64038051e-01 2.64289848e-02 3.88587952e+01] [-1.63997497e-01 9.86453780e-01 -3.70950147e-03 -2.46634961e+00] [-2.66794714e-02 -6.76348310e-04 9.99643811e-01 -1.72551582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25264 meters Centerline goodness [0,1] 0.9999572731739623 Centerline is valid? [True, True] Translation: X:38.89, Y:-2.47, Z:-1.73 [[ 9.86498431e-01 1.61412389e-01 2.76926954e-02 3.88892867e+01] [-1.61366641e-01 9.86886846e-01 -3.89364368e-03 -2.46904266e+00] [-2.79580392e-02 -6.27603852e-04 9.99608901e-01 -1.72537786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters Centerline goodness [0,1] 0.999873166194563 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.47, Z:-1.73 [[ 9.86691396e-01 1.60199856e-01 2.78584928e-02 3.89215047e+01] [-1.60153080e-01 9.87084419e-01 -3.91676161e-03 -2.47421922e+00] [-2.81261489e-02 -5.96988458e-04 9.99604203e-01 -1.72622805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31264 meters Centerline goodness [0,1] 0.9998501616114048 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.48, Z:-1.73 [[ 9.86820455e-01 1.59416219e-01 2.77823464e-02 3.89535009e+01] [-1.59369377e-01 9.87211295e-01 -3.90647586e-03 -2.47827647e+00] [-2.80498017e-02 -5.72664937e-04 9.99606363e-01 -1.72850779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34264 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.48, Z:-1.73 [[ 9.87041789e-01 1.58027407e-01 2.78539962e-02 3.89849714e+01] [-1.57979640e-01 9.87434584e-01 -3.92117550e-03 -2.48409301e+00] [-2.81236523e-02 -5.30000212e-04 9.99604311e-01 -1.72846288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372640000000004 meters Centerline goodness [0,1] 0.9999786493584132 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.49, Z:-1.73 [[ 9.87332401e-01 1.56328954e-01 2.71290966e-02 3.90172064e+01] [-1.56282880e-01 9.87704937e-01 -3.82350253e-03 -2.48797441e+00] [-2.73932668e-02 -4.64745429e-04 9.99624626e-01 -1.73055190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.05, Y:-2.49, Z:-1.73 [[ 9.87412748e-01 1.55920013e-01 2.65520961e-02 3.90486476e+01] [-1.55875615e-01 9.87769587e-01 -3.74648288e-03 -2.49022651e+00] [-2.68115047e-02 -4.39499353e-04 9.99640410e-01 -1.73391646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43264 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:39.08, Y:-2.49, Z:-1.74 [[ 9.87438147e-01 1.55804172e-01 2.62862148e-02 3.90814043e+01] [-1.55760493e-01 9.87787871e-01 -3.71366816e-03 -2.49182024e+00] [-2.65438091e-02 -4.27336180e-04 9.99647560e-01 -1.73505038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.11, Y:-2.49, Z:-1.74 [[ 9.87331380e-01 1.56479195e-01 2.62870147e-02 3.91144290e+01] [-1.56435619e-01 9.87681157e-01 -3.71882628e-03 -2.49286693e+00] [-2.65451081e-02 -4.40511529e-04 9.99647519e-01 -1.73640396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49264 meters Centerline goodness [0,1] 0.9999575623832966 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.49, Z:-1.74 [[ 9.87203123e-01 1.57314300e-01 2.61190458e-02 3.91456965e+01] [-1.57271428e-01 9.87548482e-01 -3.70048239e-03 -2.49172513e+00] [-2.63759628e-02 -4.54651864e-04 9.99651990e-01 -1.73885693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.49, Z:-1.74 [[ 9.86981079e-01 1.58910826e-01 2.48132816e-02 3.91778262e+01] [-1.58872549e-01 9.87292829e-01 -3.51904543e-03 -2.48922496e+00] [-2.50571894e-02 -4.68918048e-04 9.99685909e-01 -1.74278476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552640000000004 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:39.21, Y:-2.49, Z:-1.75 [[ 9.86898237e-01 1.59627446e-01 2.34722676e-02 3.92101161e+01] [-1.59593327e-01 9.87177223e-01 -3.33182908e-03 -2.49193884e+00] [-2.37031393e-02 -4.57841046e-04 9.99718936e-01 -1.74515814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582640000000005 meters Centerline goodness [0,1] 0.9998930687140444 Centerline is valid? [True, True] Translation: X:39.24, Y:-2.49, Z:-1.75 [[ 9.86721688e-01 1.60764404e-01 2.31326055e-02 3.92421250e+01] [-1.60731488e-01 9.86992696e-01 -3.28744626e-03 -2.49296141e+00] [-2.33602170e-02 -4.74343588e-04 9.99727000e-01 -1.74822285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612640000000006 meters Centerline goodness [0,1] 0.9999567202614096 Centerline is valid? [True, True] Translation: X:39.27, Y:-2.50, Z:-1.75 [[ 9.86639748e-01 1.61282754e-01 2.30191506e-02 3.92742242e+01] [-1.61250211e-01 9.86908123e-01 -3.27520703e-03 -2.49558339e+00] [-2.32460211e-02 -4.80393451e-04 9.99729659e-01 -1.74750371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.49, Z:-1.75 [[ 9.86454937e-01 1.62243402e-01 2.41606140e-02 3.93069908e+01] [-1.62207732e-01 9.86750629e-01 -3.44202470e-03 -2.49131782e+00] [-2.43989469e-02 -5.23636140e-04 9.99702164e-01 -1.74820933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67264 meters Centerline goodness [0,1] 0.9999784612733695 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.49, Z:-1.75 [[ 9.86398552e-01 1.62568902e-01 2.42744610e-02 3.93399391e+01] [-1.62532883e-01 9.86697052e-01 -3.46270598e-03 -2.49397849e+00] [-2.45144674e-02 -5.29789970e-04 9.99699335e-01 -1.74849045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70264 meters Centerline goodness [0,1] 0.9999362881474717 Centerline is valid? [True, True] Translation: X:39.37, Y:-2.49, Z:-1.75 [[ 9.86380650e-01 1.62632084e-01 2.45767747e-02 3.93714394e+01] [-1.62595047e-01 9.86686638e-01 -3.51130505e-03 -2.49226897e+00] [-2.48206261e-02 -5.32578468e-04 9.99691779e-01 -1.75178686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.40, Y:-2.50, Z:-1.75 [[ 9.86536024e-01 1.61459317e-01 2.60300334e-02 3.94030967e+01] [-1.61417247e-01 9.86879228e-01 -3.72326043e-03 -2.49852032e+00] [-2.62896544e-02 -5.28565794e-04 9.99654228e-01 -1.74765259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-2.50, Z:-1.75 [[ 9.86623715e-01 1.60814179e-01 2.66916486e-02 3.94346629e+01] [-1.60769573e-01 9.86984564e-01 -3.82286042e-03 -2.50056704e+00] [-2.69590153e-02 -5.19480195e-04 9.99636405e-01 -1.74863679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.50, Z:-1.75 [[ 9.86700451e-01 1.60275017e-01 2.70950108e-02 3.94670893e+01] [-1.60228696e-01 9.87072268e-01 -3.88626519e-03 -2.50469411e+00] [-2.73676049e-02 -5.06818627e-04 9.99625308e-01 -1.74835832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.50, Z:-1.75 [[ 9.86798509e-01 1.59579963e-01 2.76213420e-02 3.94989213e+01] [-1.59531515e-01 9.87184881e-01 -3.96309151e-03 -2.50453938e+00] [-2.78998012e-02 -4.95701741e-04 9.99610602e-01 -1.74993248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.53, Y:-2.51, Z:-1.75 [[ 9.86847228e-01 1.59247215e-01 2.78005791e-02 3.95304948e+01] [-1.59197951e-01 9.87238617e-01 -3.99070803e-03 -2.51013137e+00] [-2.80813144e-02 -4.87576066e-04 9.99605523e-01 -1.74954574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.56, Y:-2.51, Z:-1.75 [[ 9.86857709e-01 1.59201406e-01 2.76906772e-02 3.95634963e+01] [-1.59152386e-01 9.87246009e-01 -3.97943597e-03 -2.51329043e+00] [-2.79710423e-02 -4.79900278e-04 9.99608619e-01 -1.75093677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-2.51, Z:-1.75 [[ 9.86934900e-01 1.58749312e-01 2.75346868e-02 3.95945254e+01] [-1.58700483e-01 9.87318817e-01 -3.96363748e-03 -2.51329540e+00] [-2.78147392e-02 -4.57915937e-04 9.99612990e-01 -1.75398118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.51, Z:-1.76 [[ 9.87143729e-01 1.57655179e-01 2.63078445e-02 3.96273107e+01] [-1.57610185e-01 9.87494141e-01 -3.78823559e-03 -2.51493424e+00] [-2.65760772e-02 -4.06851218e-04 9.99646711e-01 -1.75770517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.52, Z:-1.76 [[ 9.87241663e-01 1.57140863e-01 2.57030660e-02 3.96600657e+01] [-1.57097619e-01 9.87576126e-01 -3.70581559e-03 -2.52053375e+00] [-2.59660694e-02 -3.79354908e-04 9.99662753e-01 -1.75926535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.52, Z:-1.76 [[ 9.87292058e-01 1.56898827e-01 2.52418368e-02 3.96919660e+01] [-1.56856913e-01 9.87614615e-01 -3.64436415e-03 -2.52323651e+00] [-2.55010034e-02 -3.61304815e-04 9.99674731e-01 -1.76248642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03264 meters Centerline goodness [0,1] 0.9999574757611839 Centerline is valid? [True, True] Translation: X:39.72, Y:-2.52, Z:-1.76 [[ 9.87440790e-01 1.55926346e-01 2.54491901e-02 3.97236772e+01] [-1.55883289e-01 9.87768628e-01 -3.67928361e-03 -2.52487300e+00] [-2.57116089e-02 -3.34028752e-04 9.99669346e-01 -1.76453629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.53, Z:-1.76 [[ 9.87506545e-01 1.55492902e-01 2.55495711e-02 3.97561083e+01] [-1.55449211e-01 9.87836958e-01 -3.69955928e-03 -2.52902509e+00] [-2.58140658e-02 -3.18321660e-04 9.99666711e-01 -1.76469230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.53, Z:-1.76 [[ 9.87542344e-01 1.55135207e-01 2.63284450e-02 3.97876005e+01] [-1.55088680e-01 9.87893196e-01 -3.81251401e-03 -2.53362421e+00] [-2.66011468e-02 -3.18224750e-04 9.99646076e-01 -1.76303316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.54, Z:-1.77 [[ 9.87549125e-01 1.55109354e-01 2.62262188e-02 3.98192129e+01] [-1.55063061e-01 9.87897257e-01 -3.80210912e-03 -2.53746227e+00] [-2.64985523e-02 -3.11948240e-04 9.99648803e-01 -1.76524011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.54, Z:-1.77 [[ 9.87601716e-01 1.54776928e-01 2.62098035e-02 3.98513219e+01] [-1.54730450e-01 9.87949398e-01 -3.80447528e-03 -2.54335352e+00] [-2.64828046e-02 -2.98148388e-04 9.99649225e-01 -1.76648721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.55, Z:-1.77 [[ 9.87653175e-01 1.54481630e-01 2.60121648e-02 3.98836494e+01] [-1.54435616e-01 9.87995620e-01 -3.78083126e-03 -2.54903790e+00] [-2.62839739e-02 -2.83054705e-04 9.99654477e-01 -1.76801807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.55, Z:-1.77 [[ 9.87857310e-01 1.53233867e-01 2.56382005e-02 3.99143177e+01] [-1.53188603e-01 9.88189923e-01 -3.73201179e-03 -2.55329105e+00] [-2.59072820e-02 -2.40784986e-04 9.99664321e-01 -1.77236220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.56, Z:-1.77 [[ 9.87928891e-01 1.52868275e-01 2.50558751e-02 3.99467434e+01] [-1.52824843e-01 9.88246549e-01 -3.65052238e-03 -2.56075196e+00] [-2.53194312e-02 -2.22703665e-04 9.99679387e-01 -1.77215860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.57, Z:-1.78 [[ 9.88026541e-01 1.52286724e-01 2.47448620e-02 3.99781227e+01] [-1.52244053e-01 9.88336336e-01 -3.61037272e-03 -2.56555183e+00] [-2.50060581e-02 -2.00114011e-04 9.99687280e-01 -1.77693249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302640000000004 meters Centerline goodness [0,1] 0.9999786643908684 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.57, Z:-1.78 [[ 9.88156589e-01 1.51395110e-01 2.50215135e-02 4.00098687e+01] [-1.51351061e-01 9.88473313e-01 -3.65596292e-03 -2.57288154e+00] [-2.52865933e-02 -1.74368781e-04 9.99680228e-01 -1.77858123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.58, Z:-1.78 [[ 9.88099709e-01 1.51758567e-01 2.50659725e-02 4.00422157e+01] [-1.51714383e-01 9.88417576e-01 -3.66619878e-03 -2.57795255e+00] [-2.53320249e-02 -1.80298615e-04 9.99679077e-01 -1.77771698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362640000000006 meters Centerline goodness [0,1] 0.9999787247622492 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.58, Z:-1.78 [[ 9.87926429e-01 1.52825990e-01 2.54084133e-02 4.00737501e+01] [-1.52780785e-01 9.88253093e-01 -3.72245417e-03 -2.58056164e+00] [-2.56788308e-02 -2.04406482e-04 9.99670224e-01 -1.77987774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39264 meters Centerline goodness [0,1] 0.9999570797029915 Centerline is valid? [True, True] Translation: X:40.11, Y:-2.58, Z:-1.78 [[ 9.87236621e-01 1.57232783e-01 2.53319299e-02 4.01061708e+01] [-1.57189239e-01 9.87561518e-01 -3.71362061e-03 -2.58144955e+00] [-2.56007420e-02 -3.15684515e-04 9.99672197e-01 -1.77869544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters Centerline goodness [0,1] 0.9998086978701696 Centerline is valid? [True, True] Translation: X:40.14, Y:-2.58, Z:-1.78 [[ 9.86734153e-01 1.60376519e-01 2.52008482e-02 4.01375378e+01] [-1.60334306e-01 9.87055834e-01 -3.69999307e-03 -2.58134616e+00] [-2.54680363e-02 -3.89650984e-04 9.99675561e-01 -1.78053555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.17, Y:-2.57, Z:-1.78 [[ 9.85476626e-01 1.67820773e-01 2.59231213e-02 4.01705848e+01] [-1.67778588e-01 9.85817343e-01 -3.80939088e-03 -2.57313541e+00] [-2.61947575e-02 -5.95279029e-04 9.99656681e-01 -1.77984616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48264 meters Centerline goodness [0,1] 0.9999362867943763 Centerline is valid? [True, True] Translation: X:40.20, Y:-2.57, Z:-1.78 [[ 9.84749564e-01 1.71916696e-01 2.67010474e-02 4.02017137e+01] [-1.71873438e-01 9.85111224e-01 -3.92394883e-03 -2.56803802e+00] [-2.69780938e-02 -7.25093920e-04 9.99635762e-01 -1.78064984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512640000000005 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:40.23, Y:-2.56, Z:-1.78 [[ 9.84141351e-01 1.75366942e-01 2.66877791e-02 4.02339453e+01] [-1.75324938e-01 9.84502802e-01 -3.92407313e-03 -2.56478750e+00] [-2.69623460e-02 -8.17190567e-04 9.99636116e-01 -1.78196710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542640000000006 meters Centerline goodness [0,1] 0.9998725167321789 Centerline is valid? [True, True] Translation: X:40.26, Y:-2.56, Z:-1.78 [[ 9.83552932e-01 1.78629276e-01 2.67434504e-02 4.02648424e+01] [-1.78588274e-01 9.83916032e-01 -3.93319505e-03 -2.56385625e+00] [-2.70158934e-02 -9.07561125e-04 9.99634592e-01 -1.78311203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57264 meters Centerline goodness [0,1] 0.9996579954256888 Centerline is valid? [True, True] Translation: X:40.30, Y:-2.56, Z:-1.78 [[ 9.82838991e-01 1.82521353e-01 2.67109451e-02 4.02965400e+01] [-1.82481885e-01 9.83201368e-01 -3.92841446e-03 -2.55835190e+00] [-2.69792573e-02 -1.01326471e-03 9.99635480e-01 -1.78415808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters Centerline goodness [0,1] 0.9998490403277982 Centerline is valid? [True, True] Translation: X:40.33, Y:-2.56, Z:-1.78 [[ 9.82769290e-01 1.82899195e-01 2.66909528e-02 4.03259914e+01] [-1.82859918e-01 9.83131140e-01 -3.92578592e-03 -2.56481237e+00] [-2.69587300e-02 -1.02256359e-03 9.99636024e-01 -1.78406280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63264 meters Centerline goodness [0,1] 0.999743534943364 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.57, Z:-1.79 [[ 9.82885632e-01 1.82282081e-01 2.66285217e-02 4.03549725e+01] [-1.82242778e-01 9.83245765e-01 -3.91593618e-03 -2.56742204e+00] [-2.68961862e-02 -1.00393837e-03 9.99637728e-01 -1.78573544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66264 meters Centerline goodness [0,1] 0.9999146739478231 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.57, Z:-1.79 [[ 9.83538835e-01 1.78639972e-01 2.71867572e-02 4.03845980e+01] [-1.78597637e-01 9.83914075e-01 -3.99717916e-03 -2.56882044e+00] [-2.74634890e-02 -9.24109667e-04 9.99622380e-01 -1.78745564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692640000000004 meters Centerline goodness [0,1] 0.9998302026955322 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.57, Z:-1.79 [[ 9.83968341e-01 1.76246655e-01 2.72657351e-02 4.04143396e+01] [-1.76203165e-01 9.84345659e-01 -4.00844859e-03 -2.57386311e+00] [-2.75453836e-02 -8.60122310e-04 9.99620184e-01 -1.78861659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722640000000006 meters Centerline goodness [0,1] 0.9998099140389043 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.58, Z:-1.79 [[ 9.84407004e-01 1.73696482e-01 2.77917677e-02 4.04430844e+01] [-1.73650288e-01 9.84798906e-01 -4.08557914e-03 -2.57738557e+00] [-2.80789532e-02 -8.04175763e-04 9.99605385e-01 -1.78961666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75264 meters Centerline goodness [0,1] 0.9995918455027819 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.59, Z:-1.79 [[ 9.84793427e-01 1.71579396e-01 2.72473220e-02 4.04730547e+01] [-1.71534214e-01 9.85170025e-01 -4.00449032e-03 -2.58626977e+00] [-2.75303329e-02 -7.30252202e-04 9.99620702e-01 -1.79045615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters Centerline goodness [0,1] 0.9999140487343676 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.59, Z:-1.79 [[ 9.85317606e-01 1.68561817e-01 2.71316891e-02 4.05036436e+01] [-1.68515869e-01 9.85690875e-01 -3.98767244e-03 -2.59387996e+00] [-2.74156276e-02 -6.42996287e-04 9.99623914e-01 -1.79097323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81264 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.60, Z:-1.79 [[ 9.85439028e-01 1.67834423e-01 2.72310071e-02 4.05343373e+01] [-1.67787841e-01 9.85815001e-01 -4.00295989e-03 -2.59643859e+00] [-2.75165698e-02 -6.24358997e-04 9.99621153e-01 -1.79324841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84264 meters Centerline goodness [0,1] 0.9999572082673628 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.60, Z:-1.79 [[ 9.85439026e-01 1.67834461e-01 2.72308665e-02 4.05640048e+01] [-1.67787853e-01 9.85814995e-01 -4.00391627e-03 -2.60080022e+00] [-2.75165917e-02 -6.23393276e-04 9.99621153e-01 -1.79443512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872640000000004 meters Centerline goodness [0,1] 0.9999357257632565 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.60, Z:-1.80 [[ 9.85508924e-01 1.67437935e-01 2.71422013e-02 4.05946364e+01] [-1.67391480e-01 9.85882430e-01 -3.99087929e-03 -2.60315884e+00] [-2.74272439e-02 -6.10326091e-04 9.99623616e-01 -1.79614172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902640000000005 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.60, Z:-1.80 [[ 9.85583714e-01 1.67004145e-01 2.70990516e-02 4.06246535e+01] [-1.66957669e-01 9.85956013e-01 -3.98468071e-03 -2.60373290e+00] [-2.73839310e-02 -5.97158085e-04 9.99624811e-01 -1.79811845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932640000000006 meters Centerline goodness [0,1] 0.9997639788868387 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.60, Z:-1.80 [[ 9.85642383e-01 1.66848945e-01 2.58944483e-02 4.06551175e+01] [-1.66806464e-01 9.85982306e-01 -3.80725928e-03 -2.60243005e+00] [-2.61667051e-02 -5.66765244e-04 9.99657432e-01 -1.80081212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters Centerline goodness [0,1] 0.9998294861137754 Centerline is valid? [True, True] Translation: X:40.68, Y:-2.60, Z:-1.80 [[ 9.85700505e-01 1.66501622e-01 2.59176451e-02 4.06842159e+01] [-1.66458945e-01 9.86041023e-01 -3.81067308e-03 -2.60293134e+00] [-2.61903445e-02 -5.58041491e-04 9.99656818e-01 -1.80240192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.71, Y:-2.60, Z:-1.80 [[ 9.85865048e-01 1.65300187e-01 2.73121790e-02 4.07137941e+01] [-1.65252366e-01 9.86243144e-01 -4.01451280e-03 -2.60305796e+00] [-2.76000490e-02 -5.55634330e-04 9.99618892e-01 -1.80203725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02264 meters Centerline goodness [0,1] 0.9999361104012267 Centerline is valid? [True, True] Translation: X:40.74, Y:-2.61, Z:-1.80 [[ 9.86046845e-01 1.64192006e-01 2.74336443e-02 4.07433038e+01] [-1.64143347e-01 9.86428257e-01 -4.03171831e-03 -2.60817808e+00] [-2.77232979e-02 -5.27587081e-04 9.99615496e-01 -1.80219850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052640000000004 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:40.77, Y:-2.61, Z:-1.80 [[ 9.86306121e-01 1.62511204e-01 2.81130590e-02 4.07719878e+01] [-1.62459438e-01 9.86706575e-01 -4.13098868e-03 -2.61126317e+00] [-2.84106721e-02 -4.92812357e-04 9.99596214e-01 -1.80315758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.62, Z:-1.80 [[ 9.86607038e-01 1.60589818e-01 2.85913065e-02 4.08006902e+01] [-1.60535508e-01 9.87021130e-01 -4.19993180e-03 -2.61661985e+00] [-2.88946900e-02 -4.46237639e-04 9.99582362e-01 -1.80400784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.83, Y:-2.62, Z:-1.81 [[ 9.87324470e-01 1.56126639e-01 2.85458020e-02 4.08293613e+01] [-1.56070649e-01 9.87736996e-01 -4.19278594e-03 -2.62432986e+00] [-2.88503503e-02 -3.15521678e-04 9.99583692e-01 -1.80596969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:-2.63, Z:-1.81 [[ 9.87678367e-01 1.53944966e-01 2.81494287e-02 4.08595710e+01] [-1.53889642e-01 9.88079392e-01 -4.13429745e-03 -2.63194970e+00] [-2.84503247e-02 -2.48549347e-04 9.99595177e-01 -1.80653142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.89, Y:-2.64, Z:-1.81 [[ 9.87974121e-01 1.52136316e-01 2.75985166e-02 4.08893033e+01] [-1.52082426e-01 9.88359502e-01 -4.05358997e-03 -2.63756953e+00] [-2.78939543e-02 -1.92407359e-04 9.99610869e-01 -1.80981997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20264 meters Centerline goodness [0,1] 0.9999786530045897 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.65, Z:-1.81 [[ 9.88482375e-01 1.48724988e-01 2.79905845e-02 4.09208028e+01] [-1.48668169e-01 9.88878591e-01 -4.11183739e-03 -2.64710047e+00] [-2.82908227e-02 -9.68301421e-05 9.99599730e-01 -1.81109367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.95, Y:-2.65, Z:-1.81 [[ 9.88692109e-01 1.47295978e-01 2.81390968e-02 4.09530077e+01] [-1.47237849e-01 9.89092459e-01 -4.13807485e-03 -2.65397871e+00] [-2.84416902e-02 -5.18581276e-05 9.99595452e-01 -1.81078714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.98, Y:-2.66, Z:-1.81 [[ 9.88841765e-01 1.46274405e-01 2.82092621e-02 4.09841548e+01] [-1.46215403e-01 9.89244054e-01 -4.15424192e-03 -2.65938046e+00] [-2.85135040e-02 -1.67407015e-05 9.99593407e-01 -1.81365014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292640000000006 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:41.02, Y:-2.66, Z:-1.81 [[ 9.88986382e-01 1.45365452e-01 2.78356076e-02 4.10164967e+01] [-1.45307501e-01 9.89378029e-01 -4.10427058e-03 -2.66405532e+00] [-2.81365578e-02 1.43451397e-05 9.99604089e-01 -1.81459103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:-2.67, Z:-1.81 [[ 9.88918640e-01 1.45700519e-01 2.84830165e-02 4.10483936e+01] [-1.45639809e-01 9.89328742e-01 -4.20563214e-03 -2.66872060e+00] [-2.87918296e-02 1.07669483e-05 9.99585429e-01 -1.81468609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35264 meters Centerline goodness [0,1] 0.9999786703069343 Centerline is valid? [True, True] Translation: X:41.08, Y:-2.67, Z:-1.82 [[ 9.88833474e-01 1.46319960e-01 2.82635727e-02 4.10802560e+01] [-1.46260299e-01 9.89237317e-01 -4.17797031e-03 -2.67336190e+00] [-2.85707013e-02 -2.52171396e-06 9.99591774e-01 -1.81756341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.11, Y:-2.67, Z:-1.82 [[ 9.88527614e-01 1.48370638e-01 2.82720643e-02 4.11126731e+01] [-1.48311622e-01 9.88931823e-01 -4.18473772e-03 -2.67450637e+00] [-2.85800363e-02 -5.63469331e-05 9.99591506e-01 -1.81836830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.14, Y:-2.68, Z:-1.82 [[ 9.88310599e-01 1.49798018e-01 2.83322183e-02 4.11445899e+01] [-1.49739204e-01 9.88716615e-01 -4.19830436e-03 -2.67634975e+00] [-2.86414327e-02 -9.32151214e-05 9.99589746e-01 -1.81861315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.18, Y:-2.68, Z:-1.82 [[ 9.88122041e-01 1.51037266e-01 2.83297845e-02 4.11752207e+01] [-1.50978781e-01 9.88528062e-01 -4.20454436e-03 -2.67728488e+00] [-2.86398299e-02 -1.22593388e-04 9.99589788e-01 -1.82092883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.21, Y:-2.68, Z:-1.82 [[ 9.87780950e-01 1.53275827e-01 2.82013437e-02 4.12059059e+01] [-1.53218770e-01 9.88183427e-01 -4.18595859e-03 -2.67583905e+00] [-2.85097067e-02 -1.86165048e-04 9.99593498e-01 -1.82126047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.24, Y:-2.68, Z:-1.82 [[ 9.87710122e-01 1.53692716e-01 2.84123904e-02 4.12366854e+01] [-1.53634974e-01 9.88118672e-01 -4.21728450e-03 -2.67878015e+00] [-2.87229794e-02 -1.99682265e-04 9.99587390e-01 -1.82169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.27, Y:-2.68, Z:-1.82 [[ 9.87695928e-01 1.53736185e-01 2.86694694e-02 4.12656253e+01] [-1.53677415e-01 9.88111909e-01 -4.25531088e-03 -2.68207468e+00] [-2.89828394e-02 -2.02896718e-04 9.99579889e-01 -1.82242640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.69, Z:-1.82 [[ 9.87901907e-01 1.52230306e-01 2.95931697e-02 4.12941637e+01] [-1.52166993e-01 9.88345035e-01 -4.39303737e-03 -2.68814203e+00] [-2.99170157e-02 -1.63213658e-04 9.99552373e-01 -1.82286361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.33, Y:-2.70, Z:-1.82 [[ 9.88086924e-01 1.50971182e-01 2.98652284e-02 4.13251561e+01] [-1.50906146e-01 9.88538156e-01 -4.43272018e-03 -2.69546810e+00] [-3.01921308e-02 -1.26933676e-04 9.99544106e-01 -1.82249147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.36, Y:-2.70, Z:-1.82 [[ 9.88314996e-01 1.49474783e-01 2.98455727e-02 4.13563945e+01] [-1.49409170e-01 9.88765535e-01 -4.42914758e-03 -2.70278100e+00] [-3.01723195e-02 -8.18092871e-05 9.99544709e-01 -1.82336487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-2.71, Z:-1.82 [[ 9.88585564e-01 1.47666025e-01 2.98885984e-02 4.13878593e+01] [-1.47599239e-01 9.89037282e-01 -4.44070121e-03 -2.71034311e+00] [-3.02166788e-02 -2.15212789e-05 9.99543372e-01 -1.82474877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.42, Y:-2.72, Z:-1.83 [[ 9.89149880e-01 1.43743688e-01 3.03358901e-02 4.14193322e+01] [-1.43672868e-01 9.89614946e-01 -4.51287377e-03 -2.72185693e+00] [-3.06695474e-02 1.05464222e-04 9.99529573e-01 -1.82529902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.73, Z:-1.83 [[ 9.89418182e-01 1.41832136e-01 3.05827907e-02 4.14507089e+01] [-1.41759052e-01 9.89890709e-01 -4.55584103e-03 -2.73107279e+00] [-3.09197851e-02 1.72244515e-04 9.99521854e-01 -1.82643734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.74, Z:-1.83 [[ 9.89712936e-01 1.39809355e-01 3.03586606e-02 4.14815784e+01] [-1.39736213e-01 9.90178412e-01 -4.52809140e-03 -2.74021702e+00] [-3.06935598e-02 2.39306374e-04 9.99528813e-01 -1.82765187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77264 meters Centerline goodness [0,1] 0.9997635679742074 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.75, Z:-1.83 [[ 9.90011874e-01 1.37951595e-01 2.90834560e-02 4.15117463e+01] [-1.37883524e-01 9.90438930e-01 -4.34281360e-03 -2.75108802e+00] [-2.94044851e-02 2.89307622e-04 9.99567553e-01 -1.83136269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802640000000004 meters Centerline goodness [0,1] 0.9999141354513256 Centerline is valid? [True, True] Translation: X:41.54, Y:-2.76, Z:-1.83 [[ 9.90433066e-01 1.35099615e-01 2.81146829e-02 4.15423368e+01] [-1.35034737e-01 9.90831954e-01 -4.20231215e-03 -2.76363796e+00] [-2.84246570e-02 3.65650093e-04 9.99595871e-01 -1.83333507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832640000000005 meters Centerline goodness [0,1] 0.9999361688546565 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.77, Z:-1.84 [[ 9.90535579e-01 1.34384570e-01 2.79294337e-02 4.15727806e+01] [-1.34320099e-01 9.90929178e-01 -4.18034299e-03 -2.77308267e+00] [-2.82378644e-02 3.89294166e-04 9.99601156e-01 -1.83650208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.60, Y:-2.78, Z:-1.84 [[ 9.90598927e-01 1.33898657e-01 2.80163504e-02 4.16033629e+01] [-1.33833534e-01 9.90994947e-01 -4.19531618e-03 -2.78156659e+00] [-2.83258089e-02 4.06348525e-04 9.99598661e-01 -1.83817012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.64, Y:-2.79, Z:-1.84 [[ 9.90564206e-01 1.34285119e-01 2.73872517e-02 4.16352284e+01] [-1.34222937e-01 9.90942660e-01 -4.10468627e-03 -2.78954571e+00] [-2.76903943e-02 3.89957943e-04 9.99616471e-01 -1.83768116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.80, Z:-1.84 [[ 9.90471768e-01 1.35035243e-01 2.70399765e-02 4.16675015e+01] [-1.34974764e-01 9.90840727e-01 -4.05787631e-03 -2.79596863e+00] [-2.73402663e-02 3.69497458e-04 9.99626117e-01 -1.83834862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.80, Z:-1.84 [[ 9.90301568e-01 1.36211367e-01 2.73727683e-02 4.16981197e+01] [-1.36149667e-01 9.90679738e-01 -4.11402889e-03 -2.80400440e+00] [-2.76780244e-02 3.47335967e-04 9.99616830e-01 -1.83943428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.81, Z:-1.84 [[ 9.90107277e-01 1.37581188e-01 2.75498977e-02 4.17293459e+01] [-1.37519091e-01 9.90490443e-01 -4.14518375e-03 -2.81034829e+00] [-2.78582097e-02 3.15539718e-04 9.99611835e-01 -1.83951238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.82, Z:-1.84 [[ 9.89471811e-01 1.42125844e-01 2.73089750e-02 4.17604988e+01] [-1.42066426e-01 9.89848578e-01 -4.11368943e-03 -2.81550312e+00] [-2.76164116e-02 1.90691252e-04 9.99618576e-01 -1.84155318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.82, Z:-1.84 [[ 9.89084771e-01 1.44806588e-01 2.72464146e-02 4.17908429e+01] [-1.44748324e-01 9.89459973e-01 -4.10916906e-03 -2.81956078e+00] [-2.75542714e-02 1.20443713e-04 9.99620302e-01 -1.84478378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.82, Z:-1.85 [[ 9.88597208e-01 1.48095537e-01 2.72630339e-02 4.18231869e+01] [-1.48038332e-01 9.88973059e-01 -4.11598183e-03 -2.82138644e+00] [-2.75719645e-02 3.30740828e-05 9.99619821e-01 -1.84573204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:-2.82, Z:-1.84 [[ 9.88032070e-01 1.51791482e-01 2.74221531e-02 4.18563617e+01] [-1.51734913e-01 9.88412536e-01 -4.14422739e-03 -2.82263710e+00] [-2.77334584e-02 -6.62684523e-05 9.99615351e-01 -1.84498340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:-2.82, Z:-1.85 [[ 9.86662946e-01 1.60345001e-01 2.80305602e-02 4.18889882e+01] [-1.60289164e-01 9.87060984e-01 -4.24236685e-03 -2.81714035e+00] [-2.83481146e-02 -3.07208893e-04 9.99598064e-01 -1.84555685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.92, Y:-2.82, Z:-1.85 [[ 9.85896619e-01 1.65004631e-01 2.79522436e-02 4.19208739e+01] [-1.64950848e-01 9.86292696e-01 -4.23503512e-03 -2.81791503e+00] [-2.82678941e-02 -4.35439469e-04 9.99600288e-01 -1.84544545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192640000000004 meters Centerline goodness [0,1] 0.9999578174762196 Centerline is valid? [True, True] Translation: X:41.95, Y:-2.82, Z:-1.85 [[ 9.85095802e-01 1.69653479e-01 2.83541691e-02 4.19515113e+01] [-1.69599879e-01 9.85503613e-01 -4.30227057e-03 -2.81588566e+00] [-2.86730313e-02 -5.70714993e-04 9.99588681e-01 -1.84606653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222640000000006 meters Centerline goodness [0,1] 0.9999785862652305 Centerline is valid? [True, True] Translation: X:41.98, Y:-2.81, Z:-1.85 [[ 9.83695231e-01 1.77608803e-01 2.82631608e-02 4.19831039e+01] [-1.77558823e-01 9.84100845e-01 -4.28847336e-03 -2.80934487e+00] [-2.85754711e-02 -7.99822770e-04 9.99591318e-01 -1.84598600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25264 meters Centerline goodness [0,1] 0.9997456926695912 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.80, Z:-1.85 [[ 9.83062223e-01 1.81059127e-01 2.83946850e-02 4.20135156e+01] [-1.81010106e-01 9.83471797e-01 -4.30882184e-03 -2.79924886e+00] [-2.87055234e-02 -9.03884957e-04 9.99587503e-01 -1.84939854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters Centerline goodness [0,1] 0.9997852510415325 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.80, Z:-1.85 [[ 9.82558165e-01 1.83769075e-01 2.84320041e-02 4.20429669e+01] [-1.83721096e-01 9.82968949e-01 -4.31315142e-03 -2.80183747e+00] [-2.87404011e-02 -9.85636826e-04 9.99586423e-01 -1.84901650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31264 meters Centerline goodness [0,1] 0.9997022606920313 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.80, Z:-1.85 [[ 9.82159899e-01 1.85823647e-01 2.88358413e-02 4.20724558e+01] [-1.85775196e-01 9.82582539e-01 -4.37382906e-03 -2.80021328e+00] [-2.91463550e-02 -1.06118456e-03 9.99574591e-01 -1.85108597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34264 meters Centerline goodness [0,1] 0.9997000985390515 Centerline is valid? [True, True] Translation: X:42.10, Y:-2.80, Z:-1.85 [[ 9.82024538e-01 1.86699255e-01 2.77703975e-02 4.21015799e+01] [-1.86654691e-01 9.82416556e-01 -4.21142272e-03 -2.80027967e+00] [-2.80683678e-02 -1.04775452e-03 9.99605457e-01 -1.85219952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372640000000004 meters Centerline goodness [0,1] 0.9997222162866728 Centerline is valid? [True, True] Translation: X:42.13, Y:-2.80, Z:-1.85 [[ 9.82075785e-01 1.86436279e-01 2.77248526e-02 4.21303847e+01] [-1.86391790e-01 9.82466505e-01 -4.20330070e-03 -2.79847406e+00] [-2.80223868e-02 -1.03972506e-03 9.99606755e-01 -1.85483644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402640000000005 meters Centerline goodness [0,1] 0.9997012696041823 Centerline is valid? [True, True] Translation: X:42.16, Y:-2.80, Z:-1.86 [[ 9.82180893e-01 1.85863781e-01 2.78450730e-02 4.21592058e+01] [-1.85818732e-01 9.82574982e-01 -4.21955249e-03 -2.80433572e+00] [-2.81441340e-02 -1.02977230e-03 9.99603345e-01 -1.85545043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432640000000006 meters Centerline goodness [0,1] 0.99961798038966 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.80, Z:-1.86 [[ 9.82788116e-01 1.82627008e-01 2.78369367e-02 4.21884189e+01] [-1.82580720e-01 9.83181823e-01 -4.21715899e-03 -2.80267708e+00] [-2.81389373e-02 -9.37914215e-04 9.99603582e-01 -1.85707158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters Centerline goodness [0,1] 0.9997236629538304 Centerline is valid? [True, True] Translation: X:42.22, Y:-2.81, Z:-1.86 [[ 9.83184212e-01 1.80403139e-01 2.83462807e-02 4.22171768e+01] [-1.80354235e-01 9.83592351e-01 -4.29374405e-03 -2.80967942e+00] [-2.86557898e-02 -8.90830416e-04 9.99588942e-01 -1.85651968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49264 meters Centerline goodness [0,1] 0.9998711146435246 Centerline is valid? [True, True] Translation: X:42.25, Y:-2.81, Z:-1.86 [[ 9.83638946e-01 1.77886174e-01 2.84768730e-02 4.22457069e+01] [-1.77835790e-01 9.84050727e-01 -4.31262377e-03 -2.81353063e+00] [-2.87898437e-02 -8.22142500e-04 9.99585148e-01 -1.85746535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52264 meters Centerline goodness [0,1] 0.9999145098206843 Centerline is valid? [True, True] Translation: X:42.27, Y:-2.82, Z:-1.86 [[ 9.84541284e-01 1.72872417e-01 2.81706937e-02 4.22746734e+01] [-1.72821104e-01 9.84943998e-01 -4.26464248e-03 -2.81678878e+00] [-2.84837947e-02 -6.69773794e-04 9.99594030e-01 -1.85999864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552640000000004 meters Centerline goodness [0,1] 0.9999784087228759 Centerline is valid? [True, True] Translation: X:42.30, Y:-2.82, Z:-1.86 [[ 9.84995621e-01 1.70316500e-01 2.78552780e-02 4.23035715e+01] [-1.70265327e-01 9.85389234e-01 -4.21623309e-03 -2.82438443e+00] [-2.81663851e-02 -5.89816881e-04 9.99603075e-01 -1.85977516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582640000000005 meters Centerline goodness [0,1] 0.9999787618137411 Centerline is valid? [True, True] Translation: X:42.33, Y:-2.82, Z:-1.86 [[ 9.85656001e-01 1.66472238e-01 2.77352160e-02 4.23324361e+01] [-1.66419998e-01 9.86046026e-01 -4.19751232e-03 -2.82365791e+00] [-2.80469688e-02 -4.78391387e-04 9.99606492e-01 -1.86278273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.36, Y:-2.83, Z:-1.86 [[ 9.85960316e-01 1.64805505e-01 2.68589011e-02 4.23610088e+01] [-1.64755918e-01 9.86325996e-01 -4.06409821e-03 -2.82857625e+00] [-2.71614182e-02 -4.18123346e-04 9.99630973e-01 -1.86250869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.39, Y:-2.83, Z:-1.87 [[ 9.86173027e-01 1.63484083e-01 2.71240874e-02 4.23889215e+01] [-1.63433046e-01 9.86545896e-01 -4.10297703e-03 -2.82879565e+00] [-2.74299286e-02 -3.86726958e-04 9.99623654e-01 -1.86550308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67264 meters Centerline goodness [0,1] 0.9997436280898157 Centerline is valid? [True, True] Translation: X:42.42, Y:-2.83, Z:-1.87 [[ 9.86344824e-01 1.62409083e-01 2.73345458e-02 4.24168107e+01] [-1.62356887e-01 9.86723446e-01 -4.13301894e-03 -2.83105624e+00] [-2.76428771e-02 -3.61369942e-04 9.99617797e-01 -1.86737964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70264 meters Centerline goodness [0,1] 0.9997866666666667 Centerline is valid? [True, True] Translation: X:42.45, Y:-2.83, Z:-1.87 [[ 9.86802641e-01 1.59798196e-01 2.61741189e-02 4.24453121e+01] [-1.59749464e-01 9.87149664e-01 -3.95593205e-03 -2.83251409e+00] [-2.64699235e-02 -2.77577269e-04 9.99649572e-01 -1.87049563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.84, Z:-1.87 [[ 9.87120377e-01 1.57966508e-01 2.52970965e-02 4.24741114e+01] [-1.57920414e-01 9.87444446e-01 -3.82225926e-03 -2.83762070e+00] [-2.55832664e-02 -2.21897949e-04 9.99672670e-01 -1.87153366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.84, Z:-1.87 [[ 9.87128075e-01 1.57918367e-01 2.52972828e-02 4.25021159e+01] [-1.57872289e-01 9.87452146e-01 -3.82102594e-03 -2.84176053e+00] [-2.55832664e-02 -2.21897948e-04 9.99672670e-01 -1.87265406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.85, Z:-1.87 [[ 9.87421268e-01 1.56166275e-01 2.47251851e-02 4.25303026e+01] [-1.56121738e-01 9.87730765e-01 -3.73342983e-03 -2.84579794e+00] [-2.50048618e-02 -1.73670868e-04 9.99687314e-01 -1.87448768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.56, Y:-2.85, Z:-1.88 [[ 9.87679616e-01 1.54561978e-01 2.44861236e-02 4.25590400e+01] [-1.54517835e-01 9.87983086e-01 -3.69611798e-03 -2.84959782e+00] [-2.47631553e-02 -1.32962412e-04 9.99693337e-01 -1.87641638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.85, Z:-1.88 [[ 9.88297641e-01 1.50683073e-01 2.37146301e-02 4.25864044e+01] [-1.50640574e-01 9.88582121e-01 -3.57872176e-03 -2.85246621e+00] [-2.39831121e-02 -3.55432171e-05 9.99712363e-01 -1.87980958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:-2.86, Z:-1.88 [[ 9.88625083e-01 1.48442928e-01 2.41896977e-02 4.26147750e+01] [-1.48398080e-01 9.88920976e-01 -3.64868728e-03 -2.85766424e+00] [-2.44633213e-02 1.74790627e-05 9.99700728e-01 -1.87909079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:-2.86, Z:-1.88 [[ 9.89012199e-01 1.45792866e-01 2.44808157e-02 4.26426592e+01] [-1.45746156e-01 9.89315134e-01 -3.69117457e-03 -2.86406000e+00] [-2.47573883e-02 8.26319141e-05 9.99693485e-01 -1.87991429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942640000000004 meters Centerline goodness [0,1] 0.9997234513274337 Centerline is valid? [True, True] Translation: X:42.67, Y:-2.87, Z:-1.88 [[ 9.89593235e-01 1.41582119e-01 2.56852642e-02 4.26699054e+01] [-1.41529309e-01 9.89926495e-01 -3.87162036e-03 -2.87452627e+00] [-2.59746758e-02 1.96111628e-04 9.99662582e-01 -1.88026515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:-2.88, Z:-1.88 [[ 9.89882042e-01 1.39561257e-01 2.56163751e-02 4.26997581e+01] [-1.39508081e-01 9.90213409e-01 -3.86018024e-03 -2.88103643e+00] [-2.59044097e-02 2.47431768e-04 9.99664394e-01 -1.87978324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters Centerline goodness [0,1] 0.9999144037148787 Centerline is valid? [True, True] Translation: X:42.73, Y:-2.89, Z:-1.88 [[ 9.90001068e-01 1.38593558e-01 2.62623408e-02 4.27298640e+01] [-1.38537325e-01 9.90349306e-01 -3.95752203e-03 -2.88572246e+00] [-2.65573780e-02 2.79636597e-04 9.99647252e-01 -1.87974964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03264 meters Centerline goodness [0,1] 0.9999147266990706 Centerline is valid? [True, True] Translation: X:42.76, Y:-2.89, Z:-1.88 [[ 9.90179049e-01 1.37220098e-01 2.67599479e-02 4.27598145e+01] [-1.37161231e-01 9.90540530e-01 -4.03182573e-03 -2.89252123e+00] [-2.70600605e-02 3.21801982e-04 9.99633758e-01 -1.88141087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-2.90, Z:-1.88 [[ 9.90199522e-01 1.37116051e-01 2.65347828e-02 4.27899234e+01] [-1.37058076e-01 9.90554937e-01 -4.00004268e-03 -2.89699201e+00] [-2.68326301e-02 3.24034090e-04 9.99639888e-01 -1.88247410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09264 meters Centerline goodness [0,1] 0.9997201773645013 Centerline is valid? [True, True] Translation: X:42.82, Y:-2.90, Z:-1.88 [[ 9.90102863e-01 1.37730229e-01 2.69574669e-02 4.28210432e+01] [-1.37670623e-01 9.90469730e-01 -4.06361008e-03 -2.89897147e+00] [-2.72602369e-02 3.12140720e-04 9.99628322e-01 -1.88172344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.85, Y:-2.90, Z:-1.88 [[ 9.90006818e-01 1.38410234e-01 2.70019848e-02 4.28515588e+01] [-1.38350671e-01 9.90374939e-01 -4.07080790e-03 -2.90226748e+00] [-2.73055306e-02 2.94384863e-04 9.99627091e-01 -1.88195273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.88, Y:-2.91, Z:-1.88 [[ 9.89725328e-01 1.40443346e-01 2.68224002e-02 4.28808816e+01] [-1.40385315e-01 9.90088688e-01 -4.04388585e-03 -2.90628458e+00] [-2.71244919e-02 2.36865154e-04 9.99632035e-01 -1.88420936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.91, Y:-2.91, Z:-1.89 [[ 9.89573844e-01 1.41621879e-01 2.62078198e-02 4.29096301e+01] [-1.41566906e-01 9.89920807e-01 -3.95060673e-03 -2.91072777e+00] [-2.65031585e-02 1.99257118e-04 9.99648710e-01 -1.88730843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21264 meters Centerline goodness [0,1] 0.9998491346796267 Centerline is valid? [True, True] Translation: X:42.94, Y:-2.91, Z:-1.89 [[ 9.89358746e-01 1.43066023e-01 2.64836708e-02 4.29399721e+01] [-1.43010392e-01 9.89713133e-01 -3.99264440e-03 -2.91320414e+00] [-2.67824485e-02 1.62717519e-04 9.99641273e-01 -1.88725584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:-2.92, Z:-1.89 [[ 9.89247118e-01 1.43860206e-01 2.63511164e-02 4.29699079e+01] [-1.43805412e-01 9.89598010e-01 -3.97266067e-03 -2.91697803e+00] [-2.66485201e-02 1.40509968e-04 9.99644855e-01 -1.88806757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:-2.92, Z:-1.89 [[ 9.89024088e-01 1.45203667e-01 2.73358468e-02 4.29987493e+01] [-1.45145209e-01 9.89401781e-01 -4.12126209e-03 -2.92340077e+00] [-2.76445579e-02 1.08360279e-04 9.99617810e-01 -1.88955936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-2.93, Z:-1.89 [[ 9.89016171e-01 1.45325456e-01 2.69726688e-02 4.30280218e+01] [-1.45268592e-01 9.89383900e-01 -4.06632398e-03 -2.92943117e+00] [-2.72772646e-02 1.03378570e-04 9.99627901e-01 -1.89076530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.94, Z:-1.89 [[ 9.88929021e-01 1.45956981e-01 2.67572722e-02 4.30579073e+01] [-1.45901278e-01 9.89290934e-01 -4.03292165e-03 -2.93620900e+00] [-2.70593598e-02 8.43530519e-05 9.99633825e-01 -1.89021977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362640000000006 meters Centerline goodness [0,1] 0.9999360368427785 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.94, Z:-1.89 [[ 9.88779848e-01 1.46875456e-01 2.72399189e-02 4.30868545e+01] [-1.46818070e-01 9.89154991e-01 -4.10581554e-03 -2.94116418e+00] [-2.75475452e-02 6.04353606e-05 9.99620493e-01 -1.89297998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.95, Z:-1.89 [[ 9.88638798e-01 1.47846551e-01 2.71058104e-02 4.31171271e+01] [-1.47790106e-01 9.89010312e-01 -4.08511547e-03 -2.94561209e+00] [-2.74118962e-02 3.27330598e-05 9.99624223e-01 -1.89146160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.95, Z:-1.89 [[ 9.88463232e-01 1.48969735e-01 2.73579514e-02 4.31460484e+01] [-1.48912662e-01 9.88841756e-01 -4.12326393e-03 -2.95117146e+00] [-2.76669262e-02 1.74943200e-06 9.99617197e-01 -1.89314676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.17, Y:-2.95, Z:-1.89 [[ 9.87951071e-01 1.52219232e-01 2.79640300e-02 4.31748239e+01] [-1.52160904e-01 9.88346749e-01 -4.21451474e-03 -2.95459956e+00] [-2.82796883e-02 -9.12977271e-05 9.99600045e-01 -1.89341436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.20, Y:-2.96, Z:-1.89 [[ 9.87680703e-01 1.53845718e-01 2.86063723e-02 4.32041274e+01] [-1.53785396e-01 9.88094871e-01 -4.31011302e-03 -2.95744279e+00] [-2.89289022e-02 -1.42226848e-04 9.99581462e-01 -1.89242878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.23, Y:-2.96, Z:-1.89 [[ 9.87409039e-01 1.55530447e-01 2.88733363e-02 4.32331409e+01] [-1.55469732e-01 9.87831080e-01 -4.34972991e-03 -2.95957695e+00] [-2.91984945e-02 -1.93967224e-04 9.99573614e-01 -1.89357918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.26, Y:-2.96, Z:-1.89 [[ 9.87121557e-01 1.57310538e-01 2.90590060e-02 4.32625691e+01] [-1.57249846e-01 9.87549154e-01 -4.37647966e-03 -2.96260494e+00] [-2.93856631e-02 -2.49406784e-04 9.99568117e-01 -1.89469098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.29, Y:-2.96, Z:-1.90 [[ 9.86528253e-01 1.60938210e-01 2.93410870e-02 4.32910904e+01] [-1.60877947e-01 9.86964418e-01 -4.41858301e-03 -2.96127928e+00] [-2.96697277e-02 -3.61276873e-04 9.99559691e-01 -1.89569327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.32, Y:-2.96, Z:-1.90 [[ 9.86274726e-01 1.62488801e-01 2.93181560e-02 4.33202318e+01] [-1.62429375e-01 9.86710303e-01 -4.41319143e-03 -2.96296672e+00] [-2.96456208e-02 -4.09510597e-04 9.99560388e-01 -1.89687198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63264 meters Centerline goodness [0,1] 0.9998507717233734 Centerline is valid? [True, True] Translation: X:43.35, Y:-2.96, Z:-1.90 [[ 9.85779553e-01 1.65522314e-01 2.90006286e-02 4.33489789e+01] [-1.65465522e-01 9.86205920e-01 -4.36396867e-03 -2.96293150e+00] [-2.93229258e-02 -4.96693067e-04 9.99569867e-01 -1.89987923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66264 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:43.38, Y:-2.96, Z:-1.90 [[ 9.85673985e-01 1.66270714e-01 2.82992013e-02 4.33770868e+01] [-1.66216980e-01 9.86080013e-01 -4.25717374e-03 -2.96279207e+00] [-2.86131201e-02 -5.07622373e-04 9.99590432e-01 -1.90248760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692640000000004 meters Centerline goodness [0,1] 0.999935757420018 Centerline is valid? [True, True] Translation: X:43.41, Y:-2.97, Z:-1.90 [[ 9.85522913e-01 1.67179936e-01 2.82038456e-02 4.34061282e+01] [-1.67126990e-01 9.85926257e-01 -4.24093983e-03 -2.96546833e+00] [-2.85159120e-02 -5.34080451e-04 9.99593196e-01 -1.90315843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722640000000006 meters Centerline goodness [0,1] 0.9999574920297556 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.97, Z:-1.91 [[ 9.85513805e-01 1.67361412e-01 2.74353561e-02 4.34345622e+01] [-1.67311415e-01 9.85895472e-01 -4.12420434e-03 -2.96525789e+00] [-2.77386260e-02 -5.25787950e-04 9.99615072e-01 -1.90578226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.97, Z:-1.91 [[ 9.85691629e-01 1.66355208e-01 2.71653821e-02 4.34631500e+01] [-1.66305858e-01 9.86065769e-01 -4.08181377e-03 -2.96854217e+00] [-2.74658844e-02 -4.94352517e-04 9.99622619e-01 -1.90691518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters Centerline goodness [0,1] 0.9999785646917603 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.97, Z:-1.91 [[ 9.85954146e-01 1.64757630e-01 2.73741758e-02 4.34906898e+01] [-1.64706937e-01 9.86333978e-01 -4.11194995e-03 -2.97211970e+00] [-2.76775548e-02 -4.54522555e-04 9.99616800e-01 -1.90872687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.98, Z:-1.91 [[ 9.86350720e-01 1.62339455e-01 2.75346645e-02 4.35186986e+01] [-1.62287277e-01 9.86734893e-01 -4.13413981e-03 -2.97815891e+00] [-2.78405482e-02 -3.90813930e-04 9.99612300e-01 -1.90968223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.55, Y:-2.99, Z:-1.91 [[ 9.87341436e-01 1.55977979e-01 2.87708021e-02 4.35464361e+01] [-1.55918357e-01 9.87760508e-01 -4.31801005e-03 -2.98976744e+00] [-2.90921766e-02 -2.22545952e-04 9.99576708e-01 -1.90882386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.58, Y:-3.00, Z:-1.91 [[ 9.87877297e-01 1.52411823e-01 2.94802146e-02 4.35750939e+01] [-1.52347658e-01 9.88317065e-01 -4.42375673e-03 -3.00027913e+00] [-2.98100320e-02 -1.21112797e-04 9.99555575e-01 -1.90758183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.01, Z:-1.91 [[ 9.88447461e-01 1.48583338e-01 2.99100242e-02 4.36037970e+01] [-1.48515560e-01 9.88899890e-01 -4.48737413e-03 -3.01032438e+00] [-3.02447687e-02 -6.57044101e-06 9.99542522e-01 -1.90848194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.02, Z:-1.91 [[ 9.89399222e-01 1.41904470e-01 3.08593644e-02 4.36333659e+01] [-1.41829092e-01 9.89880336e-01 -4.62909847e-03 -3.02479992e+00] [-3.12039678e-02 2.03270790e-04 9.99513017e-01 -1.90802087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.03, Z:-1.91 [[ 9.89779560e-01 1.39107708e-01 3.13921652e-02 4.36629286e+01] [-1.39028287e-01 9.90277212e-01 -4.70934081e-03 -3.03480528e+00] [-3.17420515e-02 2.96810307e-04 9.99496050e-01 -1.90891782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.04, Z:-1.91 [[ 9.90101405e-01 1.36801448e-01 3.13778733e-02 4.36936663e+01] [-1.36720875e-01 9.90598418e-01 -4.70927978e-03 -3.04354185e+00] [-3.17271079e-02 3.72654237e-04 9.99496499e-01 -1.90952008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.06, Z:-1.91 [[ 9.90565948e-01 1.33471607e-01 3.10553166e-02 4.37230679e+01] [-1.33390871e-01 9.91052521e-01 -4.66644400e-03 -3.05769206e+00] [-3.14002876e-02 4.79924790e-04 9.99506774e-01 -1.91210020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.06, Z:-1.91 [[ 9.90671519e-01 1.32821161e-01 3.04709635e-02 4.37545439e+01] [-1.32743068e-01 9.91139897e-01 -4.58061440e-03 -3.06398101e+00] [-3.08093902e-02 4.93075058e-04 9.99525156e-01 -1.91394514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.07, Z:-1.92 [[ 9.90692379e-01 1.32802335e-01 2.98688808e-02 4.37849834e+01] [-1.32727133e-01 9.91142422e-01 -4.49525652e-03 -3.07294700e+00] [-3.02012954e-02 4.89005443e-04 9.99543717e-01 -1.91764657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.82, Y:-3.08, Z:-1.92 [[ 9.90673122e-01 1.33113658e-01 2.91121816e-02 4.38171218e+01] [-1.33042232e-01 9.91100667e-01 -4.38549860e-03 -3.07894685e+00] [-2.94368723e-02 4.71445965e-04 9.99566530e-01 -1.91952647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.85, Y:-3.09, Z:-1.92 [[ 9.90514848e-01 1.34484803e-01 2.81810890e-02 4.38474522e+01] [-1.34418266e-01 9.90915566e-01 -4.25093588e-03 -3.08866531e+00] [-2.84967661e-02 4.22561975e-04 9.99593795e-01 -1.92417384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17264 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:43.88, Y:-3.09, Z:-1.93 [[ 9.90328924e-01 1.35862181e-01 2.81085255e-02 4.38794041e+01] [-1.35796419e-01 9.90727671e-01 -4.24430285e-03 -3.09349635e+00] [-2.84245343e-02 3.86218781e-04 9.99595867e-01 -1.92509049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20264 meters Centerline goodness [0,1] 0.999936206859889 Centerline is valid? [True, True] Translation: X:43.91, Y:-3.10, Z:-1.93 [[ 9.90104877e-01 1.37409993e-01 2.84750209e-02 4.39098274e+01] [-1.37342979e-01 9.90514195e-01 -4.30533967e-03 -3.09922318e+00] [-2.87965091e-02 3.51893599e-04 9.99585233e-01 -1.92626894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23264 meters Centerline goodness [0,1] 0.9999144915453515 Centerline is valid? [True, True] Translation: X:43.94, Y:-3.10, Z:-1.93 [[ 9.89793848e-01 1.39614438e-01 2.85647838e-02 4.39416416e+01] [-1.39547861e-01 9.90205900e-01 -4.32092416e-03 -3.10365112e+00] [-2.88882808e-02 2.90669683e-04 9.99582604e-01 -1.92675836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.97, Y:-3.11, Z:-1.93 [[ 9.89166649e-01 1.44255610e-01 2.71966934e-02 4.39726914e+01] [-1.44196889e-01 9.89540447e-01 -4.11840721e-03 -3.10665226e+00] [-2.75063314e-02 1.52112472e-04 9.99621618e-01 -1.93097225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292640000000006 meters Centerline goodness [0,1] 0.9999351281219592 Centerline is valid? [True, True] Translation: X:44.00, Y:-3.11, Z:-1.93 [[ 9.88782679e-01 1.47002974e-01 2.64374503e-02 4.40045382e+01] [-1.46948369e-01 9.89136047e-01 -4.00712789e-03 -3.10874922e+00] [-2.67392948e-02 7.72384392e-05 9.99642438e-01 -1.93113089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.04, Y:-3.11, Z:-1.93 [[ 9.88375706e-01 1.49769556e-01 2.61255321e-02 4.40356976e+01] [-1.49717074e-01 9.88720931e-01 -3.96455423e-03 -3.11152769e+00] [-2.64246300e-02 7.03084220e-06 9.99650808e-01 -1.93452729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.11, Z:-1.93 [[ 9.87637244e-01 1.54416128e-01 2.69876695e-02 4.40657511e+01] [-1.54361677e-01 9.88005894e-01 -4.10200699e-03 -3.11384419e+00] [-2.72973926e-02 -1.14567041e-04 9.99627350e-01 -1.93375065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.12, Z:-1.93 [[ 9.87319714e-01 1.56381971e-01 2.72848194e-02 4.40958473e+01] [-1.56327064e-01 9.87696639e-01 -4.14717246e-03 -3.11795575e+00] [-2.75976674e-02 -1.70770584e-04 9.99619097e-01 -1.93415326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.12, Y:-3.12, Z:-1.93 [[ 9.86977104e-01 1.58460827e-01 2.76832457e-02 4.41247650e+01] [-1.58405134e-01 9.87365237e-01 -4.20730092e-03 -3.12073362e+00] [-2.80001669e-02 -2.32658565e-04 9.99607891e-01 -1.93465250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.15, Y:-3.12, Z:-1.94 [[ 9.86707523e-01 1.60036603e-01 2.82231948e-02 4.41541891e+01] [-1.59979313e-01 9.87111041e-01 -4.29100291e-03 -3.12376676e+00] [-2.85461447e-02 -2.81162465e-04 9.99592436e-01 -1.93589549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.13, Z:-1.94 [[ 9.86408037e-01 1.61850630e-01 2.83470947e-02 4.41836558e+01] [-1.61793595e-01 9.86815211e-01 -4.30948146e-03 -3.12759562e+00] [-2.86708365e-02 -3.35471211e-04 9.99588851e-01 -1.93787817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264000000001 meters Centerline goodness [0,1] 0.9998059173639265 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.13, Z:-1.94 [[ 9.86405176e-01 1.61867855e-01 2.83482909e-02 4.42135864e+01] [-1.61810836e-01 9.86812386e-01 -4.30917688e-03 -3.13420469e+00] [-2.86719618e-02 -3.36466268e-04 9.99588818e-01 -1.93929247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53264 meters Centerline goodness [0,1] 0.9999787505312367 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.14, Z:-1.94 [[ 9.86493000e-01 1.61327834e-01 2.83706090e-02 4.42421079e+01] [-1.61270498e-01 9.86900819e-01 -4.31270177e-03 -3.14248039e+00] [-2.86947361e-02 -3.20892134e-04 9.99588170e-01 -1.94162478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56264 meters Centerline goodness [0,1] 0.9998512221041446 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.15, Z:-1.94 [[ 9.86583447e-01 1.60672594e-01 2.89382202e-02 4.42719778e+01] [-1.60612673e-01 9.87007712e-01 -4.39849385e-03 -3.14982385e+00] [-2.92689640e-02 -3.08363673e-04 9.99571525e-01 -1.94142848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59264 meters Centerline goodness [0,1] 0.999786260847262 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.16, Z:-1.94 [[ 9.86608138e-01 1.60408893e-01 2.95528227e-02 4.43024761e+01] [-1.60346289e-01 9.87050603e-01 -4.49167355e-03 -3.15701152e+00] [-2.98906359e-02 -3.07163769e-04 9.99553128e-01 -1.94096156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622640000000004 meters Centerline goodness [0,1] 0.9998716083197808 Centerline is valid? [True, True] Translation: X:44.33, Y:-3.17, Z:-1.94 [[ 9.86760878e-01 1.59488314e-01 2.94354857e-02 4.43342403e+01] [-1.59425785e-01 9.87199777e-01 -4.47419934e-03 -3.16546117e+00] [-2.97722874e-02 -2.77810556e-04 9.99556669e-01 -1.94182215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652640000000005 meters Centerline goodness [0,1] 0.9998716083197808 Centerline is valid? [True, True] Translation: X:44.37, Y:-3.17, Z:-1.94 [[ 9.86733344e-01 1.59658596e-01 2.94353727e-02 4.43655196e+01] [-1.59596121e-01 9.87172251e-01 -4.47494299e-03 -3.17036200e+00] [-2.97722463e-02 -2.82195855e-04 9.99556669e-01 -1.94307511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682640000000006 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:44.40, Y:-3.18, Z:-1.95 [[ 9.86808820e-01 1.59235083e-01 2.91983209e-02 4.43964253e+01] [-1.59173277e-01 9.87240659e-01 -4.44389061e-03 -3.17620806e+00] [-2.95333929e-02 -2.62321980e-04 9.99563760e-01 -1.94670913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:-3.19, Z:-1.95 [[ 9.86989258e-01 1.58219380e-01 2.86152459e-02 4.44275759e+01] [-1.58159444e-01 9.87403959e-01 -4.36025649e-03 -3.18796125e+00] [-2.89446842e-02 -2.22245076e-04 9.99580990e-01 -1.94802673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.19, Z:-1.95 [[ 9.87013945e-01 1.58125490e-01 2.82807844e-02 4.44588673e+01] [-1.58066743e-01 9.87419002e-01 -4.31505801e-03 -3.19427064e+00] [-2.86073046e-02 -2.11229059e-04 9.99590705e-01 -1.95139914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.20, Z:-1.95 [[ 9.87001710e-01 1.58256165e-01 2.79751795e-02 4.44914992e+01] [-1.58198591e-01 9.87398067e-01 -4.27348607e-03 -3.20107516e+00] [-2.82989437e-02 -2.07695918e-04 9.99599483e-01 -1.95266617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.52, Y:-3.21, Z:-1.95 [[ 9.86926076e-01 1.58750416e-01 2.78428708e-02 4.45243821e+01] [-1.58693427e-01 9.87318722e-01 -4.25877954e-03 -3.20704798e+00] [-2.81658706e-02 -2.15380004e-04 9.99603240e-01 -1.95442509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.56, Y:-3.21, Z:-1.96 [[ 9.86803124e-01 1.59458064e-01 2.81552755e-02 4.45561697e+01] [-1.59399910e-01 9.87204676e-01 -4.31240888e-03 -3.21145374e+00] [-2.84826680e-02 -2.32449809e-04 9.99594259e-01 -1.95669172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.22, Z:-1.95 [[ 9.86520714e-01 1.60956736e-01 2.94925539e-02 4.45874162e+01] [-1.60893419e-01 9.86961422e-01 -4.52314676e-03 -3.21810647e+00] [-2.98360439e-02 -2.82979866e-04 9.99554766e-01 -1.95459109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-3.22, Z:-1.96 [[ 9.86389657e-01 1.61768383e-01 2.94352675e-02 4.46194033e+01] [-1.61705521e-01 9.86828708e-01 -4.51945062e-03 -3.22246845e+00] [-2.97786712e-02 -3.01905908e-04 9.99556471e-01 -1.95726221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters Centerline goodness [0,1] 0.9998495723556969 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.23, Z:-1.96 [[ 9.86316550e-01 1.62258356e-01 2.91871383e-02 4.46518996e+01] [-1.62196605e-01 9.86748261e-01 -4.48671043e-03 -3.22988245e+00] [-2.95283643e-02 -3.08737995e-04 9.99563895e-01 -1.95740042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.68, Y:-3.24, Z:-1.96 [[ 9.86272364e-01 1.62549571e-01 2.90596250e-02 4.46841538e+01] [-1.62488315e-01 9.86700330e-01 -4.47291038e-03 -3.23708291e+00] [-2.94002112e-02 -3.10341612e-04 9.99567672e-01 -1.95940615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.24, Z:-1.96 [[ 9.86254042e-01 1.62522539e-01 2.98226279e-02 4.47157051e+01] [-1.62457817e-01 9.86704782e-01 -4.59677497e-03 -3.24380002e+00] [-3.01732092e-02 -3.11331134e-04 9.99544637e-01 -1.96049916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012640000000005 meters Centerline goodness [0,1] 0.9998265695456122 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.25, Z:-1.96 [[ 9.86311566e-01 1.62211035e-01 2.96154681e-02 4.47477844e+01] [-1.62146923e-01 9.86756045e-01 -4.56969952e-03 -3.25154887e+00] [-2.99644979e-02 -2.94909530e-04 9.99550920e-01 -1.96017012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.26, Z:-1.96 [[ 9.86404935e-01 1.61441728e-01 3.06899352e-02 4.47781636e+01] [-1.61372287e-01 9.86882208e-01 -4.74255181e-03 -3.25893623e+00] [-3.10529968e-02 -2.74428533e-04 9.99517702e-01 -1.96205617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.81, Y:-3.27, Z:-1.96 [[ 9.86485029e-01 1.60884139e-01 3.10415934e-02 4.48082293e+01] [-1.60812636e-01 9.86973267e-01 -4.80278832e-03 -3.26591373e+00] [-3.14099153e-02 -2.54001676e-04 9.99506555e-01 -1.96300497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters Centerline goodness [0,1] 0.9999150165717685 Centerline is valid? [True, True] Translation: X:44.84, Y:-3.27, Z:-1.96 [[ 9.86556621e-01 1.60542850e-01 3.05291154e-02 4.48391452e+01] [-1.60473456e-01 9.87028843e-01 -4.72574496e-03 -3.27218719e+00] [-3.08918020e-02 -2.36897677e-04 9.99522706e-01 -1.96476941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13264 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:44.87, Y:-3.28, Z:-1.97 [[ 9.86575398e-01 1.60399423e-01 3.06758643e-02 4.48713479e+01] [-1.60329112e-01 9.87052163e-01 -4.75421449e-03 -3.27931934e+00] [-3.10412515e-02 -2.27843031e-04 9.99518078e-01 -1.96581060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16264 meters Centerline goodness [0,1] 0.999914350563145 Centerline is valid? [True, True] Translation: X:44.90, Y:-3.29, Z:-1.97 [[ 9.86528140e-01 1.60671059e-01 3.07739997e-02 4.49033992e+01] [-1.60600244e-01 9.87007982e-01 -4.77537671e-03 -3.28598755e+00] [-3.11414482e-02 -2.31268346e-04 9.99514961e-01 -1.96571115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192640000000004 meters Centerline goodness [0,1] 0.9998704523372558 Centerline is valid? [True, True] Translation: X:44.94, Y:-3.29, Z:-1.96 [[ 9.86225889e-01 1.62342872e-01 3.16747259e-02 4.49351636e+01] [-1.62268482e-01 9.86734367e-01 -4.92233579e-03 -3.29014914e+00] [-3.20536467e-02 -2.85274688e-04 9.99486109e-01 -1.96463330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-3.29, Z:-1.97 [[ 9.85995281e-01 1.63593436e-01 3.24113075e-02 4.49680468e+01] [-1.63516100e-01 9.86527789e-01 -5.04048108e-03 -3.29435764e+00] [-3.27992452e-02 -3.29880025e-04 9.99461906e-01 -1.96619788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.30, Z:-1.97 [[ 9.85736953e-01 1.65331025e-01 3.14374244e-02 4.49994747e+01] [-1.65258932e-01 9.86238062e-01 -4.89589223e-03 -3.29754365e+00] [-3.18142274e-02 -3.69253288e-04 9.99493731e-01 -1.96943189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.30, Z:-1.97 [[ 9.85692284e-01 1.65750156e-01 3.06203658e-02 4.50304295e+01] [-1.65681893e-01 9.86167708e-01 -4.77094781e-03 -3.30262449e+00] [-3.09876013e-02 -3.70553713e-04 9.99519700e-01 -1.97261217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.31, Z:-1.98 [[ 9.85716250e-01 1.65715203e-01 3.00323994e-02 4.50622448e+01] [-1.65649383e-01 9.86173587e-01 -4.68385087e-03 -3.30808157e+00] [-3.03933443e-02 -3.57900510e-04 9.99537952e-01 -1.97658086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.32, Z:-1.98 [[ 9.85986336e-01 1.64122388e-01 2.99129948e-02 4.50935004e+01] [-1.64056190e-01 9.86439938e-01 -4.67079122e-03 -3.31656007e+00] [-3.02739541e-02 -3.02075624e-04 9.99541593e-01 -1.97705661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372640000000004 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:45.13, Y:-3.32, Z:-1.98 [[ 9.86153074e-01 1.63077035e-01 3.01329476e-02 4.51251644e+01] [-1.63009209e-01 9.86613303e-01 -4.71043406e-03 -3.32347314e+00] [-3.04977305e-02 -2.66738915e-04 9.99534800e-01 -1.97749179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402640000000005 meters Centerline goodness [0,1] 0.999914942479852 Centerline is valid? [True, True] Translation: X:45.16, Y:-3.33, Z:-1.98 [[ 9.86272167e-01 1.62243074e-01 3.07310634e-02 4.51567706e+01] [-1.62171952e-01 9.86750793e-01 -4.80944356e-03 -3.33099103e+00] [-3.11042001e-02 -2.40296233e-04 9.99516118e-01 -1.97769649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432640000000006 meters Centerline goodness [0,1] 0.9996787251815202 Centerline is valid? [True, True] Translation: X:45.19, Y:-3.34, Z:-1.98 [[ 9.86372116e-01 1.61572745e-01 3.10531241e-02 4.51876084e+01] [-1.61499616e-01 9.86860781e-01 -4.86544439e-03 -3.33826417e+00] [-3.14312335e-02 -2.15928939e-04 9.99505893e-01 -1.97907747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.22, Y:-3.35, Z:-1.98 [[ 9.86407368e-01 1.61346876e-01 3.11077044e-02 4.52194340e+01] [-1.61273228e-01 9.86897737e-01 -4.87871776e-03 -3.34545443e+00] [-3.14872890e-02 -2.04436781e-04 9.99504131e-01 -1.97976080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.25, Y:-3.35, Z:-1.98 [[ 9.86219836e-01 1.62634003e-01 3.03416519e-02 4.52508909e+01] [-1.62564361e-01 9.86686438e-01 -4.76466009e-03 -3.34953033e+00] [-3.07125922e-02 -2.33468951e-04 9.99528230e-01 -1.98159606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-3.35, Z:-1.98 [[ 9.85967041e-01 1.64239231e-01 2.99076589e-02 4.52823614e+01] [-1.64172146e-01 9.86420498e-01 -4.70178701e-03 -3.35206522e+00] [-3.02737456e-02 -2.74197496e-04 9.99541608e-01 -1.98394982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.35, Z:-1.99 [[ 9.85619153e-01 1.66370211e-01 2.95945600e-02 4.53139557e+01] [-1.66305340e-01 9.86063306e-01 -4.65731759e-03 -3.35285824e+00] [-2.99569486e-02 -3.31391955e-04 9.99551135e-01 -1.98674462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.35, Z:-1.99 [[ 9.84755089e-01 1.71408112e-01 2.96086893e-02 4.53466155e+01] [-1.71345290e-01 9.85199995e-01 -4.66501403e-03 -3.34867607e+00] [-2.99701018e-02 -4.79413149e-04 9.99550681e-01 -1.98738490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.38, Y:-3.35, Z:-1.99 [[ 9.84339976e-01 1.73741699e-01 2.98099772e-02 4.53769067e+01] [-1.73678986e-01 9.84791104e-01 -4.70012468e-03 -3.34843343e+00] [-3.01732080e-02 -5.50845996e-04 9.99544533e-01 -1.98809529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters Centerline goodness [0,1] 0.9999782915445566 Centerline is valid? [True, True] Translation: X:45.41, Y:-3.35, Z:-1.99 [[ 9.83968315e-01 1.75794098e-01 3.00464595e-02 4.54081352e+01] [-1.75731348e-01 9.84426763e-01 -4.73718393e-03 -3.35144377e+00] [-3.04113079e-02 -6.18865961e-04 9.99537278e-01 -1.98774455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67264 meters Centerline goodness [0,1] 0.9999784598815293 Centerline is valid? [True, True] Translation: X:45.44, Y:-3.34, Z:-1.99 [[ 9.83447412e-01 1.78678989e-01 3.00833154e-02 4.54386976e+01] [-1.78617413e-01 9.83907169e-01 -4.74369125e-03 -3.34435252e+00] [-3.04467877e-02 -7.08233076e-04 9.99536138e-01 -1.99015592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70264 meters Centerline goodness [0,1] 0.999936121284388 Centerline is valid? [True, True] Translation: X:45.47, Y:-3.35, Z:-1.99 [[ 9.83320659e-01 1.79309590e-01 3.04721663e-02 4.54686813e+01] [-1.79246668e-01 9.83792422e-01 -4.80647820e-03 -3.34599809e+00] [-3.08401339e-02 -7.35724980e-04 9.99524059e-01 -1.99105129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.50, Y:-3.35, Z:-1.99 [[ 9.83266434e-01 1.79522873e-01 3.09621997e-02 4.54988774e+01] [-1.79458046e-01 9.83753510e-01 -4.88283159e-03 -3.35261801e+00] [-3.13357525e-02 -7.55291449e-04 9.99508629e-01 -1.99032485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762640000000005 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.36, Z:-1.99 [[ 9.83520372e-01 1.77964914e-01 3.18773780e-02 4.55284091e+01] [-1.77895377e-01 9.84036565e-01 -5.02724713e-03 -3.35611936e+00] [-3.22631792e-02 -7.26438225e-04 9.99479144e-01 -1.99158669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792640000000006 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:45.56, Y:-3.36, Z:-1.99 [[ 9.83830209e-01 1.76338419e-01 3.13509553e-02 4.55588469e+01] [-1.76270355e-01 9.84329377e-01 -4.94355620e-03 -3.36287193e+00] [-3.17314052e-02 -6.62624102e-04 9.99496213e-01 -1.99285088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters Centerline goodness [0,1] 0.9998935354739801 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.37, Z:-2.00 [[ 9.84178430e-01 1.74462485e-01 3.09137237e-02 4.55887632e+01] [-1.74395370e-01 9.84663643e-01 -4.87501277e-03 -3.36757904e+00] [-3.12901266e-02 -5.93327855e-04 9.99510168e-01 -1.99631987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-3.38, Z:-2.00 [[ 9.85076108e-01 1.69400072e-01 3.04742144e-02 4.56192144e+01] [-1.69332355e-01 9.85547277e-01 -4.80807629e-03 -3.37908241e+00] [-3.08482675e-02 -4.23949433e-04 9.99523989e-01 -1.99894963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.65, Y:-3.39, Z:-2.00 [[ 9.85554586e-01 1.66676089e-01 3.00206619e-02 4.56506767e+01] [-1.66609084e-01 9.86011648e-01 -4.73736681e-03 -3.38838993e+00] [-3.03903281e-02 -3.32781388e-04 9.99538052e-01 -2.00097646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.68, Y:-3.40, Z:-2.00 [[ 9.85984923e-01 1.64150623e-01 2.98044482e-02 4.56818706e+01] [-1.64083402e-01 9.86435253e-01 -4.70403403e-03 -3.39763526e+00] [-3.01723285e-02 -2.52308627e-04 9.99544680e-01 -2.00264397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942640000000004 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:45.71, Y:-3.41, Z:-2.00 [[ 9.86652394e-01 1.60202917e-01 2.91903916e-02 4.57125547e+01] [-1.60136562e-01 9.87084095e-01 -4.61208820e-03 -3.40983620e+00] [-2.95522412e-02 -1.23921102e-04 9.99563229e-01 -2.00404713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.74, Y:-3.42, Z:-2.01 [[ 9.86838664e-01 1.58943170e-01 2.97744759e-02 4.57434530e+01] [-1.58873395e-01 9.87287730e-01 -4.70984208e-03 -3.41673460e+00] [-3.01445719e-02 -8.25177909e-05 9.99545546e-01 -2.00561087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.77, Y:-3.42, Z:-2.01 [[ 9.87006654e-01 1.57869184e-01 2.99196494e-02 4.57744126e+01] [-1.57798074e-01 9.87460034e-01 -4.73805251e-03 -3.42394457e+00] [-3.02924505e-02 -4.47736904e-05 9.99541077e-01 -2.00692968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03264 meters Centerline goodness [0,1] 0.9999358563181526 Centerline is valid? [True, True] Translation: X:45.81, Y:-3.43, Z:-2.01 [[ 9.87102646e-01 1.57298438e-01 2.97584770e-02 4.58071048e+01] [-1.57227744e-01 9.87551113e-01 -4.71546292e-03 -3.43142907e+00] [-3.01297520e-02 -2.42122878e-05 9.99545996e-01 -2.00814693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06264 meters Centerline goodness [0,1] 0.9998083964915269 Centerline is valid? [True, True] Translation: X:45.84, Y:-3.44, Z:-2.01 [[ 9.87067215e-01 1.57451936e-01 3.01197690e-02 4.58398845e+01] [-1.57379407e-01 9.87526651e-01 -4.77859346e-03 -3.43820757e+00] [-3.04964734e-02 -2.34384367e-05 9.99534874e-01 -2.00835229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.87, Y:-3.44, Z:-2.01 [[ 9.86883762e-01 1.58514953e-01 3.05524309e-02 4.58717849e+01] [-1.58440642e-01 9.87356576e-01 -4.85341850e-03 -3.44240358e+00] [-3.09354829e-02 -5.09868659e-05 9.99521382e-01 -2.00937573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.90, Y:-3.45, Z:-2.01 [[ 9.86678993e-01 1.59739135e-01 3.07891729e-02 4.59049352e+01] [-1.59664092e-01 9.87159258e-01 -4.89655987e-03 -3.44726838e+00] [-3.11759893e-02 -8.45925599e-05 9.99513907e-01 -2.00991863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.94, Y:-3.45, Z:-2.01 [[ 9.86106425e-01 1.63104106e-01 3.14828477e-02 4.59377251e+01] [-1.63027159e-01 9.86608846e-01 -5.01305956e-03 -3.45051859e+00] [-3.18789067e-02 -1.89148975e-04 9.99491721e-01 -2.00874829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.97, Y:-3.45, Z:-2.01 [[ 9.85704824e-01 1.65468754e-01 3.17189358e-02 4.59696823e+01] [-1.65391659e-01 9.86214998e-01 -5.05725456e-03 -3.45197908e+00] [-3.21185078e-02 -2.61087198e-04 9.99484034e-01 -2.00940541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.00, Y:-3.45, Z:-2.01 [[ 9.85248844e-01 1.68189729e-01 3.15742119e-02 4.60006475e+01] [-1.68114520e-01 9.85754583e-01 -5.04082129e-03 -3.45222563e+00] [-3.19722385e-02 -3.41620132e-04 9.99488699e-01 -2.01137655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.03, Y:-3.45, Z:-2.01 [[ 9.84753010e-01 1.71099465e-01 3.14083181e-02 4.60326955e+01] [-1.71026534e-01 9.85253665e-01 -5.01397473e-03 -3.45439789e+00] [-3.18030489e-02 -4.34129091e-04 9.99494061e-01 -2.01228595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.06, Y:-3.45, Z:-2.01 [[ 9.83653839e-01 1.77091368e-01 3.26155212e-02 4.60636319e+01] [-1.77015789e-01 9.84194204e-01 -5.21338898e-03 -3.45029117e+00] [-3.30232531e-02 -6.45292156e-04 9.99454375e-01 -2.01172549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.09, Y:-3.45, Z:-2.01 [[ 9.83149473e-01 1.79960212e-01 3.21159722e-02 4.60934527e+01] [-1.79888378e-01 9.83673621e-01 -5.13607716e-03 -3.44587318e+00] [-3.25159242e-02 -7.27758594e-04 9.99470953e-01 -2.01487551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332640000000005 meters Centerline goodness [0,1] 0.9999146539216524 Centerline is valid? [True, True] Translation: X:46.12, Y:-3.45, Z:-2.02 [[ 9.82718817e-01 1.82483946e-01 3.10376552e-02 4.61232752e+01] [-1.82418141e-01 9.83208520e-01 -4.96271551e-03 -3.44921742e+00] [-3.14221029e-02 -7.84877445e-04 9.99505896e-01 -2.01720839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362640000000006 meters Centerline goodness [0,1] 0.9998933469849193 Centerline is valid? [True, True] Translation: X:46.15, Y:-3.45, Z:-2.02 [[ 9.81894594e-01 1.86975275e-01 3.03850868e-02 4.61533798e+01] [-1.86914350e-01 9.82364199e-01 -4.85853995e-03 -3.44545494e+00] [-3.07576483e-02 -9.08834633e-04 9.99526458e-01 -2.02054599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39264 meters Centerline goodness [0,1] 0.9998725275659138 Centerline is valid? [True, True] Translation: X:46.18, Y:-3.45, Z:-2.02 [[ 9.81600015e-01 1.88510031e-01 3.04200292e-02 4.61827201e+01] [-1.88449717e-01 9.82070797e-01 -4.86359980e-03 -3.44621504e+00] [-3.07914597e-02 -9.58536270e-04 9.99525371e-01 -2.02207754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:46.21, Y:-3.45, Z:-2.02 [[ 9.81360076e-01 1.89791614e-01 3.01917844e-02 4.62118734e+01] [-1.89732850e-01 9.81823894e-01 -4.82569818e-03 -3.44766119e+00] [-3.05588924e-02 -9.92625788e-04 9.99532475e-01 -2.02321496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45264 meters Centerline goodness [0,1] 0.9998937007037013 Centerline is valid? [True, True] Translation: X:46.24, Y:-3.45, Z:-2.02 [[ 9.80989858e-01 1.91705416e-01 3.01319263e-02 4.62418804e+01] [-1.91647834e-01 9.81451949e-01 -4.81459017e-03 -3.44558696e+00] [-3.04960208e-02 -1.05165427e-03 9.99534335e-01 -2.02396078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48264 meters Centerline goodness [0,1] 0.9998722779232391 Centerline is valid? [True, True] Translation: X:46.27, Y:-3.45, Z:-2.02 [[ 9.80882785e-01 1.92198848e-01 3.04723467e-02 4.62703543e+01] [-1.92140226e-01 9.81355408e-01 -4.86799390e-03 -3.45069443e+00] [-3.08398251e-02 -1.08003216e-03 9.99523756e-01 -2.02338034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512640000000005 meters Centerline goodness [0,1] 0.9999360477510125 Centerline is valid? [True, True] Translation: X:46.30, Y:-3.45, Z:-2.02 [[ 9.80795834e-01 1.92556517e-01 3.10083699e-02 4.62992328e+01] [-1.92496041e-01 9.81285255e-01 -4.95207172e-03 -3.45394637e+00] [-3.13816098e-02 -1.11201714e-03 9.99506857e-01 -2.02355211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542640000000006 meters Centerline goodness [0,1] 0.9999149696016326 Centerline is valid? [True, True] Translation: X:46.33, Y:-3.46, Z:-2.02 [[ 9.80758961e-01 1.92675158e-01 3.14347555e-02 4.63273910e+01] [-1.92613114e-01 9.81261943e-01 -5.01871736e-03 -3.45532203e+00] [-3.18127114e-02 -1.13259411e-03 9.99493206e-01 -2.02396797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57264 meters Centerline goodness [0,1] 0.9999149696016326 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.46, Z:-2.03 [[ 9.80768161e-01 1.92628267e-01 3.14351044e-02 4.63553753e+01] [-1.92566269e-01 9.81271148e-01 -5.01653101e-03 -3.45970084e+00] [-3.18126867e-02 -1.13328688e-03 9.99493206e-01 -2.02508900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters Centerline goodness [0,1] 0.9999148990489969 Centerline is valid? [True, True] Translation: X:46.38, Y:-3.46, Z:-2.03 [[ 9.80837680e-01 1.92334237e-01 3.10642500e-02 4.63847093e+01] [-1.92273593e-01 9.81328846e-01 -4.95585267e-03 -3.45806614e+00] [-3.14374248e-02 -1.11194795e-03 9.99505103e-01 -2.02677342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63264 meters Centerline goodness [0,1] 0.9997018167877149 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.46, Z:-2.03 [[ 9.80951625e-01 1.91774789e-01 3.09247400e-02 4.64123682e+01] [-1.91714455e-01 9.81438353e-01 -4.93217893e-03 -3.45954625e+00] [-3.12965935e-02 -1.09049075e-03 9.99509547e-01 -2.02838379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66264 meters Centerline goodness [0,1] 0.9998720818676047 Centerline is valid? [True, True] Translation: X:46.44, Y:-3.46, Z:-2.03 [[ 9.81098443e-01 1.91035964e-01 3.08400124e-02 4.64401635e+01] [-1.90975655e-01 9.81582459e-01 -4.91679397e-03 -3.46041447e+00] [-3.12112997e-02 -1.06583267e-03 9.99512240e-01 -2.03045609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692640000000004 meters Centerline goodness [0,1] 0.9998930458405527 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.46, Z:-2.03 [[ 9.81468855e-01 1.89118372e-01 3.08727713e-02 4.64682028e+01] [-1.89057048e-01 9.81953780e-01 -4.92004851e-03 -3.46008117e+00] [-3.12461061e-02 -1.00784063e-03 9.99511213e-01 -2.03233087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722640000000006 meters Centerline goodness [0,1] 0.9998933651815991 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.47, Z:-2.03 [[ 9.81685524e-01 1.87995854e-01 3.08397782e-02 4.64966775e+01] [-1.87934175e-01 9.82169340e-01 -4.91263648e-03 -3.46678846e+00] [-3.12134399e-02 -9.73184160e-04 9.99512268e-01 -2.03318176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75264000000001 meters Centerline goodness [0,1] 0.9999156954075074 Centerline is valid? [True, True] Translation: X:46.52, Y:-3.47, Z:-2.04 [[ 9.81961016e-01 1.86567097e-01 3.07454163e-02 4.65248189e+01] [-1.86505140e-01 9.82441785e-01 -4.89618326e-03 -3.46768576e+00] [-3.11190483e-02 -9.26317062e-04 9.99515256e-01 -2.03579632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:46.55, Y:-3.48, Z:-2.04 [[ 9.82836670e-01 1.81953342e-01 3.04148211e-02 4.65536794e+01] [-1.81890572e-01 9.83306861e-01 -4.84123988e-03 -3.47909235e+00] [-3.07879820e-02 -7.74021116e-04 9.99525638e-01 -2.03683903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81264 meters Centerline goodness [0,1] 0.9998934106461447 Centerline is valid? [True, True] Translation: X:46.58, Y:-3.49, Z:-2.04 [[ 9.83377417e-01 1.79043838e-01 3.02019876e-02 4.65814339e+01] [-1.78980573e-01 9.83840863e-01 -4.80732574e-03 -3.48643710e+00] [-3.05746716e-02 -6.78153477e-04 9.99532255e-01 -2.03789735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:-3.49, Z:-2.04 [[ 9.83937431e-01 1.75937679e-01 3.02169758e-02 4.66090635e+01] [-1.75872933e-01 9.84401134e-01 -4.80820132e-03 -3.49158579e+00] [-3.05915690e-02 -5.83378891e-04 9.99531798e-01 -2.03986939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.64, Y:-3.50, Z:-2.04 [[ 9.85012694e-01 1.69772496e-01 3.04514590e-02 4.66380194e+01] [-1.69703850e-01 9.85483202e-01 -4.84366583e-03 -3.50251887e+00] [-3.08317226e-02 -3.96657492e-04 9.99524511e-01 -2.04037969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902640000000005 meters Centerline goodness [0,1] 0.9998925447551095 Centerline is valid? [True, True] Translation: X:46.67, Y:-3.51, Z:-2.04 [[ 9.85500906e-01 1.66883388e-01 3.06251298e-02 4.66669780e+01] [-1.66812570e-01 9.85976592e-01 -4.87101236e-03 -3.51075082e+00] [-3.10085522e-02 -3.08269500e-04 9.99519072e-01 -2.04111627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.52, Z:-2.04 [[ 9.85877584e-01 1.64696751e-01 3.03375846e-02 4.66956701e+01] [-1.64626245e-01 9.86344222e-01 -4.82453301e-03 -3.51836695e+00] [-3.07178862e-02 -2.37963670e-04 9.99528066e-01 -2.04308459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters Centerline goodness [0,1] 0.9999351715792203 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.53, Z:-2.04 [[ 9.86243087e-01 1.62641395e-01 2.95355858e-02 4.67250089e+01] [-1.62573674e-01 9.86685232e-01 -4.69604440e-03 -3.52742743e+00] [-2.99060976e-02 -1.70267385e-04 9.99552698e-01 -2.04440251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-3.53, Z:-2.05 [[ 9.86193452e-01 1.63030618e-01 2.90429548e-02 4.67541937e+01] [-1.62965303e-01 9.86620994e-01 -4.61784537e-03 -3.52930421e+00] [-2.94072391e-02 -1.78905068e-04 9.99567498e-01 -2.04810192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.53, Z:-2.05 [[ 9.86043839e-01 1.64005053e-01 2.86337143e-02 4.67840759e+01] [-1.63941983e-01 9.86459477e-01 -4.55254076e-03 -3.53099833e+00] [-2.89926385e-02 -2.05263126e-04 9.99579604e-01 -2.04889887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.81, Y:-3.53, Z:-2.05 [[ 9.85744422e-01 1.65748534e-01 2.89025572e-02 4.68120145e+01] [-1.65685033e-01 9.86168016e-01 -4.59493801e-03 -3.53020991e+00] [-2.92643817e-02 -2.59286625e-04 9.99571673e-01 -2.05027161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.53, Z:-2.05 [[ 9.84986380e-01 1.70086601e-01 2.95360739e-02 4.68421735e+01] [-1.70022296e-01 9.85429038e-01 -4.69358274e-03 -3.52623804e+00] [-2.99040205e-02 -3.98676038e-04 9.99552695e-01 -2.04889544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112640000000006 meters Centerline goodness [0,1] 0.999978603218076 Centerline is valid? [True, True] Translation: X:46.87, Y:-3.52, Z:-2.05 [[ 9.84649599e-01 1.72093357e-01 2.91383585e-02 4.68704117e+01] [-1.72031675e-01 9.85080540e-01 -4.62954752e-03 -3.52445849e+00] [-2.95003443e-02 -4.54238507e-04 9.99564667e-01 -2.05177993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters Centerline goodness [0,1] 0.999827664203701 Centerline is valid? [True, True] Translation: X:46.90, Y:-3.53, Z:-2.05 [[ 9.84350002e-01 1.73766717e-01 2.93292074e-02 4.68987337e+01] [-1.73705021e-01 9.84786712e-01 -4.65803722e-03 -3.52645497e+00] [-2.96924256e-02 -5.09491650e-04 9.99558953e-01 -2.05199792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17264 meters Centerline goodness [0,1] 0.9999574314113615 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.52, Z:-2.06 [[ 9.83922697e-01 1.76186018e-01 2.92337574e-02 4.69279952e+01] [-1.76125844e-01 9.84356718e-01 -4.64104595e-03 -3.51962501e+00] [-2.95941329e-02 -5.82389759e-04 9.99561828e-01 -2.05607439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20264 meters Centerline goodness [0,1] 0.9999573606225349 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.52, Z:-2.06 [[ 9.83826279e-01 1.76784426e-01 2.88637996e-02 4.69570171e+01] [-1.76726079e-01 9.84249416e-01 -4.58038634e-03 -3.52332033e+00] [-2.92189189e-02 -5.94681689e-04 9.99572859e-01 -2.05662962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23264 meters Centerline goodness [0,1] 0.9999353559731081 Centerline is valid? [True, True] Translation: X:46.99, Y:-3.53, Z:-2.06 [[ 9.83755344e-01 1.77189890e-01 2.87952420e-02 4.69854125e+01] [-1.77132033e-01 9.84176496e-01 -4.56816318e-03 -3.52839179e+00] [-2.91490327e-02 -6.06604806e-04 9.99574893e-01 -2.05675820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262640000000005 meters Centerline goodness [0,1] 0.9999355365507757 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.53, Z:-2.06 [[ 9.83730346e-01 1.77321970e-01 2.88361767e-02 4.70140005e+01] [-1.77264047e-01 9.84152703e-01 -4.57320650e-03 -3.53077222e+00] [-2.91901313e-02 -6.12815372e-04 9.99573689e-01 -2.05773229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292640000000006 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.53, Z:-2.06 [[ 9.83686604e-01 1.77635660e-01 2.83943347e-02 4.70420143e+01] [-1.77579666e-01 9.84096131e-01 -4.50185754e-03 -3.52887007e+00] [-2.87424453e-02 -6.13839519e-04 9.99586662e-01 -2.05970553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264000000001 meters Centerline goodness [0,1] 0.9999154995035596 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.53, Z:-2.06 [[ 9.83650751e-01 1.77804403e-01 2.85796191e-02 4.70698926e+01] [-1.77747801e-01 9.84065650e-01 -4.52938904e-03 -3.52903987e+00] [-2.89295668e-02 -6.24627512e-04 9.99581257e-01 -2.06190627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35264 meters Centerline goodness [0,1] 0.9999149117209104 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.53, Z:-2.06 [[ 9.83714377e-01 1.77517993e-01 2.81671288e-02 4.70982270e+01] [-1.77462940e-01 9.84117367e-01 -4.46244178e-03 -3.53132980e+00] [-2.85119243e-02 -6.08853357e-04 9.99593267e-01 -2.06316414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.54, Z:-2.06 [[ 9.83854636e-01 1.76768899e-01 2.79787661e-02 4.71260871e+01] [-1.76714340e-01 9.84252210e-01 -4.43040574e-03 -3.53836181e+00] [-2.83213203e-02 -5.85373945e-04 9.99598700e-01 -2.06233250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.54, Z:-2.06 [[ 9.84135596e-01 1.75145445e-01 2.83055113e-02 4.71541006e+01] [-1.75088971e-01 9.84542419e-01 -4.48081034e-03 -3.53920839e+00] [-2.86527701e-02 -5.46257890e-04 9.99589276e-01 -2.06497015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442640000000004 meters Centerline goodness [0,1] 0.9999786780383795 Centerline is valid? [True, True] Translation: X:47.18, Y:-3.54, Z:-2.07 [[ 9.84322231e-01 1.74097056e-01 2.82835893e-02 4.71821242e+01] [-1.74040293e-01 9.84728362e-01 -4.47537607e-03 -3.54316985e+00] [-2.86308023e-02 -5.17272006e-04 9.99589921e-01 -2.06690988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.21, Y:-3.55, Z:-2.07 [[ 9.84488306e-01 1.73147711e-01 2.83310092e-02 4.72101442e+01] [-1.73090404e-01 9.84895745e-01 -4.48150168e-03 -3.55025389e+00] [-2.86790522e-02 -4.91839827e-04 9.99588550e-01 -2.06666416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.24, Y:-3.55, Z:-2.07 [[ 9.84686673e-01 1.71994544e-01 2.84610623e-02 4.72373692e+01] [-1.71936266e-01 9.85097794e-01 -4.50076276e-03 -3.55299353e+00] [-2.88110363e-02 -4.61647668e-04 9.99584769e-01 -2.06856584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53264 meters Centerline goodness [0,1] 0.9998928602039941 Centerline is valid? [True, True] Translation: X:47.27, Y:-3.56, Z:-2.07 [[ 9.85034502e-01 1.70085048e-01 2.78945610e-02 4.72657334e+01] [-1.70028353e-01 9.85429306e-01 -4.40934287e-03 -3.55802232e+00] [-2.82380812e-02 -3.99511394e-04 9.99601146e-01 -2.06994060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56264 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.56, Z:-2.07 [[ 9.85201820e-01 1.69229182e-01 2.71819230e-02 4.72929956e+01] [-1.69175052e-01 9.85576658e-01 -4.29560234e-03 -3.56017486e+00] [-2.75168101e-02 -3.66467979e-04 9.99621274e-01 -2.07271283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.32, Y:-3.56, Z:-2.07 [[ 9.85394247e-01 1.68126392e-01 2.70498363e-02 4.73205694e+01] [-1.68072425e-01 9.85765390e-01 -4.27275383e-03 -3.56226896e+00] [-2.73831551e-02 -3.35984530e-04 9.99624955e-01 -2.07408521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622640000000004 meters Centerline goodness [0,1] 0.99993524993525 Centerline is valid? [True, True] Translation: X:47.35, Y:-3.57, Z:-2.07 [[ 9.85499198e-01 1.67499446e-01 2.71157956e-02 4.73490752e+01] [-1.67445027e-01 9.85872118e-01 -4.28140619e-03 -3.56780876e+00] [-2.74498400e-02 -3.21082782e-04 9.99623131e-01 -2.07411321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.57, Z:-2.08 [[ 9.85566965e-01 1.67070883e-01 2.72961160e-02 4.73769709e+01] [-1.67015608e-01 9.85944837e-01 -4.30864298e-03 -3.57116973e+00] [-2.76323134e-02 -3.12421219e-04 9.99618106e-01 -2.07544566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.41, Y:-3.58, Z:-2.07 [[ 9.85573793e-01 1.66983419e-01 2.75832504e-02 4.74059569e+01] [-1.66926993e-01 9.85959654e-01 -4.35209718e-03 -3.57574796e+00] [-2.79227001e-02 -3.15076108e-04 9.99610036e-01 -2.07496866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.43, Y:-3.57, Z:-2.07 [[ 9.85291667e-01 1.68406361e-01 2.89763393e-02 4.74343805e+01] [-1.68344746e-01 9.85717585e-01 -4.57048842e-03 -3.57290467e+00] [-2.93321865e-02 -3.74750318e-04 9.99569649e-01 -2.07354099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.46, Y:-3.57, Z:-2.07 [[ 9.85096966e-01 1.69446233e-01 2.95286482e-02 4.74625821e+01] [-1.69382769e-01 9.85539345e-01 -4.65573693e-03 -3.57320327e+00] [-2.98905417e-02 -4.15291889e-04 9.99553092e-01 -2.07399651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.49, Y:-3.58, Z:-2.07 [[ 9.84884650e-01 1.70607613e-01 2.99210321e-02 4.74915375e+01] [-1.70543045e-01 9.85338943e-01 -4.71566149e-03 -3.57630999e+00] [-3.02868859e-02 -4.58441314e-04 9.99541142e-01 -2.07351171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.52, Y:-3.58, Z:-2.07 [[ 9.84710025e-01 1.71651159e-01 2.96992600e-02 4.75203405e+01] [-1.71588064e-01 9.85157673e-01 -4.67924397e-03 -3.57928880e+00] [-3.00616515e-02 -4.88340071e-04 9.99547927e-01 -2.07413342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.55, Y:-3.58, Z:-2.08 [[ 9.84543516e-01 1.72681836e-01 2.92412119e-02 4.75481802e+01] [-1.72621165e-01 9.84977523e-01 -4.60577249e-03 -3.57739524e+00] [-2.95972697e-02 -5.13068631e-04 9.99561773e-01 -2.07792801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862640000000006 meters Centerline goodness [0,1] 0.9999357725491875 Centerline is valid? [True, True] Translation: X:47.58, Y:-3.58, Z:-2.08 [[ 9.84548676e-01 1.72648135e-01 2.92664637e-02 4.75757851e+01] [-1.72587405e-01 9.84983430e-01 -4.60772412e-03 -3.58067683e+00] [-2.96224967e-02 -5.14494321e-04 9.99561025e-01 -2.07991955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.60, Y:-3.59, Z:-2.08 [[ 9.84639342e-01 1.72098038e-01 2.94555866e-02 4.76042923e+01] [-1.72036346e-01 9.85079698e-01 -4.63508319e-03 -3.58611390e+00] [-2.98137891e-02 -5.03546226e-04 9.99555343e-01 -2.07984509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters Centerline goodness [0,1] 0.9998510606608652 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.59, Z:-2.08 [[ 9.84871189e-01 1.70864765e-01 2.88785786e-02 4.76314785e+01] [-1.70804975e-01 9.85294383e-01 -4.54298820e-03 -3.58917660e+00] [-2.92301379e-02 -4.58346701e-04 9.99572603e-01 -2.08282763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95264 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:47.66, Y:-3.59, Z:-2.08 [[ 9.85016652e-01 1.70070467e-01 2.86047307e-02 4.76603959e+01] [-1.70011526e-01 9.85431808e-01 -4.49798693e-03 -3.59334300e+00] [-2.89529863e-02 -4.32541905e-04 9.99580681e-01 -2.08431560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98264 meters Centerline goodness [0,1] 0.9998936170212765 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.60, Z:-2.09 [[ 9.85182281e-01 1.69202173e-01 2.80445781e-02 4.76882440e+01] [-1.69145204e-01 9.85581283e-01 -4.40855389e-03 -3.59790291e+00] [-2.83861482e-02 -4.00376729e-04 9.99596952e-01 -2.08719621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012640000000005 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:47.72, Y:-3.60, Z:-2.09 [[ 9.85388664e-01 1.68088327e-01 2.74862703e-02 4.77166313e+01] [-1.68033209e-01 9.85771872e-01 -4.31946708e-03 -3.60280314e+00] [-2.78212441e-02 -3.62252304e-04 9.99612849e-01 -2.08935847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.61, Z:-2.09 [[ 9.85765853e-01 1.66049475e-01 2.63297452e-02 4.77446509e+01] [-1.65998202e-01 9.86117379e-01 -4.13654699e-03 -3.61030263e+00] [-2.66510908e-02 -2.93023594e-04 9.99644754e-01 -2.09218977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.61, Z:-2.10 [[ 9.85941933e-01 1.65050291e-01 2.60174044e-02 4.77719400e+01] [-1.64999909e-01 9.86285117e-01 -4.08635233e-03 -3.61427154e+00] [-2.63350323e-02 -2.63963243e-04 9.99653138e-01 -2.09506067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters Centerline goodness [0,1] 0.9998490175355348 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.62, Z:-2.10 [[ 9.86058341e-01 1.64377830e-01 2.58626574e-02 4.77997943e+01] [-1.64327860e-01 9.86397419e-01 -4.06029327e-03 -3.62024677e+00] [-2.61782807e-02 -2.46269102e-04 9.99657260e-01 -2.09506028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-3.62, Z:-2.10 [[ 9.86106013e-01 1.64038396e-01 2.61979956e-02 4.78271226e+01] [-1.63987033e-01 9.86453925e-01 -4.11175321e-03 -3.62358286e+00] [-2.65176010e-02 -2.41507017e-04 9.99648317e-01 -2.09675600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.63, Z:-2.10 [[ 9.86043550e-01 1.64316701e-01 2.67981196e-02 4.78558996e+01] [-1.64263112e-01 9.86407601e-01 -4.20405392e-03 -3.62805920e+00] [-2.71246651e-02 -2.56562278e-04 9.99632026e-01 -2.09585420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.63, Z:-2.10 [[ 9.85908168e-01 1.65054332e-01 2.72424639e-02 4.78848046e+01] [-1.64999270e-01 9.86284435e-01 -4.27237648e-03 -3.63052151e+00] [-2.75739924e-02 -2.82815806e-04 9.99619725e-01 -2.09583743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.63, Z:-2.10 [[ 9.85739048e-01 1.66019546e-01 2.74961768e-02 4.79135471e+01] [-1.65963867e-01 9.86122412e-01 -4.31079819e-03 -3.63273740e+00] [-2.78302729e-02 -3.14049724e-04 9.99612614e-01 -2.09607685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.63, Z:-2.10 [[ 9.85313230e-01 1.68509865e-01 2.76091301e-02 4.79423963e+01] [-1.68454740e-01 9.85699891e-01 -4.32724979e-03 -3.63017553e+00] [-2.79435008e-02 -3.87192376e-04 9.99609429e-01 -2.09776760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-3.63, Z:-2.10 [[ 9.85036042e-01 1.70005657e-01 2.83208712e-02 4.79713517e+01] [-1.69948327e-01 9.85442987e-01 -4.43681853e-03 -3.63120021e+00] [-2.86628881e-02 -4.42658521e-04 9.99589037e-01 -2.09753001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31264 meters Centerline goodness [0,1] 0.99997884403825 Centerline is valid? [True, True] Translation: X:48.00, Y:-3.63, Z:-2.10 [[ 9.84756048e-01 1.71519466e-01 2.89240226e-02 4.80000572e+01] [-1.71460360e-01 9.85180605e-01 -4.52998957e-03 -3.63149250e+00] [-2.92723674e-02 -4.98388687e-04 9.99571348e-01 -2.09733218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-3.63, Z:-2.10 [[ 9.84499784e-01 1.72971290e-01 2.90018574e-02 4.80287773e+01] [-1.72912550e-01 9.84926716e-01 -4.54028391e-03 -3.63183060e+00] [-2.93500429e-02 -5.44876575e-04 9.99569046e-01 -2.09817853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-3.63, Z:-2.10 [[ 9.84088940e-01 1.75192681e-01 2.96054639e-02 4.80575747e+01] [-1.75132514e-01 9.84533968e-01 -4.63341751e-03 -3.63135861e+00] [-2.99593257e-02 -6.25184411e-04 9.99550923e-01 -2.09900962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402640000000005 meters Centerline goodness [0,1] 0.9999141815061146 Centerline is valid? [True, True] Translation: X:48.09, Y:-3.63, Z:-2.10 [[ 9.83993607e-01 1.75765056e-01 2.93807198e-02 4.80862254e+01] [-1.75706078e-01 9.84431936e-01 -4.59745623e-03 -3.63486831e+00] [-2.97313911e-02 -6.38503509e-04 9.99557721e-01 -2.09997264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432640000000006 meters Centerline goodness [0,1] 0.9998286020353508 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.64, Z:-2.10 [[ 9.83942540e-01 1.76079756e-01 2.92061154e-02 4.81142832e+01] [-1.76021783e-01 9.84375689e-01 -4.56448234e-03 -3.63619140e+00] [-2.95535029e-02 -6.49724162e-04 9.99562989e-01 -2.10194950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters Centerline goodness [0,1] 0.9998286020353508 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.64, Z:-2.10 [[ 9.83955033e-01 1.76009888e-01 2.92063754e-02 4.81414469e+01] [-1.75951934e-01 9.84388184e-01 -4.56281770e-03 -3.64029773e+00] [-2.95535119e-02 -6.49310801e-04 9.99562989e-01 -2.10303701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49264 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.64, Z:-2.10 [[ 9.84040578e-01 1.75627524e-01 2.86201665e-02 4.81692521e+01] [-1.75571770e-01 9.84456489e-01 -4.46921972e-03 -3.64054139e+00] [-2.89602266e-02 -6.26999733e-04 9.99580368e-01 -2.10438360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52264 meters Centerline goodness [0,1] 0.9998711201804318 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.64, Z:-2.11 [[ 9.84161620e-01 1.75071442e-01 2.78548970e-02 4.81977180e+01] [-1.75018470e-01 9.84555552e-01 -4.34748433e-03 -3.64499020e+00] [-2.81858139e-02 -5.96494238e-04 9.99602523e-01 -2.10751229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552640000000004 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.65, Z:-2.11 [[ 9.84355879e-01 1.74085212e-01 2.71632534e-02 4.82264052e+01] [-1.74034499e-01 9.84730435e-01 -4.23823964e-03 -3.64987943e+00] [-2.74862972e-02 -5.55407101e-04 9.99622026e-01 -2.10904833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582640000000005 meters Centerline goodness [0,1] 0.9999785839722448 Centerline is valid? [True, True] Translation: X:48.25, Y:-3.65, Z:-2.11 [[ 9.84561114e-01 1.73035905e-01 2.64194542e-02 4.82540940e+01] [-1.72987584e-01 9.84915383e-01 -4.12105077e-03 -3.65339769e+00] [-2.67340166e-02 -5.12811222e-04 9.99642451e-01 -2.11183416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.28, Y:-3.66, Z:-2.11 [[ 9.84933910e-01 1.71034371e-01 2.55428510e-02 4.82819149e+01] [-1.70988575e-01 9.85264962e-01 -3.98259129e-03 -3.65837352e+00] [-2.58476361e-02 -4.44946493e-04 9.99665795e-01 -2.11465431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.31, Y:-3.66, Z:-2.11 [[ 9.85065826e-01 1.70220905e-01 2.58874967e-02 4.83099354e+01] [-1.70173619e-01 9.85405834e-01 -4.03500301e-03 -3.66353329e+00] [-2.61965321e-02 -4.30625433e-04 9.99656719e-01 -2.11475987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67264 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:48.34, Y:-3.67, Z:-2.11 [[ 9.85173614e-01 1.69544321e-01 2.62235174e-02 4.83389317e+01] [-1.69495580e-01 9.85522475e-01 -4.08662860e-03 -3.66823740e+00] [-2.65367304e-02 -4.18731632e-04 9.99647751e-01 -2.11454275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.37, Y:-3.67, Z:-2.11 [[ 9.85359881e-01 1.68369592e-01 2.67877773e-02 4.83667611e+01] [-1.68318380e-01 9.85723857e-01 -4.17147939e-03 -3.67045759e+00] [-2.71077014e-02 -3.98466837e-04 9.99632439e-01 -2.11496499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.67, Z:-2.12 [[ 9.85431493e-01 1.67860540e-01 2.73424810e-02 4.83941777e+01] [-1.67807029e-01 9.85810673e-01 -4.25641164e-03 -3.67404615e+00] [-2.76689932e-02 -3.93858422e-04 9.99617063e-01 -2.11516509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762640000000005 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:48.42, Y:-3.68, Z:-2.11 [[ 9.85479408e-01 1.67441748e-01 2.81708767e-02 4.84225371e+01] [-1.67384863e-01 9.85881891e-01 -4.38223334e-03 -3.67870821e+00] [-2.85069261e-02 -3.96777629e-04 9.99593516e-01 -2.11462541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792640000000006 meters Centerline goodness [0,1] 0.999850158403973 Centerline is valid? [True, True] Translation: X:48.45, Y:-3.68, Z:-2.11 [[ 9.85512757e-01 1.67170374e-01 2.86124478e-02 4.84511734e+01] [-1.67111618e-01 9.85927943e-01 -4.44951873e-03 -3.68364873e+00] [-2.89536395e-02 -3.96414960e-04 9.99580677e-01 -2.11446500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.68, Z:-2.12 [[ 9.85446360e-01 1.67582973e-01 2.84854065e-02 4.84800713e+01] [-1.67524950e-01 9.85857891e-01 -4.42836754e-03 -3.68484253e+00] [-2.88246817e-02 -4.08097618e-04 9.99584399e-01 -2.11508566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85264 meters Centerline goodness [0,1] 0.9999570898324358 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.69, Z:-2.12 [[ 9.85283883e-01 1.68571169e-01 2.82742041e-02 4.85086041e+01] [-1.68514449e-01 9.85689389e-01 -4.39417173e-03 -3.68762149e+00] [-2.86103137e-02 -4.35105337e-04 9.99590546e-01 -2.11514410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.54, Y:-3.69, Z:-2.12 [[ 9.84998113e-01 1.70171583e-01 2.86417551e-02 4.85369144e+01] [-1.70114094e-01 9.85414326e-01 -4.44994587e-03 -3.68764530e+00] [-2.89812501e-02 -4.89177933e-04 9.99579836e-01 -2.11583849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91264 meters Centerline goodness [0,1] 0.9998072681328565 Centerline is valid? [True, True] Translation: X:48.57, Y:-3.68, Z:-2.12 [[ 9.84187916e-01 1.74644634e-01 2.95532922e-02 4.85668984e+01] [-1.74585506e-01 9.84631321e-01 -4.58939195e-03 -3.68429736e+00] [-2.99006098e-02 -6.42752367e-04 9.99552670e-01 -2.11530317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942640000000004 meters Centerline goodness [0,1] 0.999978681220287 Centerline is valid? [True, True] Translation: X:48.60, Y:-3.68, Z:-2.12 [[ 9.83763121e-01 1.77002184e-01 2.96706633e-02 4.85952855e+01] [-1.76943683e-01 9.84210197e-01 -4.60671078e-03 -3.68126034e+00] [-3.00175672e-02 -7.18124264e-04 9.99549113e-01 -2.11684519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972640000000006 meters Centerline goodness [0,1] 0.9999360681939264 Centerline is valid? [True, True] Translation: X:48.62, Y:-3.68, Z:-2.12 [[ 9.83479227e-01 1.78683122e-01 2.89991696e-02 4.86239254e+01] [-1.78627988e-01 9.83906386e-01 -4.50182156e-03 -3.68443102e+00] [-2.93368677e-02 -7.52615325e-04 9.99569298e-01 -2.11838961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264000000001 meters Centerline goodness [0,1] 0.9998050259965338 Centerline is valid? [True, True] Translation: X:48.65, Y:-3.69, Z:-2.12 [[ 9.83281378e-01 1.79966553e-01 2.77447638e-02 4.86516715e+01] [-1.79916765e-01 9.83672434e-01 -4.30111697e-03 -3.68518291e+00] [-2.80658165e-02 -7.62539914e-04 9.99605787e-01 -2.12220188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03264 meters Centerline goodness [0,1] 0.9997043107271844 Centerline is valid? [True, True] Translation: X:48.68, Y:-3.67, Z:-2.13 [[ 9.83039017e-01 1.81252237e-01 2.79628056e-02 4.86813117e+01] [-1.81202233e-01 9.83436309e-01 -4.33310516e-03 -3.67428927e+00] [-2.82850234e-02 -8.07311402e-04 9.99599573e-01 -2.12579913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06264 meters Centerline goodness [0,1] 0.9998078196066708 Centerline is valid? [True, True] Translation: X:48.71, Y:-3.68, Z:-2.12 [[ 9.83060987e-01 1.81113761e-01 2.80874054e-02 4.87084599e+01] [-1.81063263e-01 9.83461821e-01 -4.35210214e-03 -3.68243054e+00] [-2.84111165e-02 -8.07215455e-04 9.99595997e-01 -2.12430233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09264 meters Centerline goodness [0,1] 0.9999355490149742 Centerline is valid? [True, True] Translation: X:48.74, Y:-3.69, Z:-2.12 [[ 9.83173414e-01 1.80546589e-01 2.78022812e-02 4.87369677e+01] [-1.80497043e-01 9.83566118e-01 -4.30229041e-03 -3.68814821e+00] [-2.81221457e-02 -7.88331999e-04 9.99604183e-01 -2.12481281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122640000000004 meters Centerline goodness [0,1] 0.9996574389277838 Centerline is valid? [True, True] Translation: X:48.77, Y:-3.69, Z:-2.13 [[ 9.83359878e-01 1.79558893e-01 2.76035239e-02 4.87654927e+01] [-1.79509800e-01 9.83746932e-01 -4.26667857e-03 -3.68805513e+00] [-2.79210020e-02 -7.59422531e-04 9.99609844e-01 -2.12836275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152640000000005 meters Centerline goodness [0,1] 0.9999143652322843 Centerline is valid? [True, True] Translation: X:48.79, Y:-3.69, Z:-2.13 [[ 9.83894035e-01 1.76667367e-01 2.72244070e-02 4.87942180e+01] [-1.76618643e-01 9.84270384e-01 -4.20315471e-03 -3.69323160e+00] [-2.75387378e-02 -6.72878965e-04 9.99620511e-01 -2.12921441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182640000000006 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:48.82, Y:-3.70, Z:-2.13 [[ 9.84246020e-01 1.74706152e-01 2.71575450e-02 4.88224492e+01] [-1.74657031e-01 9.84620422e-01 -4.18878965e-03 -3.70114361e+00] [-2.74716808e-02 -6.20456641e-04 9.99622390e-01 -2.12945750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.85, Y:-3.71, Z:-2.13 [[ 9.84928069e-01 1.70804070e-01 2.72519468e-02 4.88496629e+01] [-1.70753290e-01 9.85304876e-01 -4.19696314e-03 -3.71073530e+00] [-2.75683344e-02 -5.19652765e-04 9.99619786e-01 -2.13053425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24264 meters Centerline goodness [0,1] 0.999914679407875 Centerline is valid? [True, True] Translation: X:48.88, Y:-3.71, Z:-2.13 [[ 9.85263052e-01 1.68827223e-01 2.74606631e-02 4.88769160e+01] [-1.68774915e-01 9.85645549e-01 -4.22835397e-03 -3.71454888e+00] [-2.77803417e-02 -4.68630147e-04 9.99613942e-01 -2.13257297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27264 meters Centerline goodness [0,1] 0.9999784640565104 Centerline is valid? [True, True] Translation: X:48.91, Y:-3.72, Z:-2.13 [[ 9.85591785e-01 1.66840272e-01 2.78057119e-02 4.89054054e+01] [-1.66785889e-01 9.85983848e-01 -4.28009025e-03 -3.72225622e+00] [-2.81300742e-02 -4.19178579e-04 9.99604183e-01 -2.13238015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302640000000004 meters Centerline goodness [0,1] 0.9999570188257543 Centerline is valid? [True, True] Translation: X:48.93, Y:-3.73, Z:-2.13 [[ 9.85927357e-01 1.64802364e-01 2.80611427e-02 4.89330835e+01] [-1.64746238e-01 9.86326541e-01 -4.31637530e-03 -3.72843501e+00] [-2.83887987e-02 -3.67335201e-04 9.99596889e-01 -2.13395861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.96, Y:-3.74, Z:-2.13 [[ 9.86502679e-01 1.61323752e-01 2.80555062e-02 4.89612670e+01] [-1.61266268e-01 9.86901502e-01 -4.31457568e-03 -3.73796972e+00] [-2.83840647e-02 -2.68066319e-04 9.99597055e-01 -2.13373976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.99, Y:-3.74, Z:-2.14 [[ 9.86657371e-01 1.60365887e-01 2.81072034e-02 4.89886868e+01] [-1.60307874e-01 9.87057609e-01 -4.32001550e-03 -3.74192514e+00] [-2.84362121e-02 -2.43430901e-04 9.99595580e-01 -2.13531857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.02, Y:-3.74, Z:-2.14 [[ 9.86733997e-01 1.59841927e-01 2.84003022e-02 4.90167094e+01] [-1.59782558e-01 9.87142595e-01 -4.36239061e-03 -3.74471323e+00] [-2.87324409e-02 -2.33353806e-04 9.99587111e-01 -2.13705116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.75, Z:-2.14 [[ 9.86768197e-01 1.59618723e-01 2.84673271e-02 4.90441822e+01] [-1.59559062e-01 9.87178712e-01 -4.36985879e-03 -3.74889434e+00] [-2.87998506e-02 -2.30182331e-04 9.99585172e-01 -2.13736937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.75, Z:-2.14 [[ 9.86726471e-01 1.59681008e-01 2.95439908e-02 4.90732052e+01] [-1.59616850e-01 9.87168636e-01 -4.53261001e-03 -3.75301944e+00] [-2.98886728e-02 -2.43272464e-04 9.99553204e-01 -2.13652105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.76, Z:-2.14 [[ 9.86721908e-01 1.59592396e-01 3.01685819e-02 4.91008402e+01] [-1.59525492e-01 9.87182965e-01 -4.62723357e-03 -3.75506262e+00] [-3.05203814e-02 -2.46865130e-04 9.99534114e-01 -2.13748131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.76, Z:-2.14 [[ 9.86752527e-01 1.59325671e-01 3.05741948e-02 4.91293356e+01] [-1.59256929e-01 9.87226048e-01 -4.68616204e-03 -3.75807234e+00] [-3.09302675e-02 -2.45070150e-04 9.99521515e-01 -2.13769272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.76, Z:-2.14 [[ 9.87045281e-01 1.57539142e-01 3.03814287e-02 4.91579793e+01] [-1.57470463e-01 9.87512725e-01 -4.65515624e-03 -3.76386607e+00] [-3.07354168e-02 -1.89327643e-04 9.99527538e-01 -2.13955771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-3.77, Z:-2.14 [[ 9.87355998e-01 1.55789958e-01 2.92851744e-02 4.91851855e+01] [-1.55725411e-01 9.87790196e-01 -4.48604092e-03 -3.77077967e+00] [-2.96264883e-02 -1.31126414e-04 9.99561031e-01 -2.14287171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.78, Z:-2.15 [[ 9.87711088e-01 1.53626877e-01 2.87330570e-02 4.92122312e+01] [-1.53563886e-01 9.88128928e-01 -4.39940586e-03 -3.77877472e+00] [-2.90678318e-02 -6.70179481e-05 9.99577439e-01 -2.14620397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63264 meters Centerline goodness [0,1] 0.9998495658901401 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.79, Z:-2.15 [[ 9.88155404e-01 1.50917014e-01 2.78020297e-02 4.92394189e+01] [-1.50857026e-01 9.88546435e-01 -4.25475242e-03 -3.78729397e+00] [-2.81257119e-02 1.02250763e-05 9.99604394e-01 -2.14985044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.80, Z:-2.15 [[ 9.88888649e-01 1.46254527e-01 2.66242940e-02 4.92664513e+01] [-1.46197870e-01 9.89246984e-01 -4.07282836e-03 -3.79940534e+00] [-2.69336721e-02 1.35158673e-04 9.99637214e-01 -2.15335807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-3.81, Z:-2.16 [[ 9.89165458e-01 1.44439021e-01 2.62500508e-02 4.92944851e+01] [-1.44383339e-01 9.89513687e-01 -4.01431768e-03 -3.80622726e+00] [-2.65546086e-02 1.80754404e-04 9.99647348e-01 -2.15526776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-3.81, Z:-2.16 [[ 9.89392556e-01 1.42936992e-01 2.59111320e-02 4.93219759e+01] [-1.42882253e-01 9.89731766e-01 -3.96140416e-03 -3.81313129e+00] [-2.62113016e-02 2.17142875e-04 9.99656401e-01 -2.15742464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-3.82, Z:-2.16 [[ 9.89519148e-01 1.42096802e-01 2.56973757e-02 4.93486351e+01] [-1.42042720e-01 9.89852738e-01 -3.92717233e-03 -3.81968769e+00] [-2.59946563e-02 2.35887082e-04 9.99662054e-01 -2.15944723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters Centerline goodness [0,1] 0.9998497176839348 Centerline is valid? [True, True] Translation: X:49.38, Y:-3.83, Z:-2.16 [[ 9.89508109e-01 1.42294510e-01 2.50194960e-02 4.93769889e+01] [-1.42243347e-01 9.89824339e-01 -3.82198141e-03 -3.82634061e+00] [-2.53087531e-02 2.23024735e-04 9.99679657e-01 -2.16082011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.41, Y:-3.83, Z:-2.16 [[ 9.89350536e-01 1.43137663e-01 2.64031650e-02 4.94055755e+01] [-1.43081020e-01 9.89702766e-01 -4.03200643e-03 -3.82986429e+00] [-2.67084174e-02 2.11275946e-04 9.99643244e-01 -2.15863045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.43, Y:-3.83, Z:-2.16 [[ 9.89158377e-01 1.44231747e-01 2.76207889e-02 4.94334899e+01] [-1.44170225e-01 9.89543919e-01 -4.21647415e-03 -3.83438169e+00] [-2.79401331e-02 1.88665393e-04 9.99609580e-01 -2.15852512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872640000000004 meters Centerline goodness [0,1] 0.999849176936999 Centerline is valid? [True, True] Translation: X:49.46, Y:-3.84, Z:-2.16 [[ 9.88810303e-01 1.46313147e-01 2.90971928e-02 4.94619997e+01] [-1.46245818e-01 9.89238315e-01 -4.44029285e-03 -3.83710762e+00] [-2.94337312e-02 1.35264567e-04 9.99566725e-01 -2.15585665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902640000000005 meters Centerline goodness [0,1] 0.9998062974840195 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.84, Z:-2.16 [[ 9.88599218e-01 1.47757254e-01 2.89720727e-02 4.94898807e+01] [-1.47691161e-01 9.89023653e-01 -4.41989080e-03 -3.84061860e+00] [-2.93071361e-02 9.05815522e-05 9.99570450e-01 -2.15858024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.84, Z:-2.16 [[ 9.88404639e-01 1.49025013e-01 2.91172623e-02 4.95171419e+01] [-1.48958859e-01 9.88833425e-01 -4.44020288e-03 -3.84353222e+00] [-2.94538235e-02 5.14429637e-05 9.99566141e-01 -2.16060121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:-3.85, Z:-2.16 [[ 9.87997172e-01 1.51854056e-01 2.83184344e-02 4.95460359e+01] [-1.51792678e-01 9.88402926e-01 -4.31719328e-03 -3.84638489e+00] [-2.86456067e-02 -3.31562525e-05 9.99589630e-01 -2.16219506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.57, Y:-3.85, Z:-2.17 [[ 9.87786692e-01 1.53207986e-01 2.83683757e-02 4.95725716e+01] [-1.53147025e-01 9.88193962e-01 -4.32220201e-03 -3.84970517e+00] [-2.86956534e-02 -7.51187063e-05 9.99588192e-01 -2.16532928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.60, Y:-3.85, Z:-2.17 [[ 9.87537277e-01 1.54869636e-01 2.80271776e-02 4.96013062e+01] [-1.54810913e-01 9.87934907e-01 -4.26627616e-03 -3.85330274e+00] [-2.83497437e-02 -1.25806209e-04 9.99598057e-01 -2.16548814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:-3.85, Z:-2.17 [[ 9.87287900e-01 1.56555717e-01 2.74392147e-02 4.96289079e+01] [-1.56500117e-01 9.87669114e-01 -4.17557778e-03 -3.85357661e+00] [-2.77545754e-02 -1.71742885e-04 9.99614753e-01 -2.17008056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082640000000005 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:49.66, Y:-3.85, Z:-2.17 [[ 9.86738399e-01 1.60050520e-01 2.70400241e-02 4.96586361e+01] [-1.59997887e-01 9.87108788e-01 -4.11300054e-03 -3.85221598e+00] [-2.73497333e-02 -2.67891170e-04 9.99625890e-01 -2.17041281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112640000000006 meters Centerline goodness [0,1] 0.9998717455431576 Centerline is valid? [True, True] Translation: X:49.69, Y:-3.85, Z:-2.17 [[ 9.86454340e-01 1.61807463e-01 2.69477261e-02 4.96872539e+01] [-1.61755879e-01 9.86822296e-01 -4.09767575e-03 -3.85464784e+00] [-2.72556515e-02 -3.16783115e-04 9.99628446e-01 -2.17089139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.72, Y:-3.85, Z:-2.17 [[ 9.86117903e-01 1.63746431e-01 2.75424602e-02 4.97150863e+01] [-1.63693336e-01 9.86502388e-01 -4.18684133e-03 -3.85470546e+00] [-2.78562831e-02 -3.79797990e-04 9.99611866e-01 -2.17285267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17264 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:49.74, Y:-3.85, Z:-2.17 [[ 9.85507426e-01 1.67453501e-01 2.71005072e-02 4.97448903e+01] [-1.67403546e-01 9.85879859e-01 -4.11787142e-03 -3.85301020e+00] [-2.74073962e-02 -4.78528123e-04 9.99624232e-01 -2.17386401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.85, Z:-2.18 [[ 9.85238794e-01 1.69042975e-01 2.69998490e-02 4.97735561e+01] [-1.68994023e-01 9.85608543e-01 -4.10122564e-03 -3.85350386e+00] [-2.73045653e-02 -5.22126518e-04 9.99627024e-01 -2.17588221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23264 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:49.80, Y:-3.85, Z:-2.18 [[ 9.85012487e-01 1.70372470e-01 2.69002329e-02 4.98020660e+01] [-1.70324407e-01 9.85379577e-01 -4.08491331e-03 -3.85198667e+00] [-2.72028969e-02 -5.58075590e-04 9.99629777e-01 -2.17942343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262640000000005 meters Centerline goodness [0,1] 0.9999786871270248 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.85, Z:-2.18 [[ 9.84786090e-01 1.71669412e-01 2.69438402e-02 4.98314850e+01] [-1.71621687e-01 9.85154434e-01 -4.09116481e-03 -3.85211949e+00] [-2.72461715e-02 -5.95225114e-04 9.99628577e-01 -2.18042605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292640000000006 meters Centerline goodness [0,1] 0.9999575118966689 Centerline is valid? [True, True] Translation: X:49.86, Y:-3.85, Z:-2.18 [[ 9.84840914e-01 1.71422204e-01 2.65104010e-02 4.98596459e+01] [-1.71376023e-01 9.85197487e-01 -4.02126210e-03 -3.85370124e+00] [-2.68073141e-02 -5.82943659e-04 9.99640449e-01 -2.18245836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264000000001 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.86, Z:-2.18 [[ 9.85012412e-01 1.70453458e-01 2.63849579e-02 4.98879667e+01] [-1.70407508e-01 9.85365570e-01 -3.99692090e-03 -3.85830830e+00] [-2.66801180e-02 -5.59178222e-04 9.99643866e-01 -2.18349035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.92, Y:-3.87, Z:-2.18 [[ 9.85546465e-01 1.67042153e-01 2.81972569e-02 4.99163897e+01] [-1.66988472e-01 9.85949625e-01 -4.26458750e-03 -3.86857784e+00] [-2.85134408e-02 -5.05667719e-04 9.99593281e-01 -2.18145117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.94, Y:-3.87, Z:-2.18 [[ 9.85558928e-01 1.66968597e-01 2.81972815e-02 4.99435671e+01] [-1.66914891e-01 9.85962085e-01 -4.26442545e-03 -3.87255612e+00] [-2.85134756e-02 -5.03703578e-04 9.99593281e-01 -2.18253832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.97, Y:-3.88, Z:-2.18 [[ 9.85962209e-01 1.64502195e-01 2.85928293e-02 4.99711377e+01] [-1.64446003e-01 9.86376619e-01 -4.32188290e-03 -3.87736522e+00] [-2.89142575e-02 -4.40763260e-04 9.99581798e-01 -2.18476284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442640000000004 meters Centerline goodness [0,1] 0.9999140930372407 Centerline is valid? [True, True] Translation: X:50.00, Y:-3.89, Z:-2.18 [[ 9.86417859e-01 1.61766423e-01 2.84856524e-02 4.99992385e+01] [-1.61709566e-01 9.86829009e-01 -4.30374712e-03 -3.88602929e+00] [-2.88066699e-02 -3.61109466e-04 9.99584937e-01 -2.18422166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.03, Y:-3.89, Z:-2.19 [[ 9.87245080e-01 1.56576388e-01 2.88268307e-02 5.00262712e+01] [-1.56515979e-01 9.87665829e-01 -4.35419068e-03 -3.89403980e+00] [-2.91530390e-02 -2.13206298e-04 9.99574937e-01 -2.18631898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.90, Z:-2.19 [[ 9.87671683e-01 1.53873545e-01 2.87676789e-02 5.00530903e+01] [-1.53812316e-01 9.88090539e-01 -4.34255005e-03 -3.90230882e+00] [-2.90932749e-02 -1.35809599e-04 9.99576692e-01 -2.18843203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.08, Y:-3.91, Z:-2.19 [[ 9.88057038e-01 1.51304000e-01 2.91614264e-02 5.00807932e+01] [-1.51240019e-01 9.88487276e-01 -4.40011857e-03 -3.91136548e+00] [-2.94914545e-02 -6.28065590e-05 9.99565030e-01 -2.18783539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.92, Z:-2.19 [[ 9.88411877e-01 1.48903041e-01 2.94931365e-02 5.01081346e+01] [-1.48836568e-01 9.88851801e-01 -4.44879404e-03 -3.91818984e+00] [-2.98267801e-02 7.58366294e-06 9.99555083e-01 -2.18898669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59264 meters Centerline goodness [0,1] 0.9999147066976566 Centerline is valid? [True, True] Translation: X:50.14, Y:-3.93, Z:-2.19 [[ 9.89062347e-01 1.44594599e-01 2.91217523e-02 5.01360030e+01] [-1.44527978e-01 9.89490972e-01 -4.39086927e-03 -3.92727707e+00] [-2.94506070e-02 1.33935486e-04 9.99566228e-01 -2.18978533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.16, Y:-3.94, Z:-2.19 [[ 9.89306036e-01 1.42837075e-01 2.95150415e-02 5.01626739e+01] [-1.42767899e-01 9.89746197e-01 -4.44883645e-03 -3.93504581e+00] [-2.98478589e-02 1.87460283e-04 9.99554436e-01 -2.19122945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.19, Y:-3.94, Z:-2.19 [[ 9.89501295e-01 1.41352730e-01 3.01096937e-02 5.01909489e+01] [-1.41280110e-01 9.89959267e-01 -4.53653258e-03 -3.94128296e+00] [-3.04486216e-02 2.35004031e-04 9.99536306e-01 -2.19052616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.22, Y:-3.95, Z:-2.19 [[ 9.89680335e-01 1.40015099e-01 3.04730349e-02 5.02179856e+01] [-1.39940122e-01 9.90149330e-01 -4.58992843e-03 -3.94701306e+00] [-3.08155144e-02 2.78161671e-04 9.99525051e-01 -2.19087564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.25, Y:-3.95, Z:-2.19 [[ 9.89697434e-01 1.39880540e-01 3.05355961e-02 5.02467122e+01] [-1.39805260e-01 9.90168347e-01 -4.59712339e-03 -3.95201878e+00] [-3.08784288e-02 2.80724268e-04 9.99523108e-01 -2.19202689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.28, Y:-3.96, Z:-2.19 [[ 9.89699016e-01 1.39886492e-01 3.04569856e-02 5.02750700e+01] [-1.39811647e-01 9.90167507e-01 -4.58381030e-03 -3.95783623e+00] [-3.07987307e-02 2.78351215e-04 9.99525568e-01 -2.19345001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77264 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.96, Z:-2.19 [[ 9.89655967e-01 1.40242118e-01 3.02194534e-02 5.03037139e+01] [-1.40168646e-01 9.90117205e-01 -4.54663815e-03 -3.96171753e+00] [-3.05584309e-02 2.63787722e-04 9.99532947e-01 -2.19375178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-3.96, Z:-2.20 [[ 9.89387116e-01 1.42303304e-01 2.93752352e-02 5.03314976e+01] [-1.42234826e-01 9.89823081e-01 -4.41836267e-03 -3.96362150e+00] [-2.97050335e-02 1.93289629e-04 9.99558689e-01 -2.19776791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.36, Y:-3.97, Z:-2.20 [[ 9.89236006e-01 1.43452573e-01 2.88701286e-02 5.03594651e+01] [-1.43386973e-01 9.89657181e-01 -4.34054999e-03 -3.96549773e+00] [-2.91941932e-02 1.54227976e-04 9.99573747e-01 -2.19944023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.39, Y:-3.97, Z:-2.20 [[ 9.89056675e-01 1.44667412e-01 2.89522658e-02 5.03882799e+01] [-1.44602028e-01 9.89480331e-01 -4.35053307e-03 -3.96853759e+00] [-2.92770779e-02 1.16367431e-04 9.99571328e-01 -2.20026753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:-3.97, Z:-2.20 [[ 9.88879767e-01 1.45868972e-01 2.89663602e-02 5.04174751e+01] [-1.45804085e-01 9.89303915e-01 -4.35111813e-03 -3.97151401e+00] [-2.92912267e-02 7.93190410e-05 9.99570917e-01 -2.20097770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.45, Y:-3.97, Z:-2.20 [[ 9.88364763e-01 1.49430683e-01 2.83825074e-02 5.04454571e+01] [-1.49369875e-01 9.88772203e-01 -4.26265408e-03 -3.97048988e+00] [-2.87008057e-02 -2.64345052e-05 9.99588047e-01 -2.20346835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.97, Z:-2.20 [[ 9.88100376e-01 1.51168414e-01 2.83858700e-02 5.04743186e+01] [-1.51108362e-01 9.88508019e-01 -4.26127334e-03 -3.97245894e+00] [-2.87038301e-02 -7.87765374e-05 9.99587957e-01 -2.20324232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98264 meters Centerline goodness [0,1] 0.9998715780912224 Centerline is valid? [True, True] Translation: X:50.50, Y:-3.97, Z:-2.20 [[ 9.87703071e-01 1.53750564e-01 2.83444539e-02 5.05034825e+01] [-1.53691790e-01 9.88109680e-01 -4.25366488e-03 -3.97433568e+00] [-2.86614327e-02 -1.54952009e-04 9.99589165e-01 -2.20427722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.53, Y:-3.98, Z:-2.21 [[ 9.87549725e-01 1.54711144e-01 2.84605469e-02 5.05325334e+01] [-1.54652327e-01 9.87959730e-01 -4.26967495e-03 -3.97709262e+00] [-2.87784405e-02 -1.84973495e-04 9.99585798e-01 -2.20522971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.56, Y:-3.98, Z:-2.21 [[ 9.87487244e-01 1.55118074e-01 2.84134653e-02 5.05606107e+01] [-1.55059657e-01 9.87895918e-01 -4.26132262e-03 -3.97844648e+00] [-2.87305545e-02 -1.97780450e-04 9.99587173e-01 -2.20718492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.59, Y:-3.98, Z:-2.21 [[ 9.87502457e-01 1.54739182e-01 2.99112419e-02 5.05890923e+01] [-1.54674332e-01 9.87955336e-01 -4.48384388e-03 -3.98225953e+00] [-3.02447973e-02 -1.98694504e-04 9.99542502e-01 -2.20631083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.62, Y:-3.99, Z:-2.21 [[ 9.87590606e-01 1.54105282e-01 3.02713911e-02 5.06169553e+01] [-1.54038605e-01 9.88054416e-01 -4.53646303e-03 -3.98674315e+00] [-3.06088746e-02 -1.82794578e-04 9.99531422e-01 -2.20716920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.64, Y:-3.99, Z:-2.21 [[ 9.87742624e-01 1.53174843e-01 3.00329111e-02 5.06448435e+01] [-1.53108839e-01 9.88199091e-01 -4.49886968e-03 -3.99241226e+00] [-3.03676091e-02 -1.54578825e-04 9.99538786e-01 -2.20631706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.67, Y:-4.00, Z:-2.21 [[ 9.88068473e-01 1.51162380e-01 2.95064143e-02 5.06713996e+01] [-1.51097806e-01 9.88508941e-01 -4.41891532e-03 -3.99829849e+00] [-2.98353282e-02 -9.21635508e-05 9.99554823e-01 -2.21061224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.70, Y:-4.00, Z:-2.21 [[ 9.88262071e-01 1.50112849e-01 2.83586279e-02 5.06992181e+01] [-1.50052847e-01 9.88668867e-01 -4.24429051e-03 -4.00445366e+00] [-2.86744151e-02 -6.08215352e-05 9.99588803e-01 -2.21242135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.73, Y:-4.01, Z:-2.22 [[ 9.88394950e-01 1.49323662e-01 2.78902574e-02 5.07266271e+01] [-1.49265346e-01 9.88788371e-01 -4.17298326e-03 -4.00896081e+00] [-2.82006873e-02 -3.84933452e-05 9.99602281e-01 -2.21595495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.76, Y:-4.01, Z:-2.21 [[ 9.88563765e-01 1.48111977e-01 2.83641512e-02 5.07556380e+01] [-1.48051219e-01 9.88970597e-01 -4.24196375e-03 -4.01214362e+00] [-2.86795972e-02 -5.89552718e-06 9.99588656e-01 -2.21450666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.78, Y:-4.02, Z:-2.21 [[ 9.88602811e-01 1.47728370e-01 2.89967219e-02 5.07841062e+01] [-1.47664749e-01 9.89027972e-01 -4.33511803e-03 -4.01557584e+00] [-2.93189890e-02 3.91620682e-06 9.99570106e-01 -2.21409269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.02, Z:-2.21 [[ 9.88686435e-01 1.47133626e-01 2.91689646e-02 5.08105646e+01] [-1.47069020e-01 9.89116624e-01 -4.35978947e-03 -4.01932610e+00] [-2.94929794e-02 2.06136792e-05 9.99564987e-01 -2.21487008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:-4.02, Z:-2.22 [[ 9.88786151e-01 1.46487758e-01 2.90393565e-02 5.08373579e+01] [-1.46423520e-01 9.89212482e-01 -4.33792447e-03 -4.02383528e+00] [-2.93615468e-02 3.72348519e-05 9.99568856e-01 -2.21626831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.87, Y:-4.03, Z:-2.21 [[ 9.89083483e-01 1.44500011e-01 2.88723009e-02 5.08656074e+01] [-1.44435742e-01 9.89504794e-01 -4.31025012e-03 -4.02831969e+00] [-2.91921114e-02 9.30050113e-05 9.99573815e-01 -2.21497901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.89, Y:-4.03, Z:-2.22 [[ 9.89239086e-01 1.43401595e-01 2.90174759e-02 5.08925777e+01] [-1.43336245e-01 9.89664573e-01 -4.33057864e-03 -4.03424313e+00] [-2.93385798e-02 1.24721624e-04 9.99569523e-01 -2.21770627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:-4.04, Z:-2.22 [[ 9.89419769e-01 1.42119471e-01 2.91646607e-02 5.09203615e+01] [-1.42052957e-01 9.89849499e-01 -4.35058487e-03 -4.04044570e+00] [-2.94869276e-02 1.61628388e-04 9.99565153e-01 -2.21789865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters Centerline goodness [0,1] 0.9998715643462626 Centerline is valid? [True, True] Translation: X:50.95, Y:-4.05, Z:-2.22 [[ 9.89841208e-01 1.38891676e-01 3.03889183e-02 5.09479561e+01] [-1.38817985e-01 9.90307544e-01 -4.53165362e-03 -4.04915646e+00] [-3.07237840e-02 2.67089079e-04 9.99527877e-01 -2.21572585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.98, Y:-4.06, Z:-2.22 [[ 9.90049098e-01 1.37195254e-01 3.13088893e-02 5.09753610e+01] [-1.37116234e-01 9.90543969e-01 -4.66729409e-03 -4.05629442e+00] [-3.16531621e-02 3.27893311e-04 9.99498859e-01 -2.21549959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.06, Z:-2.22 [[ 9.90291741e-01 1.35345438e-01 3.16840631e-02 5.10036808e+01] [-1.35263634e-01 9.90798396e-01 -4.72111462e-03 -4.06265478e+00] [-3.20315002e-02 3.89579313e-04 9.99486784e-01 -2.21518230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.08, Z:-2.22 [[ 9.90746684e-01 1.32277401e-01 3.03923739e-02 5.10308030e+01] [-1.32200737e-01 9.91212626e-01 -4.52708601e-03 -4.07515589e+00] [-3.07241359e-02 4.67301234e-04 9.99527793e-01 -2.21838028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.08, Z:-2.22 [[ 9.90915603e-01 1.31139138e-01 2.98126537e-02 5.10571262e+01] [-1.31064875e-01 9.91363851e-01 -4.44009206e-03 -4.08357868e+00] [-3.01374570e-02 4.92364778e-04 9.99545642e-01 -2.22116052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612640000000006 meters Centerline goodness [0,1] 0.999804882278975 Centerline is valid? [True, True] Translation: X:51.08, Y:-4.09, Z:-2.22 [[ 9.91068867e-01 1.30030580e-01 2.95727893e-02 5.10847784e+01] [-1.29957082e-01 9.91509848e-01 -4.40211909e-03 -4.09052971e+00] [-2.98941219e-02 5.19609781e-04 9.99552936e-01 -2.22193607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.11, Y:-4.10, Z:-2.22 [[ 9.91089464e-01 1.29890046e-01 2.95000061e-02 5.11130112e+01] [-1.29816904e-01 9.91528267e-01 -4.38937594e-03 -4.09657222e+00] [-2.98202262e-02 5.20664785e-04 9.99555143e-01 -2.22327290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:-4.11, Z:-2.22 [[ 9.90700497e-01 1.31930661e-01 3.32689929e-02 5.11358189e+01] [-1.32016317e-01 9.91247470e-01 3.81658946e-04 -4.10714662e+00] [-3.29274525e-02 -4.77015963e-03 9.99446361e-01 -2.22431877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-4.11, Z:-2.22 [[ 9.91037247e-01 1.30323879e-01 2.93404413e-02 5.11708822e+01] [-1.30104332e-01 9.91456883e-01 -9.27963624e-03 -4.10900755e+00] [-3.02991407e-02 5.37914666e-03 9.99526401e-01 -2.22446005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-4.12, Z:-2.23 [[ 9.91017243e-01 1.30417955e-01 2.95969890e-02 5.11986545e+01] [-1.30344538e-01 9.91458975e-01 -4.40476163e-03 -4.11795647e+00] [-2.99186604e-02 5.07388872e-04 9.99552208e-01 -2.22664710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762640000000005 meters Centerline goodness [0,1] 0.9999571321401779 Centerline is valid? [True, True] Translation: X:51.23, Y:-4.13, Z:-2.23 [[ 9.90968528e-01 1.31136384e-01 2.80111538e-02 5.12252067e+01] [-1.31070944e-01 9.91364231e-01 -4.16763573e-03 -4.12650042e+00] [-2.83157847e-02 4.58547484e-04 9.99598923e-01 -2.23017711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792640000000006 meters Centerline goodness [0,1] 0.9999350550949277 Centerline is valid? [True, True] Translation: X:51.25, Y:-4.13, Z:-2.23 [[ 9.90917285e-01 1.31636498e-01 2.74729994e-02 5.12539057e+01] [-1.31573788e-01 9.91297959e-01 -4.08586493e-03 -4.13072950e+00] [-2.77717772e-02 4.34027577e-04 9.99614196e-01 -2.22978934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.28, Y:-4.14, Z:-2.23 [[ 9.90662506e-01 1.33682094e-01 2.67749233e-02 5.12809003e+01] [-1.33623309e-01 9.91024199e-01 -3.98090158e-03 -4.13768009e+00] [-2.70667722e-02 3.65976090e-04 9.99633561e-01 -2.23267016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85264 meters Centerline goodness [0,1] 0.9997645346348146 Centerline is valid? [True, True] Translation: X:51.31, Y:-4.14, Z:-2.24 [[ 9.90524502e-01 1.34696996e-01 2.67942365e-02 5.13082657e+01] [-1.34638542e-01 9.90886778e-01 -3.98208386e-03 -4.14470269e+00] [-2.70864294e-02 3.36814678e-04 9.99633039e-01 -2.23518765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88264 meters Centerline goodness [0,1] 0.999935747788653 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.15, Z:-2.24 [[ 9.90329105e-01 1.36208737e-01 2.63712802e-02 5.13366305e+01] [-1.36152698e-01 9.90680118e-01 -3.91744792e-03 -4.14936110e+00] [-2.66590936e-02 2.89041738e-04 9.99644541e-01 -2.23649715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.15, Z:-2.24 [[ 9.90084312e-01 1.38086338e-01 2.57918448e-02 5.13654806e+01] [-1.38033403e-01 9.90420168e-01 -3.83018783e-03 -4.15346692e+00] [-2.60736599e-02 2.32072782e-04 9.99659997e-01 -2.23829614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.39, Y:-4.16, Z:-2.24 [[ 9.89560538e-01 1.41868323e-01 2.53637824e-02 5.13938414e+01] [-1.41818403e-01 9.89885530e-01 -3.76542734e-03 -4.15626279e+00] [-2.56414360e-02 1.29067202e-04 9.99671196e-01 -2.23912585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:-4.16, Z:-2.24 [[ 9.89278574e-01 1.43969310e-01 2.45100226e-02 5.14213740e+01] [-1.43923367e-01 9.89582151e-01 -3.63753912e-03 -4.15961674e+00] [-2.47783749e-02 7.09745217e-05 9.99692966e-01 -2.24221355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.45, Y:-4.16, Z:-2.25 [[ 9.88668405e-01 1.48243912e-01 2.36331636e-02 5.14505465e+01] [-1.48202445e-01 9.88950828e-01 -3.50630823e-03 -4.16163541e+00] [-2.38918256e-02 -3.59164570e-05 9.99714549e-01 -2.24523324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:-4.16, Z:-2.25 [[ 9.88296997e-01 1.50726847e-01 2.34619555e-02 5.14792445e+01] [-1.50686704e-01 9.88575444e-01 -3.47979350e-03 -4.16349339e+00] [-2.37184114e-02 -9.63352756e-05 9.99718674e-01 -2.24532668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.51, Y:-4.16, Z:-2.25 [[ 9.87929204e-01 1.53064182e-01 2.38168843e-02 5.15068496e+01] [-1.53023519e-01 9.88216237e-01 -3.53141504e-03 -4.16394118e+00] [-2.40767650e-02 -1.55755391e-04 9.99710101e-01 -2.24670617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.54, Y:-4.16, Z:-2.24 [[ 9.87284604e-01 1.57143461e-01 2.39800806e-02 5.15361906e+01] [-1.57103481e-01 9.87575752e-01 -3.55394951e-03 -4.16415108e+00] [-2.42406261e-02 -2.58594510e-04 9.99706119e-01 -2.24478093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.56, Y:-4.17, Z:-2.25 [[ 9.87029996e-01 1.58671333e-01 2.43966180e-02 5.15642831e+01] [-1.58630444e-01 9.87331412e-01 -3.61460558e-03 -4.16568366e+00] [-2.46610816e-02 -3.02322226e-04 9.99695824e-01 -2.24698085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152640000000005 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:51.59, Y:-4.17, Z:-2.25 [[ 9.86826136e-01 1.60020468e-01 2.38249217e-02 5.15932402e+01] [-1.59981907e-01 9.87113641e-01 -3.52826151e-03 -4.16835995e+00] [-2.40824993e-02 -3.29775729e-04 9.99709920e-01 -2.24848438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:-4.17, Z:-2.25 [[ 9.86643139e-01 1.61114390e-01 2.40306079e-02 5.16220462e+01] [-1.61075513e-01 9.86935673e-01 -3.55753395e-03 -4.17131508e+00] [-2.42898341e-02 -3.60726024e-04 9.99704893e-01 -2.24956090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.65, Y:-4.17, Z:-2.25 [[ 9.86442160e-01 1.62224931e-01 2.47979258e-02 5.16512364e+01] [-1.62183913e-01 9.86753723e-01 -3.66986793e-03 -4.17440466e+00] [-2.50647897e-02 -4.01712209e-04 9.99685748e-01 -2.24735685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-4.18, Z:-2.25 [[ 9.86450233e-01 1.62095897e-01 2.53151772e-02 5.16788585e+01] [-1.62053137e-01 9.86774926e-01 -3.74527502e-03 -4.17624203e+00] [-2.55874758e-02 -4.07876465e-04 9.99672504e-01 -2.24921592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-4.18, Z:-2.25 [[ 9.86461769e-01 1.62025644e-01 2.53153862e-02 5.17060538e+01] [-1.61982897e-01 9.86786464e-01 -3.74386138e-03 -4.18012514e+00] [-2.55874820e-02 -4.07483481e-04 9.99672504e-01 -2.25030352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:-4.19, Z:-2.25 [[ 9.86538737e-01 1.61692402e-01 2.44312852e-02 5.17346707e+01] [-1.61652537e-01 9.86841131e-01 -3.61108942e-03 -4.18501426e+00] [-2.46936828e-02 -3.86899627e-04 9.99694990e-01 -2.25169463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.19, Z:-2.25 [[ 9.86729736e-01 1.60536651e-01 2.43395034e-02 5.17627877e+01] [-1.60496762e-01 9.87029815e-01 -3.59634991e-03 -4.19003686e+00] [-2.46011615e-02 -3.57786095e-04 9.99697282e-01 -2.25191283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362640000000006 meters Centerline goodness [0,1] 0.999957015130674 Centerline is valid? [True, True] Translation: X:51.79, Y:-4.19, Z:-2.25 [[ 9.86890916e-01 1.59570371e-01 2.41581557e-02 5.17911650e+01] [-1.59530815e-01 9.87186500e-01 -3.56834363e-03 -4.19407136e+00] [-2.44180071e-02 -3.32404343e-04 9.99701781e-01 -2.25299316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39264000000001 meters Centerline goodness [0,1] 0.9999788498551215 Centerline is valid? [True, True] Translation: X:51.82, Y:-4.20, Z:-2.26 [[ 9.87076471e-01 1.58390556e-01 2.43407451e-02 5.18184774e+01] [-1.58350066e-01 9.87376492e-01 -3.59426092e-03 -4.19753513e+00] [-2.46027765e-02 -3.06548225e-04 9.99697259e-01 -2.25650318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-4.21, Z:-2.26 [[ 9.87649066e-01 1.54991041e-01 2.29586487e-02 5.18464016e+01] [-1.54954135e-01 9.87915853e-01 -3.38866787e-03 -4.20778923e+00] [-2.32064262e-02 -2.10722901e-04 9.99730672e-01 -2.25737663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-4.21, Z:-2.26 [[ 9.87983525e-01 1.52737110e-01 2.36628188e-02 5.18739233e+01] [-1.52697277e-01 9.88266841e-01 -3.49186614e-03 -4.21327806e+00] [-2.39185168e-02 -1.63341779e-04 9.99713898e-01 -2.25897968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:-4.22, Z:-2.26 [[ 9.88352976e-01 1.50300442e-01 2.38363580e-02 5.19022263e+01] [-1.50259374e-01 9.88640362e-01 -3.51496237e-03 -4.22009016e+00] [-2.40938860e-02 -1.07612702e-04 9.99709694e-01 -2.25782147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.93, Y:-4.23, Z:-2.26 [[ 9.89201206e-01 1.44586605e-01 2.39935062e-02 5.19287028e+01] [-1.44543337e-01 9.89492149e-01 -3.53711917e-03 -4.23094571e+00] [-2.42528060e-02 3.08211065e-05 9.99705857e-01 -2.25859867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.96, Y:-4.24, Z:-2.26 [[ 9.89632952e-01 1.41564298e-01 2.42109361e-02 5.19567842e+01] [-1.41519379e-01 9.89929057e-01 -3.56746496e-03 -4.23957792e+00] [-2.44721348e-02 1.04164237e-04 9.99700507e-01 -2.25909566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.99, Y:-4.25, Z:-2.26 [[ 9.90047970e-01 1.38671687e-01 2.39829062e-02 5.19850454e+01] [-1.38626788e-01 9.90338393e-01 -3.53273318e-03 -4.24835574e+00] [-2.42410829e-02 1.72902056e-04 9.99706127e-01 -2.25978281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.26, Z:-2.26 [[ 9.90774882e-01 1.33463727e-01 2.35067606e-02 5.20129235e+01] [-1.33419162e-01 9.91053655e-01 -3.46109921e-03 -4.26332970e+00] [-2.37583922e-02 2.92917858e-04 9.99717687e-01 -2.26118315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.27, Z:-2.26 [[ 9.90982310e-01 1.31878256e-01 2.37104591e-02 5.20401461e+01] [-1.31832475e-01 9.91265865e-01 -3.49056227e-03 -4.27225771e+00] [-2.39636980e-02 3.33276956e-04 9.99712774e-01 -2.26305821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66264 meters Centerline goodness [0,1] 0.9999572923339739 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.28, Z:-2.26 [[ 9.91107142e-01 1.30942493e-01 2.36790306e-02 5.20691371e+01] [-1.30896584e-01 9.91389902e-01 -3.48517372e-03 -4.27816924e+00] [-2.39315091e-02 3.54676339e-04 9.99713538e-01 -2.26273528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.29, Z:-2.27 [[ 9.91226178e-01 1.29458261e-01 2.66687752e-02 5.21004715e+01] [-1.29602564e-01 9.91558938e-01 3.74811184e-03 -4.28881281e+00] [-2.59584384e-02 -7.17156820e-03 9.99637298e-01 -2.26602327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722640000000006 meters Centerline goodness [0,1] 0.9998266484647554 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.29, Z:-2.26 [[ 9.91052558e-01 1.31654419e-01 2.19531580e-02 5.21300013e+01] [-1.31443291e-01 9.91264815e-01 -1.08040765e-02 -4.28527268e+00] [-2.31837975e-02 7.82181230e-03 9.99700621e-01 -2.26404449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.16, Y:-4.29, Z:-2.27 [[ 9.90862046e-01 1.32788731e-01 2.36549745e-02 5.21577420e+01] [-1.32743477e-01 9.91144317e-01 -3.48013677e-03 -4.29405156e+00] [-2.39076165e-02 3.08291868e-04 9.99714125e-01 -2.26564465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.19, Y:-4.30, Z:-2.27 [[ 9.90635799e-01 1.34485659e-01 2.35440266e-02 5.21863716e+01] [-1.34441324e-01 9.90915505e-01 -3.46312874e-03 -4.29671221e+00] [-2.37958822e-02 2.65409193e-04 9.99716803e-01 -2.26562436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.21, Y:-4.30, Z:-2.27 [[ 9.89964116e-01 1.39280982e-01 2.39135207e-02 5.22148007e+01] [-1.39236676e-01 9.90252890e-01 -3.51606214e-03 -4.29701267e+00] [-2.41701536e-02 1.51136201e-04 9.99707848e-01 -2.26822916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:-4.30, Z:-2.27 [[ 9.89532373e-01 1.42243083e-01 2.43431247e-02 5.22441982e+01] [-1.42198090e-01 9.89831753e-01 -3.57827872e-03 -4.29861837e+00] [-2.46045832e-02 7.92767944e-05 9.99697258e-01 -2.26868991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.27, Y:-4.30, Z:-2.27 [[ 9.88572872e-01 1.48775341e-01 2.42811598e-02 5.22737662e+01] [-1.48732562e-01 9.88871018e-01 -3.56850051e-03 -4.29531926e+00] [-2.45418401e-02 -8.36763058e-05 9.99698800e-01 -2.26816090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:-4.29, Z:-2.27 [[ 9.87992633e-01 1.52597684e-01 2.41765250e-02 5.23022047e+01] [-1.52556441e-01 9.88288376e-01 -3.55211402e-03 -4.29188348e+00] [-2.44354230e-02 -1.78822116e-04 9.99701394e-01 -2.27221450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932640000000006 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:52.33, Y:-4.29, Z:-2.27 [[ 9.87426308e-01 1.56286461e-01 2.37450639e-02 5.23314215e+01] [-1.56247782e-01 9.87711735e-01 -3.48711364e-03 -4.29135759e+00] [-2.39982669e-02 -2.66845804e-04 9.99711965e-01 -2.27149777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:-4.29, Z:-2.28 [[ 9.86908647e-01 1.59567671e-01 2.34409919e-02 5.23599957e+01] [-1.59530923e-01 9.87186933e-01 -3.44151200e-03 -4.28915119e+00] [-2.36897950e-02 -3.43105124e-04 9.99719299e-01 -2.27532486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99264 meters Centerline goodness [0,1] 0.9999787378805919 Centerline is valid? [True, True] Translation: X:52.39, Y:-4.29, Z:-2.28 [[ 9.85995452e-01 1.65160465e-01 2.31298244e-02 5.23901548e+01] [-1.65126270e-01 9.86266595e-01 -3.39382422e-03 -4.28670156e+00] [-2.33726988e-02 -4.73046382e-04 9.99726709e-01 -2.27627567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.42, Y:-4.29, Z:-2.28 [[ 9.85683680e-01 1.67060307e-01 2.27713988e-02 5.24179461e+01] [-1.67027663e-01 9.85946547e-01 -3.34150228e-03 -4.28568097e+00] [-2.30096144e-02 -5.09789275e-04 9.99735114e-01 -2.27895633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.45, Y:-4.29, Z:-2.28 [[ 9.85448449e-01 1.68487662e-01 2.24335071e-02 5.24465834e+01] [-1.68456397e-01 9.85703616e-01 -3.28986661e-03 -4.28779717e+00] [-2.26670911e-02 -5.37073824e-04 9.99742924e-01 -2.28002878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082640000000005 meters Centerline goodness [0,1] 0.9999366674407313 Centerline is valid? [True, True] Translation: X:52.47, Y:-4.28, Z:-2.28 [[ 9.85357189e-01 1.68934168e-01 2.30750448e-02 5.24744821e+01] [-1.68901206e-01 9.85627176e-01 -3.38413982e-03 -4.28404859e+00] [-2.33150881e-02 -5.62816391e-04 9.99728008e-01 -2.28392175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112640000000006 meters Centerline goodness [0,1] 0.9999152847491369 Centerline is valid? [True, True] Translation: X:52.50, Y:-4.29, Z:-2.28 [[ 9.85466326e-01 1.68323933e-01 2.28730111e-02 5.25029046e+01] [-1.68291485e-01 9.85731583e-01 -3.35001776e-03 -4.29193252e+00] [-2.31105376e-02 -5.48003315e-04 9.99732766e-01 -2.28301312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264000000001 meters Centerline goodness [0,1] 0.9999785899329865 Centerline is valid? [True, True] Translation: X:52.53, Y:-4.30, Z:-2.29 [[ 9.85806753e-01 1.66316829e-01 2.28857789e-02 5.25308299e+01] [-1.66283830e-01 9.86072239e-01 -3.35076912e-03 -4.29671464e+00] [-2.31243205e-02 -5.02324153e-04 9.99732471e-01 -2.28545378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17264 meters Centerline goodness [0,1] 0.9999569707401033 Centerline is valid? [True, True] Translation: X:52.56, Y:-4.30, Z:-2.29 [[ 9.86034023e-01 1.64984143e-01 2.27406875e-02 5.25577879e+01] [-1.64951228e-01 9.86296108e-01 -3.32863120e-03 -4.30212418e+00] [-2.29782230e-02 -4.68960708e-04 9.99735856e-01 -2.28768981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20264 meters Centerline goodness [0,1] 0.9999360545667697 Centerline is valid? [True, True] Translation: X:52.59, Y:-4.31, Z:-2.29 [[ 9.86259103e-01 1.63658387e-01 2.25591455e-02 5.25864014e+01] [-1.63625688e-01 9.86516975e-01 -3.30031646e-03 -4.30820328e+00] [-2.27951045e-02 -4.36288560e-04 9.99740063e-01 -2.28996766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23264 meters Centerline goodness [0,1] 0.9998075360335315 Centerline is valid? [True, True] Translation: X:52.62, Y:-4.31, Z:-2.29 [[ 9.86499549e-01 1.62271622e-01 2.20581305e-02 5.26150645e+01] [-1.62240025e-01 9.86746048e-01 -3.22646852e-03 -4.31383834e+00] [-2.22893374e-02 -3.95801904e-04 9.99751484e-01 -2.29030086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262640000000005 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:52.64, Y:-4.32, Z:-2.29 [[ 9.86654100e-01 1.61175424e-01 2.31553338e-02 5.26429530e+01] [-1.61140328e-01 9.86925696e-01 -3.38593878e-03 -4.31645055e+00] [-2.33983241e-02 -3.90507700e-04 9.99726145e-01 -2.29142850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.67, Y:-4.32, Z:-2.29 [[ 9.86733564e-01 1.60726561e-01 2.28876917e-02 5.26698181e+01] [-1.60692173e-01 9.86998901e-01 -3.34584403e-03 -4.31948596e+00] [-2.31278926e-02 -3.76416307e-04 9.99732444e-01 -2.29353376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:-4.32, Z:-2.29 [[ 9.86789960e-01 1.60408997e-01 2.26832148e-02 5.26975091e+01] [-1.60375183e-01 9.87050565e-01 -3.31392740e-03 -4.32479554e+00] [-2.29210637e-02 -3.67674440e-04 9.99737210e-01 -2.29318842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35264 meters Centerline goodness [0,1] 0.9999357587956915 Centerline is valid? [True, True] Translation: X:52.73, Y:-4.33, Z:-2.29 [[ 9.86879291e-01 1.59803293e-01 2.30688851e-02 5.27261428e+01] [-1.59768204e-01 9.87148812e-01 -3.36814864e-03 -4.32757140e+00] [-2.33106638e-02 -3.61718192e-04 9.99728204e-01 -2.29297688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.75, Y:-4.33, Z:-2.29 [[ 9.86937052e-01 1.59277892e-01 2.42034730e-02 5.27540613e+01] [-1.59239135e-01 9.87233720e-01 -3.53269671e-03 -4.32976624e+00] [-2.44571651e-02 -3.67590815e-04 9.99700811e-01 -2.29387657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.34, Z:-2.29 [[ 9.87224182e-01 1.57110214e-01 2.65479747e-02 5.27874178e+01] [-1.57168215e-01 9.87571842e-01 9.93933941e-05 -4.33831665e+00] [-2.62024166e-02 -4.27062135e-03 9.99647535e-01 -2.29281335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.81, Y:-4.33, Z:-2.30 [[ 9.87290137e-01 1.57004300e-01 2.46543216e-02 5.28112597e+01] [-1.56856866e-01 9.87590416e-01 -7.81628347e-03 -4.33452309e+00] [-2.55755618e-02 3.84973995e-03 9.99665479e-01 -2.29595239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472640000000006 meters Centerline goodness [0,1] 0.9999354769330036 Centerline is valid? [True, True] Translation: X:52.84, Y:-4.35, Z:-2.29 [[ 9.87504739e-01 1.55562048e-01 2.51960135e-02 5.28390682e+01] [-1.55519001e-01 9.87826079e-01 -3.67114295e-03 -4.34554042e+00] [-2.54603697e-02 -2.93187782e-04 9.99675789e-01 -2.29280837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:-4.35, Z:-2.30 [[ 9.87932457e-01 1.52872425e-01 2.48893994e-02 5.28660184e+01] [-1.52829592e-01 9.88245907e-01 -3.62541151e-03 -4.35088289e+00] [-2.51510725e-02 -2.22175055e-04 9.99683637e-01 -2.29754933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-4.36, Z:-2.30 [[ 9.88240246e-01 1.50916741e-01 2.46039268e-02 5.28945286e+01] [-1.50874321e-01 9.88546462e-01 -3.58209503e-03 -4.35767205e+00] [-2.48627229e-02 -1.72130294e-04 9.99690860e-01 -2.29977620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.92, Y:-4.37, Z:-2.30 [[ 9.88537676e-01 1.48965086e-01 2.45492610e-02 5.29227090e+01] [-1.48922281e-01 9.88842448e-01 -3.57299631e-03 -4.36541970e+00] [-2.48076031e-02 -1.23890485e-04 9.99692236e-01 -2.29957009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-4.37, Z:-2.30 [[ 9.88935120e-01 1.46248189e-01 2.48756089e-02 5.29510420e+01] [-1.46203397e-01 9.89247928e-01 -3.61977865e-03 -4.37404978e+00] [-2.51375306e-02 -5.71722891e-05 9.99684001e-01 -2.29995288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.98, Y:-4.38, Z:-2.30 [[ 9.89015185e-01 1.45726073e-01 2.47563083e-02 5.29791154e+01] [-1.45681613e-01 9.89324977e-01 -3.59973752e-03 -4.37899493e+00] [-2.50166097e-02 -4.63438678e-05 9.99687035e-01 -2.30078941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:-4.38, Z:-2.30 [[ 9.89023880e-01 1.45670690e-01 2.47348989e-02 5.30065426e+01] [-1.45626316e-01 9.89333133e-01 -3.59556885e-03 -4.38279195e+00] [-2.49948240e-02 -4.59487547e-05 9.99687580e-01 -2.30224344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.04, Y:-4.39, Z:-2.30 [[ 9.88959043e-01 1.46060247e-01 2.50282941e-02 5.30353578e+01] [-1.46014983e-01 9.89275695e-01 -3.63647307e-03 -4.38660836e+00] [-2.52910272e-02 -5.81830084e-05 9.99680129e-01 -2.30262924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.39, Z:-2.31 [[ 9.88801632e-01 1.47134062e-01 2.49579828e-02 5.30631512e+01] [-1.47089421e-01 9.89116555e-01 -3.62518076e-03 -4.38861118e+00] [-2.52197416e-02 -8.64705886e-05 9.99681928e-01 -2.30694862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.09, Y:-4.39, Z:-2.31 [[ 9.88678421e-01 1.48037789e-01 2.44906756e-02 5.30923879e+01] [-1.47995124e-01 9.88981699e-01 -3.55559710e-03 -4.39084041e+00] [-2.47471927e-02 -1.09158445e-04 9.99693735e-01 -2.30835243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-4.39, Z:-2.31 [[ 9.88521179e-01 1.49033751e-01 2.47955639e-02 5.31200709e+01] [-1.48990348e-01 9.88832100e-01 -3.59910077e-03 -4.39381329e+00] [-2.50550371e-02 -1.36512379e-04 9.99686064e-01 -2.30601674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802640000000004 meters Centerline goodness [0,1] 0.9997429140690276 Centerline is valid? [True, True] Translation: X:53.15, Y:-4.40, Z:-2.31 [[ 9.88213779e-01 1.50880162e-01 2.58593176e-02 5.31467749e+01] [-1.50833637e-01 9.88552042e-01 -3.75160486e-03 -4.39508866e+00] [-2.61293240e-02 -1.93067320e-04 9.99658552e-01 -2.30831991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:-4.40, Z:-2.31 [[ 9.88116054e-01 1.51562613e-01 2.56015289e-02 5.31751304e+01] [-1.51517309e-01 9.88447636e-01 -3.71151675e-03 -4.40109727e+00] [-2.58682979e-02 -2.11665492e-04 9.99665337e-01 -2.30713144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.20, Y:-4.40, Z:-2.31 [[ 9.87869292e-01 1.53155600e-01 2.56441982e-02 5.32030351e+01] [-1.53110710e-01 9.88202053e-01 -3.71659903e-03 -4.40202575e+00] [-2.59108672e-02 -2.54887352e-04 9.99664225e-01 -2.30913989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.23, Y:-4.41, Z:-2.31 [[ 9.87745858e-01 1.53972805e-01 2.55048247e-02 5.32314204e+01] [-1.53928718e-01 9.88075047e-01 -3.69468462e-03 -4.40519846e+00] [-2.57695618e-02 -2.76515540e-04 9.99667871e-01 -2.30907508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.26, Y:-4.41, Z:-2.31 [[ 9.87636401e-01 1.54742704e-01 2.50805695e-02 5.32596330e+01] [-1.54700338e-01 9.87954761e-01 -3.63252676e-03 -4.40559090e+00] [-2.53405751e-02 -2.92356935e-04 9.99678833e-01 -2.31318588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95264 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:53.29, Y:-4.40, Z:-2.32 [[ 9.87411076e-01 1.56263163e-01 2.45191906e-02 5.32873256e+01] [-1.56223188e-01 9.87715403e-01 -3.54931664e-03 -4.40367824e+00] [-2.47726097e-02 -3.25831566e-04 9.99693059e-01 -2.31845428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:-4.41, Z:-2.31 [[ 9.87332112e-01 1.56756139e-01 2.45522440e-02 5.33157050e+01] [-1.56716285e-01 9.87637280e-01 -3.55103941e-03 -4.41096460e+00] [-2.48053587e-02 -3.41681220e-04 9.99692241e-01 -2.31485318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.34, Y:-4.41, Z:-2.32 [[ 9.87328818e-01 1.56804815e-01 2.43732616e-02 5.33432740e+01] [-1.56765572e-01 9.87629553e-01 -3.52445149e-03 -4.40941708e+00] [-2.46244044e-02 -3.41095773e-04 9.99696715e-01 -2.32161572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.41, Z:-2.32 [[ 9.87396607e-01 1.56426859e-01 2.40536718e-02 5.33700579e+01] [-1.56388563e-01 9.87689491e-01 -3.47671385e-03 -4.41374014e+00] [-2.43014102e-02 -3.28823708e-04 9.99704623e-01 -2.32353934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.40, Y:-4.42, Z:-2.32 [[ 9.87716924e-01 1.54456085e-01 2.36346460e-02 5.33973639e+01] [-1.54418633e-01 9.87999615e-01 -3.41259341e-03 -4.42414209e+00] [-2.38781170e-02 -2.78953480e-04 9.99714838e-01 -2.32181890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters Centerline goodness [0,1] 0.9998277680897328 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.43, Z:-2.32 [[ 9.87906308e-01 1.53200034e-01 2.38930239e-02 5.34256608e+01] [-1.53161419e-01 9.88195166e-01 -3.44874662e-03 -4.43096685e+00] [-2.41393188e-02 -2.52450913e-04 9.99708572e-01 -2.32141781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13264 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:53.45, Y:-4.44, Z:-2.32 [[ 9.88252904e-01 1.50885691e-01 2.42838583e-02 5.34534035e+01] [-1.50845133e-01 9.88551197e-01 -3.50396794e-03 -4.43949362e+00] [-2.45345358e-02 -2.00295343e-04 9.99698963e-01 -2.32128633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:-4.44, Z:-2.32 [[ 9.88422958e-01 1.49813650e-01 2.39984848e-02 5.34810372e+01] [-1.49773747e-01 9.88714236e-01 -3.46182364e-03 -4.44482124e+00] [-2.42462720e-02 -1.72597032e-04 9.99706001e-01 -2.32315391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.51, Y:-4.45, Z:-2.32 [[ 9.88433662e-01 1.49742980e-01 2.39986659e-02 5.35082443e+01] [-1.49703087e-01 9.88724942e-01 -3.46056714e-03 -4.44860785e+00] [-2.42462752e-02 -1.72133333e-04 9.99706001e-01 -2.32424644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:-4.45, Z:-2.33 [[ 9.88556940e-01 1.48870495e-01 2.43464934e-02 5.35360070e+01] [-1.48829221e-01 9.88856689e-01 -3.50871809e-03 -4.45402232e+00] [-2.45975374e-02 -1.54902039e-04 9.99697423e-01 -2.32517016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.46, Z:-2.32 [[ 9.88696815e-01 1.47779301e-01 2.52959704e-02 5.35639869e+01] [-1.47734434e-01 9.89020354e-01 -3.64376401e-03 -4.46174114e+00] [-2.55567025e-02 -1.34508000e-04 9.99673365e-01 -2.32398695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:-4.47, Z:-2.33 [[ 9.88724419e-01 1.47594878e-01 2.52937704e-02 5.35916530e+01] [-1.47549986e-01 9.89047893e-01 -3.64238128e-03 -4.46585210e+00] [-2.55543472e-02 -1.30784144e-04 9.99673426e-01 -2.32538729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.47, Z:-2.33 [[ 9.88660943e-01 1.48064972e-01 2.50260779e-02 5.36206291e+01] [-1.48021217e-01 9.88977625e-01 -3.60216210e-03 -4.46871926e+00] [-2.52835851e-02 -1.43073528e-04 9.99680309e-01 -2.32621840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34264 meters Centerline goodness [0,1] 0.999914334054355 Centerline is valid? [True, True] Translation: X:53.65, Y:-4.47, Z:-2.33 [[ 9.88548276e-01 1.48851132e-01 2.48122057e-02 5.36490229e+01] [-1.48808399e-01 9.88859603e-01 -3.57023534e-03 -4.47168905e+00] [-2.50672215e-02 -1.62914603e-04 9.99685755e-01 -2.32521586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372640000000004 meters Centerline goodness [0,1] 0.9998280974687352 Centerline is valid? [True, True] Translation: X:53.68, Y:-4.47, Z:-2.33 [[ 9.88111150e-01 1.51659644e-01 2.52132263e-02 5.36768217e+01] [-1.51616454e-01 9.88432747e-01 -3.62708580e-03 -4.47113903e+00] [-2.54716611e-02 -2.38776039e-04 9.99675516e-01 -2.32742815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402640000000005 meters Centerline goodness [0,1] 0.9999143138683004 Centerline is valid? [True, True] Translation: X:53.71, Y:-4.47, Z:-2.33 [[ 9.87780395e-01 1.53744639e-01 2.55436172e-02 5.37058485e+01] [-1.53701071e-01 9.88110569e-01 -3.67207602e-03 -4.47211279e+00] [-2.58044801e-02 -2.98876615e-04 9.99666964e-01 -2.32801410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432640000000006 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.47, Z:-2.33 [[ 9.87471193e-01 1.55680401e-01 2.57731786e-02 5.37343260e+01] [-1.55636733e-01 9.87807414e-01 -3.70399021e-03 -4.47172244e+00] [-2.60355756e-02 -3.53669702e-04 9.99660954e-01 -2.32931750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264000000001 meters Centerline goodness [0,1] 0.9999149623708491 Centerline is valid? [True, True] Translation: X:53.76, Y:-4.47, Z:-2.33 [[ 9.86847206e-01 1.59547918e-01 2.60202626e-02 5.37644195e+01] [-1.59504805e-01 9.87190077e-01 -3.73747669e-03 -4.46933955e+00] [-2.62832517e-02 -4.62038501e-04 9.99654429e-01 -2.32827197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.79, Y:-4.47, Z:-2.33 [[ 9.86552476e-01 1.61345099e-01 2.61145788e-02 5.37931856e+01] [-1.61302311e-01 9.86897916e-01 -3.75070148e-03 -4.46898444e+00] [-2.63775807e-02 -5.12078074e-04 9.99651920e-01 -2.32941007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52264 meters Centerline goodness [0,1] 0.9999570594297492 Centerline is valid? [True, True] Translation: X:53.82, Y:-4.47, Z:-2.33 [[ 9.86037771e-01 1.64497557e-01 2.58856675e-02 5.38236941e+01] [-1.64456641e-01 9.86377312e-01 -3.71625999e-03 -4.46652691e+00] [-2.61443508e-02 -5.92697222e-04 9.99658002e-01 -2.33015129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552640000000004 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:53.85, Y:-4.46, Z:-2.33 [[ 9.85897532e-01 1.65387121e-01 2.55569341e-02 5.38516208e+01] [-1.65347540e-01 9.86228538e-01 -3.66895267e-03 -4.46468193e+00] [-2.58117752e-02 -6.08564805e-04 9.99666635e-01 -2.33372670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582640000000005 meters Centerline goodness [0,1] 0.999957378795951 Centerline is valid? [True, True] Translation: X:53.88, Y:-4.47, Z:-2.34 [[ 9.85860351e-01 1.65700788e-01 2.49522989e-02 5.38792199e+01] [-1.65663187e-01 9.86175889e-01 -3.58102991e-03 -4.46534539e+00] [-2.52007351e-02 -6.03281951e-04 9.99682229e-01 -2.33689619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612640000000006 meters Centerline goodness [0,1] 0.9998930321117601 Centerline is valid? [True, True] Translation: X:53.91, Y:-4.47, Z:-2.34 [[ 9.86031219e-01 1.64829402e-01 2.39521261e-02 5.39077377e+01] [-1.64794562e-01 9.86321932e-01 -3.43482956e-03 -4.46775482e+00] [-2.41906682e-02 -5.60330957e-04 9.99707206e-01 -2.34018217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264000000001 meters Centerline goodness [0,1] 0.999957003117274 Centerline is valid? [True, True] Translation: X:53.94, Y:-4.47, Z:-2.34 [[ 9.86260444e-01 1.63509227e-01 2.35599055e-02 5.39365068e+01] [-1.63475168e-01 9.86541668e-01 -3.37749481e-03 -4.47285162e+00] [-2.37950801e-02 -5.20369993e-04 9.99716722e-01 -2.34121129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67264 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.48, Z:-2.34 [[ 9.86518454e-01 1.61962583e-01 2.34405964e-02 5.39642444e+01] [-1.61928454e-01 9.86796782e-01 -3.35944376e-03 -4.47689789e+00] [-2.36752093e-02 -4.81546273e-04 9.99719587e-01 -2.34331812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.48, Z:-2.34 [[ 9.87040158e-01 1.58752158e-01 2.34409783e-02 5.39930330e+01] [-1.58717166e-01 9.87318382e-01 -3.35768266e-03 -4.48280404e+00] [-2.36767481e-02 -4.06318023e-04 9.99719584e-01 -2.34434542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73264 meters Centerline goodness [0,1] 0.9999574033055035 Centerline is valid? [True, True] Translation: X:54.02, Y:-4.49, Z:-2.35 [[ 9.87270550e-01 1.57356566e-01 2.31467393e-02 5.40217322e+01] [-1.57322078e-01 9.87541784e-01 -3.31490508e-03 -4.48733543e+00] [-2.33799943e-02 -3.68784960e-04 9.99726583e-01 -2.34643092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762640000000005 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:54.05, Y:-4.49, Z:-2.35 [[ 9.87537300e-01 1.55738626e-01 2.27059787e-02 5.40500742e+01] [-1.55705036e-01 9.87798246e-01 -3.25072667e-03 -4.49287679e+00] [-2.29351896e-02 -3.25221381e-04 9.99736901e-01 -2.34772870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792640000000006 meters Centerline goodness [0,1] 0.9997220975223925 Centerline is valid? [True, True] Translation: X:54.08, Y:-4.50, Z:-2.35 [[ 9.87976677e-01 1.52929254e-01 2.26876436e-02 5.40785721e+01] [-1.52895003e-01 9.88237105e-01 -3.24699400e-03 -4.49722427e+00] [-2.29173316e-02 -2.60872985e-04 9.99737329e-01 -2.34961860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.11, Y:-4.50, Z:-2.35 [[ 9.88231192e-01 1.51356891e-01 2.21405072e-02 5.41065846e+01] [-1.51323900e-01 9.88479157e-01 -3.16767975e-03 -4.50210454e+00] [-2.23648800e-02 -2.19987957e-04 9.99749851e-01 -2.35119808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.13, Y:-4.51, Z:-2.35 [[ 9.88643674e-01 1.48578967e-01 2.25383415e-02 5.41339385e+01] [-1.48544079e-01 9.88900533e-01 -3.22365212e-03 -4.50824750e+00] [-2.27671448e-02 -1.60893886e-04 9.99740782e-01 -2.35348835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88264 meters Centerline goodness [0,1] 0.9998721391126455 Centerline is valid? [True, True] Translation: X:54.16, Y:-4.51, Z:-2.35 [[ 9.88823965e-01 1.47266006e-01 2.32355352e-02 5.41613559e+01] [-1.47228599e-01 9.89096914e-01 -3.32184440e-03 -4.51274389e+00] [-2.34713909e-02 -1.36215948e-04 9.99724500e-01 -2.35404825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.19, Y:-4.51, Z:-2.35 [[ 9.88819032e-01 1.47723257e-01 2.03657038e-02 5.41884181e+01] [-1.47557791e-01 9.89008675e-01 -9.40948906e-03 -4.51427296e+00] [-2.15318581e-02 6.29916360e-03 9.99748318e-01 -2.35257795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.22, Y:-4.53, Z:-2.35 [[ 9.89449570e-01 1.42630500e-01 2.54182654e-02 5.42165721e+01] [-1.42749746e-01 9.89754474e-01 2.93094523e-03 -4.52899290e+00] [-2.47397997e-02 -6.52847344e-03 9.99672607e-01 -2.35422340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.25, Y:-4.53, Z:-2.35 [[ 9.89569298e-01 1.41881441e-01 2.49451710e-02 5.42459504e+01] [-1.41836728e-01 9.89883658e-01 -3.56175928e-03 -4.53025071e+00] [-2.51981647e-02 -1.35338101e-05 9.99682476e-01 -2.35341404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264000000001 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:54.27, Y:-4.53, Z:-2.35 [[ 9.89611871e-01 1.41524496e-01 2.52816506e-02 5.42740862e+01] [-1.41478470e-01 9.89934754e-01 -3.60905524e-03 -4.53408598e+00] [-2.55379543e-02 -5.24534780e-06 9.99673853e-01 -2.35306923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-4.54, Z:-2.35 [[ 9.89564439e-01 1.41759322e-01 2.58169716e-02 5.43032445e+01] [-1.41711440e-01 9.89901154e-01 -3.68418649e-03 -4.53612651e+00] [-2.60785178e-02 -1.28202945e-05 9.99659898e-01 -2.35290808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-4.54, Z:-2.35 [[ 9.89447957e-01 1.42595933e-01 2.56737207e-02 5.43315251e+01] [-1.42548895e-01 9.89780985e-01 -3.66250490e-03 -4.53882231e+00] [-2.59336188e-02 -3.59025149e-05 9.99663667e-01 -2.35331230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:-4.54, Z:-2.35 [[ 9.89203734e-01 1.44256458e-01 2.58078793e-02 5.43609216e+01] [-1.44209525e-01 9.89540332e-01 -3.68036256e-03 -4.53929372e+00] [-2.60688535e-02 -8.11136399e-05 9.99660146e-01 -2.35367349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.39, Y:-4.54, Z:-2.36 [[ 9.89093033e-01 1.45013551e-01 2.58077751e-02 5.43888323e+01] [-1.44966906e-01 9.89429664e-01 -3.67920092e-03 -4.54193870e+00] [-2.60685122e-02 -1.02201310e-04 9.99660153e-01 -2.35627318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:-4.55, Z:-2.36 [[ 9.89013662e-01 1.45494547e-01 2.61402444e-02 5.44155326e+01] [-1.45446897e-01 9.89359047e-01 -3.72519621e-03 -4.54540236e+00] [-2.64040830e-02 -1.17747495e-04 9.99651344e-01 -2.35754592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.44, Y:-4.55, Z:-2.36 [[ 9.88963233e-01 1.45769614e-01 2.65130906e-02 5.44439906e+01] [-1.45720769e-01 9.89318555e-01 -3.77552768e-03 -4.54941739e+00] [-2.67802497e-02 -1.29649894e-04 9.99641336e-01 -2.35793728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21264000000001 meters Centerline goodness [0,1] 0.9998921181521997 Centerline is valid? [True, True] Translation: X:54.47, Y:-4.55, Z:-2.36 [[ 9.88959841e-01 1.45652304e-01 2.72734300e-02 5.44730005e+01] [-1.45600610e-01 9.89335832e-01 -3.88243538e-03 -4.55402928e+00] [-2.75480672e-02 -1.31455371e-04 9.99620471e-01 -2.35599248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-4.56, Z:-2.36 [[ 9.88964171e-01 1.45493710e-01 2.79544247e-02 5.45004206e+01] [-1.45439376e-01 9.89359168e-01 -3.97805761e-03 -4.55751844e+00] [-2.82357487e-02 -1.31517627e-04 9.99601283e-01 -2.35664120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.53, Y:-4.56, Z:-2.36 [[ 9.88951490e-01 1.45374495e-01 2.90035707e-02 5.45293410e+01] [-1.45316013e-01 9.89376692e-01 -4.12532272e-03 -4.56192071e+00] [-2.92951735e-02 -1.34939204e-04 9.99570795e-01 -2.35591713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:-4.56, Z:-2.36 [[ 9.88757380e-01 1.46475866e-01 3.00609985e-02 5.45573048e+01] [-1.46413594e-01 9.89214229e-01 -4.27427816e-03 -4.56499641e+00] [-3.03628460e-02 -1.75114760e-04 9.99538927e-01 -2.35548800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-4.57, Z:-2.36 [[ 9.88581744e-01 1.47715807e-01 2.97686984e-02 5.45851101e+01] [-1.47655358e-01 9.89029825e-01 -4.23088876e-03 -4.56705620e+00] [-3.00670997e-02 -2.12928420e-04 9.99547860e-01 -2.35768575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:-4.57, Z:-2.36 [[ 9.88340464e-01 1.49355708e-01 2.95973026e-02 5.46139774e+01] [-1.49296743e-01 9.88783497e-01 -4.20467586e-03 -4.56964978e+00] [-2.98933167e-02 -2.63129585e-04 9.99553060e-01 -2.35882525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.64, Y:-4.57, Z:-2.36 [[ 9.87658754e-01 1.54024628e-01 2.84007148e-02 5.46433526e+01] [-1.53972301e-01 9.88066932e-01 -4.03336112e-03 -4.56556957e+00] [-2.86830441e-02 -3.89339000e-04 9.99588481e-01 -2.36383747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42264 meters Centerline goodness [0,1] 0.9999568137159638 Centerline is valid? [True, True] Translation: X:54.67, Y:-4.57, Z:-2.37 [[ 9.87272034e-01 1.56544465e-01 2.80670743e-02 5.46719022e+01] [-1.56494413e-01 9.87670806e-01 -3.98476099e-03 -4.56651936e+00] [-2.83448222e-02 -4.58297229e-04 9.99598100e-01 -2.36503636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45264 meters Centerline goodness [0,1] 0.9999354824834943 Centerline is valid? [True, True] Translation: X:54.70, Y:-4.55, Z:-2.37 [[ 9.86503286e-01 1.61317792e-01 2.80684435e-02 5.47030875e+01] [-1.61330619e-01 9.86898734e-01 -1.82192791e-03 -4.55192084e+00] [-2.79946207e-02 -2.73096149e-03 9.99604343e-01 -2.37153459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.73, Y:-4.56, Z:-2.37 [[ 9.86083396e-01 1.63988733e-01 2.73355393e-02 5.47315565e+01] [-1.63885035e-01 9.86461156e-01 -6.00694145e-03 -4.55933039e+00] [-2.79505184e-02 1.44345943e-03 9.99608266e-01 -2.36887613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512640000000005 meters Centerline goodness [0,1] 0.9999360695563227 Centerline is valid? [True, True] Translation: X:54.76, Y:-4.55, Z:-2.37 [[ 9.85800912e-01 1.65724358e-01 2.70554813e-02 5.47594973e+01] [-1.65681522e-01 9.86171862e-01 -3.83297602e-03 -4.55457414e+00] [-2.73165719e-02 -7.04042071e-04 9.99626585e-01 -2.37430367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542640000000006 meters Centerline goodness [0,1] 0.9999360695563227 Centerline is valid? [True, True] Translation: X:54.79, Y:-4.56, Z:-2.38 [[ 9.85831573e-01 1.65541856e-01 2.70555700e-02 5.47866965e+01] [-1.65498969e-01 9.86202517e-01 -3.83235119e-03 -4.55821551e+00] [-2.73166858e-02 -6.99616139e-04 9.99626585e-01 -2.37539571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57264000000001 meters Centerline goodness [0,1] 0.999957346982299 Centerline is valid? [True, True] Translation: X:54.82, Y:-4.56, Z:-2.37 [[ 9.85982402e-01 1.64546661e-01 2.76242605e-02 5.48155595e+01] [-1.64501757e-01 9.86369057e-01 -3.90588654e-03 -4.56274030e+00] [-2.78904164e-02 -6.93104007e-04 9.99610746e-01 -2.37404489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:-4.57, Z:-2.38 [[ 9.86213344e-01 1.63202815e-01 2.73510823e-02 5.48441013e+01] [-1.63158315e-01 9.86592327e-01 -3.86595255e-03 -4.56845883e+00] [-2.76153023e-02 -6.49902508e-04 9.99618414e-01 -2.37567040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63264 meters Centerline goodness [0,1] 0.9999575272356601 Centerline is valid? [True, True] Translation: X:54.87, Y:-4.57, Z:-2.38 [[ 9.86759869e-01 1.60073509e-01 2.61042764e-02 5.48718460e+01] [-1.60031911e-01 9.87104950e-01 -3.68851352e-03 -4.57368858e+00] [-2.63580938e-02 -5.37840117e-04 9.99652420e-01 -2.37974184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.90, Y:-4.58, Z:-2.38 [[ 9.86964117e-01 1.58766583e-01 2.63629164e-02 5.48994701e+01] [-1.58723722e-01 9.87316015e-01 -3.72387126e-03 -4.57707618e+00] [-2.66197559e-02 -5.09092904e-04 9.99645502e-01 -2.38137078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.93, Y:-4.58, Z:-2.38 [[ 9.87255448e-01 1.56787853e-01 2.72809547e-02 5.49281542e+01] [-1.56741213e-01 9.87632192e-01 -3.85302556e-03 -4.58408372e+00] [-2.75476567e-02 -4.72129462e-04 9.99620380e-01 -2.37947219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.96, Y:-4.59, Z:-2.38 [[ 9.87423438e-01 1.55778205e-01 2.69834239e-02 5.49557222e+01] [-1.55732348e-01 9.87791959e-01 -3.80558466e-03 -4.58777973e+00] [-2.72468363e-02 -4.44468464e-04 9.99628637e-01 -2.38131598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:-4.59, Z:-2.38 [[ 9.87543454e-01 1.55021429e-01 2.69496185e-02 5.49833541e+01] [-1.54975450e-01 9.87911016e-01 -3.79918120e-03 -4.59104280e+00] [-2.72127795e-02 -4.24672734e-04 9.99629574e-01 -2.38253605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:-4.60, Z:-2.38 [[ 9.87689127e-01 1.54087843e-01 2.69652448e-02 5.50114389e+01] [-1.54041510e-01 9.88057071e-01 -3.79963266e-03 -4.59570541e+00] [-2.72286780e-02 -4.00911166e-04 9.99629150e-01 -2.38315450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.04, Y:-4.60, Z:-2.38 [[ 9.88099638e-01 1.51497795e-01 2.65993299e-02 5.50398639e+01] [-1.51451806e-01 9.88457542e-01 -3.74681406e-03 -4.60233375e+00] [-2.68599423e-02 -3.26290946e-04 9.99639153e-01 -2.38464091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:-4.61, Z:-2.39 [[ 9.88263101e-01 1.50353371e-01 2.70168007e-02 5.50675120e+01] [-1.50305534e-01 9.88632274e-01 -3.80438949e-03 -4.60713947e+00] [-2.72816839e-02 -3.01036898e-04 9.99627740e-01 -2.38601903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872640000000004 meters Centerline goodness [0,1] 0.9999570889117748 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.61, Z:-2.39 [[ 9.88413293e-01 1.49312223e-01 2.72951141e-02 5.50960244e+01] [-1.49263050e-01 9.88790060e-01 -3.84168722e-03 -4.61267722e+00] [-2.75627484e-02 -2.76977253e-04 9.99620037e-01 -2.38608132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-4.62, Z:-2.39 [[ 9.88632488e-01 1.47746009e-01 2.78732867e-02 5.51235555e+01] [-1.47694144e-01 9.89025308e-01 -3.92179023e-03 -4.61584186e+00] [-2.81468148e-02 -2.39511980e-04 9.99603771e-01 -2.38729288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-4.62, Z:-2.39 [[ 9.88723166e-01 1.47143912e-01 2.78418637e-02 5.51524397e+01] [-1.47091976e-01 9.89115069e-01 -3.91554149e-03 -4.62105904e+00] [-2.81149550e-02 -2.23928168e-04 9.99604671e-01 -2.38684188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.18, Y:-4.63, Z:-2.39 [[ 9.88874197e-01 1.46075148e-01 2.81046778e-02 5.51796979e+01] [-1.46021836e-01 9.89273477e-01 -3.95109383e-03 -4.62580492e+00] [-2.83803690e-02 -1.96761912e-04 9.99597177e-01 -2.38825449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99264 meters Centerline goodness [0,1] 0.9999356899397629 Centerline is valid? [True, True] Translation: X:55.21, Y:-4.63, Z:-2.39 [[ 9.88892277e-01 1.45738665e-01 2.91942721e-02 5.52079217e+01] [-1.45681036e-01 9.89323104e-01 -4.10276218e-03 -4.62990577e+00] [-2.94804990e-02 -1.95861970e-04 9.99565336e-01 -2.38882965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.63, Z:-2.39 [[ 9.88975709e-01 1.45193820e-01 2.90826867e-02 5.52350562e+01] [-1.45136425e-01 9.89403215e-01 -4.08604427e-03 -4.63241014e+00] [-2.93677721e-02 -1.79958654e-04 9.99568658e-01 -2.38892476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-4.64, Z:-2.39 [[ 9.89051033e-01 1.44727207e-01 2.88459647e-02 5.52623835e+01] [-1.44670619e-01 9.89471580e-01 -4.05023826e-03 -4.63578377e+00] [-2.91284420e-02 -1.67271241e-04 9.99575663e-01 -2.38992179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-4.64, Z:-2.39 [[ 9.89061138e-01 1.44658081e-01 2.88462472e-02 5.52895988e+01] [-1.44601522e-01 9.89481688e-01 -4.04822545e-03 -4.63946871e+00] [-2.91284419e-02 -1.67268776e-04 9.99575663e-01 -2.39101465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-4.65, Z:-2.39 [[ 9.89239466e-01 1.43560531e-01 2.82073208e-02 5.53168006e+01] [-1.43506059e-01 9.89641529e-01 -3.95662607e-03 -4.64559514e+00] [-2.84831514e-02 -1.33870778e-04 9.99594264e-01 -2.39311833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.34, Y:-4.65, Z:-2.39 [[ 9.89294606e-01 1.43215360e-01 2.80275499e-02 5.53429973e+01] [-1.43161496e-01 9.89691540e-01 -3.92953033e-03 -4.64952454e+00] [-2.83013981e-02 -1.25002805e-04 9.99599427e-01 -2.39472302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.37, Y:-4.65, Z:-2.40 [[ 9.89321189e-01 1.43088300e-01 2.77366736e-02 5.53717400e+01] [-1.43035574e-01 9.89709919e-01 -3.88603796e-03 -4.65326004e+00] [-2.80073076e-02 -1.22791340e-04 9.99607711e-01 -2.39565152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:-4.66, Z:-2.40 [[ 9.89272743e-01 1.43620572e-01 2.66940438e-02 5.54007651e+01] [-1.43571962e-01 9.89632817e-01 -3.73873881e-03 -4.65550743e+00] [-2.69542615e-02 -1.33883851e-04 9.99636659e-01 -2.39792231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.43, Y:-4.66, Z:-2.40 [[ 9.89228115e-01 1.43903276e-01 2.68250678e-02 5.54277294e+01] [-1.43854316e-01 9.89591747e-01 -3.75620401e-03 -4.65748864e+00] [-2.70863957e-02 -1.43159177e-04 9.99633086e-01 -2.40049799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:-4.66, Z:-2.40 [[ 9.89080827e-01 1.44854511e-01 2.71346216e-02 5.54569810e+01] [-1.44804851e-01 9.89452950e-01 -3.79667961e-03 -4.65848065e+00] [-2.73983976e-02 -1.74001828e-04 9.99624578e-01 -2.40116502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.66, Z:-2.40 [[ 9.89027668e-01 1.45153056e-01 2.74747661e-02 5.54837808e+01] [-1.45102270e-01 9.89409196e-01 -3.84382839e-03 -4.66080667e+00] [-2.77417297e-02 -1.84998316e-04 9.99615107e-01 -2.40181507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-4.66, Z:-2.40 [[ 9.88962284e-01 1.45527282e-01 2.78462105e-02 5.55103089e+01] [-1.45475375e-01 9.89354218e-01 -3.89178351e-03 -4.66316171e+00] [-2.81161265e-02 -2.02110818e-04 9.99604643e-01 -2.40323838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.66, Z:-2.40 [[ 9.88794875e-01 1.46589131e-01 2.82191577e-02 5.55389212e+01] [-1.46536336e-01 9.89197437e-01 -3.94111986e-03 -4.66474568e+00] [-2.84920439e-02 -2.38172852e-04 9.99593991e-01 -2.40266601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38264 meters Centerline goodness [0,1] 0.9998932376742895 Centerline is valid? [True, True] Translation: X:55.57, Y:-4.67, Z:-2.40 [[ 9.88661698e-01 1.47411369e-01 2.85995751e-02 5.55680189e+01] [-1.47357524e-01 9.89075233e-01 -3.99286423e-03 -4.66652401e+00] [-2.88757250e-02 -2.66770654e-04 9.99582974e-01 -2.40457888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-4.66, Z:-2.40 [[ 9.88855535e-01 1.46650017e-01 2.56613150e-02 5.56047612e+01] [-1.46339026e-01 9.89140809e-01 -1.36143112e-02 -4.66309441e+00] [-2.73791929e-02 9.70733511e-03 9.99577985e-01 -2.40192840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-4.67, Z:-2.41 [[ 9.88043138e-01 1.51446964e-01 2.88889905e-02 5.56241716e+01] [-1.51668307e-01 9.88415479e-01 5.61829851e-03 -4.66844701e+00] [-2.77034511e-02 -9.93266559e-03 9.99566837e-01 -2.40824453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.65, Y:-4.66, Z:-2.41 [[ 9.87600774e-01 1.54461341e-01 2.80429297e-02 5.56543880e+01] [-1.54412633e-01 9.87998721e-01 -3.90726224e-03 -4.66142395e+00] [-2.83098996e-02 -4.71367403e-04 9.99599083e-01 -2.40660900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.69, Y:-4.65, Z:-2.41 [[ 9.86645288e-01 1.60404171e-01 2.83121315e-02 5.56854162e+01] [-1.60357020e-01 9.87051204e-01 -3.94288548e-03 -4.64866549e+00] [-2.85779788e-02 -6.49819654e-04 9.99591355e-01 -2.40834003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53264 meters Centerline goodness [0,1] 0.9997873833266004 Centerline is valid? [True, True] Translation: X:55.71, Y:-4.65, Z:-2.41 [[ 9.86143461e-01 1.63382543e-01 2.87614045e-02 5.57148656e+01] [-1.63335143e-01 9.86562510e-01 -4.00566387e-03 -4.64751645e+00] [-2.90293790e-02 -7.47588898e-04 9.99578279e-01 -2.40987703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56264 meters Centerline goodness [0,1] 0.9999572603910675 Centerline is valid? [True, True] Translation: X:55.75, Y:-4.65, Z:-2.41 [[ 9.85820572e-01 1.65503731e-01 2.76823799e-02 5.57451308e+01] [-1.65460687e-01 9.86208855e-01 -3.85429590e-03 -4.64502774e+00] [-2.79385085e-02 -7.80701410e-04 9.99609339e-01 -2.41108493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:-4.64, Z:-2.41 [[ 9.85546186e-01 1.67230183e-01 2.70699415e-02 5.57747647e+01] [-1.67189687e-01 9.85917546e-01 -3.76853340e-03 -4.64229040e+00] [-2.73189429e-02 -8.11751328e-04 9.99626438e-01 -2.41391312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622640000000004 meters Centerline goodness [0,1] 0.9999145664246049 Centerline is valid? [True, True] Translation: X:55.80, Y:-4.64, Z:-2.42 [[ 9.85429423e-01 1.68084352e-01 2.60096833e-02 5.58033410e+01] [-1.68047267e-01 9.85772289e-01 -3.62076674e-03 -4.63642124e+00] [-2.62482193e-02 -8.02846128e-04 9.99655134e-01 -2.41752221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652640000000005 meters Centerline goodness [0,1] 0.9998507494509712 Centerline is valid? [True, True] Translation: X:55.83, Y:-4.63, Z:-2.42 [[ 9.85599326e-01 1.67102068e-01 2.59011114e-02 5.58313876e+01] [-1.67065027e-01 9.85939296e-01 -3.60285486e-03 -4.63482893e+00] [-2.61389680e-02 -7.76198542e-04 9.99658017e-01 -2.42043782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682640000000006 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:55.86, Y:-4.65, Z:-2.42 [[ 9.86416354e-01 1.62170195e-01 2.61458329e-02 5.58601580e+01] [-1.62130777e-01 9.86762586e-01 -3.63465047e-03 -4.64729764e+00] [-2.63891617e-02 -6.53765542e-04 9.99651532e-01 -2.41926289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71264000000001 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:55.89, Y:-4.65, Z:-2.42 [[ 9.87046103e-01 1.58240495e-01 2.64563003e-02 5.58884538e+01] [-1.58198724e-01 9.87400444e-01 -3.67779359e-03 -4.64903846e+00] [-2.67049386e-02 -5.55201115e-04 9.99643205e-01 -2.42310914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-4.66, Z:-2.42 [[ 9.87737612e-01 1.53723142e-01 2.72691303e-02 5.59170190e+01] [-1.53677081e-01 9.88113857e-01 -3.78940409e-03 -4.66151518e+00] [-2.75275246e-02 -4.47703396e-04 9.99620946e-01 -2.42012808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:-4.68, Z:-2.42 [[ 9.89295415e-01 1.43170160e-01 2.82291922e-02 5.59446088e+01] [-1.43116503e-01 9.89698075e-01 -3.92258379e-03 -4.67526764e+00] [-2.84999742e-02 -1.59469125e-04 9.99593781e-01 -2.42065851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:-4.69, Z:-2.42 [[ 9.90066385e-01 1.37637176e-01 2.87151815e-02 5.59725854e+01] [-1.37579341e-01 9.90482715e-01 -3.98964798e-03 -4.68549570e+00] [-2.89910148e-02 -5.99389914e-07 9.99579672e-01 -2.42035641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-4.70, Z:-2.42 [[ 9.90784420e-01 1.32273739e-01 2.91528846e-02 5.59989315e+01] [-1.32211834e-01 9.91213213e-01 -4.04941928e-03 -4.69579915e+00] [-2.94323563e-02 1.57745179e-04 9.99566762e-01 -2.42079739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862640000000006 meters Centerline goodness [0,1] 0.9998930664271355 Centerline is valid? [True, True] Translation: X:56.03, Y:-4.71, Z:-2.42 [[ 9.91945541e-01 1.23107368e-01 2.98097197e-02 5.60261022e+01] [-1.23038591e-01 9.92393262e-01 -4.13759099e-03 -4.71251032e+00] [-3.00923328e-02 4.36519040e-04 9.99547028e-01 -2.42204942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89264000000001 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:56.05, Y:-4.72, Z:-2.42 [[ 9.92416408e-01 1.19450955e-01 2.90024579e-02 5.60537093e+01] [-1.19384335e-01 9.92839961e-01 -4.02410167e-03 -4.72197673e+00] [-2.92754819e-02 5.31145376e-04 9.99571240e-01 -2.42310057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:-4.73, Z:-2.42 [[ 9.92769687e-01 1.16607659e-01 2.84780911e-02 5.60823579e+01] [-1.16542304e-01 9.93177875e-01 -3.94971304e-03 -4.72976429e+00] [-2.87443768e-02 6.02253018e-04 9.99586614e-01 -2.42459994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95264 meters Centerline goodness [0,1] 0.9999348222820892 Centerline is valid? [True, True] Translation: X:56.11, Y:-4.74, Z:-2.43 [[ 9.93226816e-01 1.12918513e-01 2.73843433e-02 5.61110897e+01] [-1.12856698e-01 9.93604018e-01 -3.79740685e-03 -4.73795350e+00] [-2.76379911e-02 6.81179757e-04 9.99617766e-01 -2.42705754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.14, Y:-4.75, Z:-2.43 [[ 9.93381541e-01 1.11748383e-01 2.65596056e-02 5.61377296e+01] [-1.11689823e-01 9.93736293e-01 -3.68288060e-03 -4.74771447e+00] [-2.68047999e-02 6.92067975e-04 9.99640447e-01 -2.42981696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.17, Y:-4.75, Z:-2.43 [[ 9.93504098e-01 1.10608609e-01 2.67459010e-02 5.61655829e+01] [-1.10548857e-01 9.93863777e-01 -3.70701269e-03 -4.75303379e+00] [-2.69918097e-02 7.26203507e-04 9.99635391e-01 -2.43004428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.19, Y:-4.77, Z:-2.43 [[ 9.93658811e-01 1.08982613e-01 2.76578797e-02 5.61922690e+01] [-1.08918136e-01 9.94043338e-01 -3.83165004e-03 -4.76588362e+00] [-2.79107143e-02 7.94908122e-04 9.99610104e-01 -2.43018122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07264000000001 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:56.22, Y:-4.77, Z:-2.43 [[ 9.93663717e-01 1.08916078e-01 2.77435679e-02 5.62207766e+01] [-1.08851225e-01 9.94050629e-01 -3.84170464e-03 -4.77164629e+00] [-2.79969346e-02 7.97441146e-04 9.99607691e-01 -2.43057163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10264 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:56.25, Y:-4.78, Z:-2.43 [[ 9.93443377e-01 1.10958949e-01 2.75384893e-02 5.62481481e+01] [-1.10895873e-01 9.93824720e-01 -3.81198046e-03 -4.78064960e+00] [-2.77914048e-02 7.33081931e-04 9.99613476e-01 -2.43242177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13264 meters Centerline goodness [0,1] 0.9998925239671553 Centerline is valid? [True, True] Translation: X:56.28, Y:-4.78, Z:-2.43 [[ 9.93238549e-01 1.12755457e-01 2.76295601e-02 5.62773288e+01] [-1.12692699e-01 9.93622534e-01 -3.82311523e-03 -4.78297928e+00] [-2.78844306e-02 6.83615732e-04 9.99610920e-01 -2.43385764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.31, Y:-4.79, Z:-2.44 [[ 9.92965798e-01 1.15355447e-01 2.66841805e-02 5.63050185e+01] [-1.15297865e-01 9.93324103e-01 -3.69169083e-03 -4.78675503e+00] [-2.69318963e-02 5.89093702e-04 9.99637097e-01 -2.43578608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.33, Y:-4.79, Z:-2.44 [[ 9.92639087e-01 1.18185519e-01 2.64542160e-02 5.63333443e+01] [-1.18129975e-01 9.92991403e-01 -3.65815418e-03 -4.79004874e+00] [-2.67011499e-02 5.06190943e-04 9.99643333e-01 -2.43780335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:-4.79, Z:-2.44 [[ 9.91939209e-01 1.24027745e-01 2.59561779e-02 5.63636741e+01] [-1.23976315e-01 9.92278692e-01 -3.58760796e-03 -4.79211582e+00] [-2.62007252e-02 3.40737704e-04 9.99656644e-01 -2.43854922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.39, Y:-4.79, Z:-2.44 [[ 9.91574542e-01 1.26988797e-01 2.55689888e-02 5.63909625e+01] [-1.26939865e-01 9.91904118e-01 -3.53445811e-03 -4.79433579e+00] [-2.58108218e-02 2.58954712e-04 9.99666812e-01 -2.44062048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-4.80, Z:-2.44 [[ 9.91255432e-01 1.29556416e-01 2.50559939e-02 5.64198233e+01] [-1.29510289e-01 9.91572035e-01 -3.46189644e-03 -4.79706994e+00] [-2.52933338e-02 1.86614641e-04 9.99680055e-01 -2.44234855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.80, Z:-2.44 [[ 9.90776348e-01 1.33070530e-01 2.55824637e-02 5.64472685e+01] [-1.33023644e-01 9.91106566e-01 -3.53351809e-03 -4.80358648e+00] [-2.58251548e-02 9.78536133e-05 9.99666470e-01 -2.44472304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-4.81, Z:-2.44 [[ 9.90633009e-01 1.34170858e-01 2.53854718e-02 5.64751782e+01] [-1.34125085e-01 9.90958211e-01 -3.50501370e-03 -4.80781917e+00] [-2.56262124e-02 6.73536990e-05 9.99671592e-01 -2.44211845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:-4.81, Z:-2.44 [[ 9.90441318e-01 1.35556108e-01 2.55056132e-02 5.65026387e+01] [-1.35510415e-01 9.90769671e-01 -3.51947482e-03 -4.81498155e+00] [-2.57472743e-02 2.95570612e-05 9.99668484e-01 -2.44473773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.53, Y:-4.82, Z:-2.45 [[ 9.90327791e-01 1.36271905e-01 2.60928001e-02 5.65297831e+01] [-1.36224378e-01 9.90671473e-01 -3.59874367e-03 -4.82124858e+00] [-2.63398004e-02 9.46040049e-06 9.99653047e-01 -2.44527463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.56, Y:-4.83, Z:-2.44 [[ 9.90199740e-01 1.37121439e-01 2.64988007e-02 5.65583229e+01] [-1.37072773e-01 9.90554244e-01 -3.65299250e-03 -4.82739804e+00] [-2.67494031e-02 -1.50718656e-05 9.99642171e-01 -2.44424847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264000000001 meters Centerline goodness [0,1] 0.9997872928764384 Centerline is valid? [True, True] Translation: X:56.58, Y:-4.83, Z:-2.45 [[ 9.89886936e-01 1.39260371e-01 2.70259689e-02 5.65847935e+01] [-1.39210569e-01 9.90255797e-01 -3.72476846e-03 -4.83225489e+00] [-2.72813351e-02 -7.52008813e-05 9.99627792e-01 -2.45014145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49264 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:56.61, Y:-4.84, Z:-2.45 [[ 9.89684417e-01 1.40808452e-01 2.64146750e-02 5.66136803e+01] [-1.40761500e-01 9.90036851e-01 -3.63789024e-03 -4.83667860e+00] [-2.66637473e-02 -1.17805983e-04 9.99644452e-01 -2.44979602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.64, Y:-4.84, Z:-2.45 [[ 9.89407653e-01 1.42793851e-01 2.61230376e-02 5.66413798e+01] [-1.42748649e-01 9.89752437e-01 -3.59666854e-03 -4.83971625e+00] [-2.63689223e-02 -1.70456963e-04 9.99652265e-01 -2.44968880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.67, Y:-4.84, Z:-2.45 [[ 9.88866999e-01 1.46397087e-01 2.66448988e-02 5.66698914e+01] [-1.46351415e-01 9.89225868e-01 -3.66679897e-03 -4.84406470e+00] [-2.68946318e-02 -2.73542144e-04 9.99638237e-01 -2.44747224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:-4.85, Z:-2.45 [[ 9.88584761e-01 1.48287579e-01 2.66639261e-02 5.66973907e+01] [-1.48242560e-01 9.88944229e-01 -3.66825033e-03 -4.84565241e+00] [-2.69130918e-02 -3.26352284e-04 9.99637724e-01 -2.44902799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.73, Y:-4.85, Z:-2.45 [[ 9.88331164e-01 1.49983706e-01 2.65781621e-02 5.67256376e+01] [-1.49939636e-01 9.88688398e-01 -3.65467533e-03 -4.84937599e+00] [-2.68256623e-02 -3.73090440e-04 9.99640058e-01 -2.44829421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.75, Y:-4.85, Z:-2.45 [[ 9.87875102e-01 1.53036602e-01 2.61262481e-02 5.67541977e+01] [-1.52995115e-01 9.88220419e-01 -3.59139422e-03 -4.84712835e+00] [-2.63681066e-02 -4.49339407e-04 9.99652200e-01 -2.45324260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67264 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:56.78, Y:-4.85, Z:-2.45 [[ 9.87755154e-01 1.54003453e-01 2.49537930e-02 5.67828110e+01] [-1.53965957e-01 9.88070204e-01 -3.42856383e-03 -4.85233188e+00] [-2.51841100e-02 -4.55453038e-04 9.99682726e-01 -2.45445672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70264 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:56.81, Y:-4.86, Z:-2.46 [[ 9.87736323e-01 1.54201669e-01 2.44704022e-02 5.68101974e+01] [-1.54165698e-01 9.88039291e-01 -3.36114555e-03 -4.85517721e+00] [-2.46960130e-02 -4.52571074e-04 9.99694905e-01 -2.45728671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73264 meters Centerline goodness [0,1] 0.9999786789475928 Centerline is valid? [True, True] Translation: X:56.84, Y:-4.86, Z:-2.46 [[ 9.87822865e-01 1.53582326e-01 2.48687761e-02 5.68378715e+01] [-1.53545017e-01 9.88135755e-01 -3.41425922e-03 -4.86014401e+00] [-2.50980967e-02 -4.45793323e-04 9.99684894e-01 -2.45845373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.87, Y:-4.87, Z:-2.46 [[ 9.87942603e-01 1.52793435e-01 2.49715891e-02 5.68663566e+01] [-1.52755608e-01 9.88258054e-01 -3.42667373e-03 -4.86751174e+00] [-2.52019473e-02 -4.29193301e-04 9.99682288e-01 -2.45808798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.89, Y:-4.87, Z:-2.46 [[ 9.88096653e-01 1.51712197e-01 2.54639546e-02 5.68937185e+01] [-1.51672534e-01 9.88424626e-01 -3.49310720e-03 -4.87319411e+00] [-2.56991468e-02 -4.10654978e-04 9.99669638e-01 -2.45843498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264000000001 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:56.92, Y:-4.88, Z:-2.46 [[ 9.88554281e-01 1.48755210e-01 2.51459825e-02 5.69213424e+01] [-1.48715618e-01 9.88873995e-01 -3.44778852e-03 -4.88132519e+00] [-2.53790847e-02 -3.31274224e-04 9.99677844e-01 -2.46125401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.95, Y:-4.89, Z:-2.46 [[ 9.88676151e-01 1.47895352e-01 2.54250528e-02 5.69501068e+01] [-1.47854624e-01 9.89002966e-01 -3.48479632e-03 -4.88750655e+00] [-2.56608378e-02 -3.13876596e-04 9.99670657e-01 -2.45931045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.98, Y:-4.89, Z:-2.46 [[ 9.88815742e-01 1.46879780e-01 2.58796913e-02 5.69782148e+01] [-1.46837269e-01 9.89154307e-01 -3.54579180e-03 -4.89378489e+00] [-2.61198133e-02 -2.93968451e-04 9.99658776e-01 -2.45894571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.01, Y:-4.90, Z:-2.46 [[ 9.88998176e-01 1.45558430e-01 2.63695037e-02 5.70056136e+01] [-1.45513857e-01 9.89349621e-01 -3.61171406e-03 -4.89987474e+00] [-2.66143739e-02 -2.65149559e-04 9.99645740e-01 -2.45979402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.03, Y:-4.90, Z:-2.46 [[ 9.89047947e-01 1.45249574e-01 2.62053336e-02 5.70326192e+01] [-1.45205480e-01 9.89395015e-01 -3.58793488e-03 -4.90360742e+00] [-2.64485724e-02 -2.56518414e-04 9.99650142e-01 -2.46117286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.06, Y:-4.91, Z:-2.46 [[ 9.89077427e-01 1.45056716e-01 2.61608933e-02 5.70601869e+01] [-1.45012766e-01 9.89423309e-01 -3.57949098e-03 -4.90876680e+00] [-2.64034268e-02 -2.53269767e-04 9.99651337e-01 -2.46200495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.09, Y:-4.91, Z:-2.46 [[ 9.89087767e-01 1.44986150e-01 2.61611491e-02 5.70874187e+01] [-1.44942224e-01 9.89433652e-01 -3.57762024e-03 -4.91235612e+00] [-2.64034267e-02 -2.53274726e-04 9.99651337e-01 -2.46309810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.11, Y:-4.92, Z:-2.47 [[ 9.89021724e-01 1.45612565e-01 2.51597042e-02 5.71147821e+01] [-1.45572189e-01 9.89341656e-01 -3.43877442e-03 -4.91571354e+00] [-2.53922722e-02 -2.61530614e-04 9.99677530e-01 -2.46779941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.14, Y:-4.92, Z:-2.47 [[ 9.88915774e-01 1.46506796e-01 2.41112039e-02 5.71437675e+01] [-1.46470018e-01 9.89209626e-01 -3.29394551e-03 -4.91980339e+00] [-2.43336204e-02 -2.74133796e-04 9.99703856e-01 -2.46802421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.17, Y:-4.92, Z:-2.47 [[ 9.88543792e-01 1.49185563e-01 2.29093680e-02 5.71716170e+01] [-1.49153083e-01 9.88809164e-01 -3.12963312e-03 -4.91735602e+00] [-2.31198892e-02 -3.23223477e-04 9.99732647e-01 -2.47232391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122640000000004 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:57.20, Y:-4.92, Z:-2.47 [[ 9.88269989e-01 1.51032371e-01 2.26197135e-02 5.72002109e+01] [-1.51001265e-01 9.88528750e-01 -3.08681579e-03 -4.91849340e+00] [-2.28264462e-02 -3.64997938e-04 9.99739376e-01 -2.47325995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:-4.92, Z:-2.47 [[ 9.87930977e-01 1.53173001e-01 2.30307584e-02 5.72287314e+01] [-1.53141357e-01 9.88199298e-01 -3.14196292e-03 -4.91772620e+00] [-2.32402431e-02 -4.22919094e-04 9.99729820e-01 -2.47395902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182640000000006 meters Centerline goodness [0,1] 0.9998929404963278 Centerline is valid? [True, True] Translation: X:57.26, Y:-4.92, Z:-2.47 [[ 9.87592536e-01 1.55288229e-01 2.33783961e-02 5.72574243e+01] [-1.55256248e-01 9.87869088e-01 -3.18796652e-03 -4.91803895e+00] [-2.35898485e-02 -4.81230112e-04 9.99721605e-01 -2.47345132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21264000000001 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:57.29, Y:-4.92, Z:-2.47 [[ 9.86987150e-01 1.58947167e-01 2.43344274e-02 5.72879103e+01] [-1.58913678e-01 9.87286911e-01 -3.31623373e-03 -4.91637265e+00] [-2.45521677e-02 -5.93993302e-04 9.99698374e-01 -2.47096500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24264 meters Centerline goodness [0,1] 0.9997627878892436 Centerline is valid? [True, True] Translation: X:57.32, Y:-4.92, Z:-2.47 [[ 9.86838892e-01 1.59928717e-01 2.39124813e-02 5.73160349e+01] [-1.59896668e-01 9.87128379e-01 -3.25875753e-03 -4.91880497e+00] [-2.41258578e-02 -6.07657414e-04 9.99708744e-01 -2.47376675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27264 meters Centerline goodness [0,1] 0.999786966617669 Centerline is valid? [True, True] Translation: X:57.35, Y:-4.91, Z:-2.47 [[ 9.86495066e-01 1.61964152e-01 2.43946375e-02 5.73450157e+01] [-1.61931458e-01 9.86796413e-01 -3.32284403e-03 -4.91155967e+00] [-2.46107224e-02 -6.72289981e-04 9.99696884e-01 -2.47442196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302640000000004 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:57.37, Y:-4.91, Z:-2.48 [[ 9.86415331e-01 1.62395353e-01 2.47496340e-02 5.73731292e+01] [-1.62361879e-01 9.86725528e-01 -3.36952605e-03 -4.91178660e+00] [-2.49682911e-02 -6.94644916e-04 9.99688002e-01 -2.47536530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332640000000005 meters Centerline goodness [0,1] 0.9998288367316374 Centerline is valid? [True, True] Translation: X:57.40, Y:-4.91, Z:-2.48 [[ 9.86428980e-01 1.62362739e-01 2.44173731e-02 5.74012576e+01] [-1.62330187e-01 9.86730901e-01 -3.32268124e-03 -4.91455867e+00] [-2.46328562e-02 -6.86087675e-04 9.99696330e-01 -2.47866186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362640000000006 meters Centerline goodness [0,1] 0.9999144439928989 Centerline is valid? [True, True] Translation: X:57.43, Y:-4.93, Z:-2.48 [[ 9.86463280e-01 1.61282133e-01 2.96356477e-02 5.74259658e+01] [-1.61665093e-01 9.86784373e-01 1.09999157e-02 -4.92856873e+00] [-2.74699042e-02 -1.56420627e-02 9.99500240e-01 -2.47965731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39264000000001 meters Centerline goodness [0,1] 0.9999149497140184 Centerline is valid? [True, True] Translation: X:57.46, Y:-4.91, Z:-2.48 [[ 9.86622814e-01 1.61574051e-01 2.16621675e-02 5.74587854e+01] [-1.61205595e-01 9.86760198e-01 -1.78063802e-02 -4.90847063e+00] [-2.42524137e-02 1.40761183e-02 9.99606764e-01 -2.47884678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42264 meters Centerline goodness [0,1] 0.999893415190467 Centerline is valid? [True, True] Translation: X:57.49, Y:-4.92, Z:-2.48 [[ 9.86777191e-01 1.60415999e-01 2.31836657e-02 5.74863149e+01] [-1.60386285e-01 9.87049306e-01 -3.14760060e-03 -4.92108054e+00] [-2.33883467e-02 -6.12361531e-04 9.99726268e-01 -2.48215530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45264 meters Centerline goodness [0,1] 0.9998510606608652 Centerline is valid? [True, True] Translation: X:57.51, Y:-4.92, Z:-2.49 [[ 9.86863869e-01 1.59890957e-01 2.31211096e-02 5.75144430e+01] [-1.59861281e-01 9.87134501e-01 -3.13817287e-03 -4.91859249e+00] [-2.33254105e-02 -5.99220779e-04 9.99727746e-01 -2.48670831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48264 meters Centerline goodness [0,1] 0.9998505295524428 Centerline is valid? [True, True] Translation: X:57.54, Y:-4.92, Z:-2.49 [[ 9.87034620e-01 1.58861241e-01 2.29295561e-02 5.75428401e+01] [-1.58831813e-01 9.87300754e-01 -3.11061130e-03 -4.92396944e+00] [-2.31325236e-02 -5.71661932e-04 9.99732244e-01 -2.48613157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512640000000005 meters Centerline goodness [0,1] 0.9999572886857728 Centerline is valid? [True, True] Translation: X:57.57, Y:-4.92, Z:-2.49 [[ 9.87076470e-01 1.58513327e-01 2.35280254e-02 5.75711488e+01] [-1.58482268e-01 9.87356668e-01 -3.19077335e-03 -4.92156101e+00] [-2.37363329e-02 -5.79237536e-04 9.99718086e-01 -2.48663324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542640000000006 meters Centerline goodness [0,1] 0.9999574522401395 Centerline is valid? [True, True] Translation: X:57.60, Y:-4.92, Z:-2.49 [[ 9.87282263e-01 1.57216210e-01 2.35965538e-02 5.75995583e+01] [-1.57184595e-01 9.87564054e-01 -3.20026367e-03 -4.92443003e+00] [-2.38062417e-02 -5.49451189e-04 9.99716440e-01 -2.48815977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57264000000001 meters Centerline goodness [0,1] 0.9997435952223243 Centerline is valid? [True, True] Translation: X:57.63, Y:-4.93, Z:-2.49 [[ 9.87782958e-01 1.53798070e-01 2.51193414e-02 5.76289034e+01] [-1.53761309e-01 9.88102171e-01 -3.40000819e-03 -4.93114094e+00] [-2.53433905e-02 -5.03912673e-04 9.99678678e-01 -2.48831947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60264 meters Centerline goodness [0,1] 0.9999787482732972 Centerline is valid? [True, True] Translation: X:57.66, Y:-4.93, Z:-2.48 [[ 9.88068599e-01 1.51767185e-01 2.62138510e-02 5.76576099e+01] [-1.51726433e-01 9.88416157e-01 -3.54829648e-03 -4.93440064e+00] [-2.64487088e-02 -4.71373767e-04 9.99650061e-01 -2.48482926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:-4.94, Z:-2.49 [[ 9.88471978e-01 1.49124917e-01 2.61707342e-02 5.76865117e+01] [-1.49083368e-01 9.88818284e-01 -3.54263070e-03 -4.93849050e+00] [-2.64063950e-02 -3.99830011e-04 9.99651210e-01 -2.48644469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:-4.95, Z:-2.49 [[ 9.89353237e-01 1.43137085e-01 2.63049004e-02 5.77149386e+01] [-1.43093144e-01 9.89702841e-01 -3.55505141e-03 -4.94830634e+00] [-2.65428944e-02 -2.46849272e-04 9.99647645e-01 -2.48702991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.74, Y:-4.96, Z:-2.49 [[ 9.89850708e-01 1.38547391e-01 3.16258771e-02 5.77423614e+01] [-1.39005012e-01 9.90209586e-01 1.27507956e-02 -4.96292760e+00] [-2.95496572e-02 -1.70175395e-02 9.99418441e-01 -2.49206015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:-4.96, Z:-2.49 [[ 9.90191038e-01 1.36486456e-01 2.98857244e-02 5.77720478e+01] [-1.36478887e-01 9.90640304e-01 -2.30254878e-03 -4.95900677e+00] [-2.99202698e-02 -1.79880723e-03 9.99550670e-01 -2.48842820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75264000000001 meters Centerline goodness [0,1] 0.999978470084182 Centerline is valid? [True, True] Translation: X:57.80, Y:-4.96, Z:-2.49 [[ 9.90728662e-01 1.32742802e-01 2.89148171e-02 5.77996682e+01] [-1.32563594e-01 9.91141913e-01 -8.03749184e-03 -4.96151176e+00] [-2.97256063e-02 4.12992147e-03 9.99549565e-01 -2.49182082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264000000001 meters Centerline goodness [0,1] 0.9998709927110881 Centerline is valid? [True, True] Translation: X:57.83, Y:-4.96, Z:-2.49 [[ 9.90828610e-01 1.32756360e-01 2.51876051e-02 5.78272564e+01] [-1.32338540e-01 9.91048404e-01 -1.75946302e-02 -4.96122499e+00] [-2.72979349e-02 1.40999721e-02 9.99527895e-01 -2.49193023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.85, Y:-4.97, Z:-2.49 [[ 9.91264331e-01 1.29326984e-01 2.58757928e-02 5.78546879e+01] [-1.29279932e-01 9.91601996e-01 -3.49012849e-03 -4.97329516e+00] [-2.61098556e-02 1.14419140e-04 9.99659073e-01 -2.49472068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.88, Y:-4.98, Z:-2.50 [[ 9.91497379e-01 1.27525192e-01 2.58896306e-02 5.78832615e+01] [-1.27477507e-01 9.91835319e-01 -3.49077495e-03 -4.97811880e+00] [-2.61234117e-02 1.60748646e-04 9.99658713e-01 -2.49540171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.91, Y:-4.98, Z:-2.50 [[ 9.91717106e-01 1.25729753e-01 2.62528360e-02 5.79108645e+01] [-1.25680122e-01 9.92064507e-01 -3.53859105e-03 -4.98419300e+00] [-2.64894129e-02 2.09821645e-04 9.99649072e-01 -2.49719747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.94, Y:-4.99, Z:-2.50 [[ 9.91947628e-01 1.23952956e-01 2.59917054e-02 5.79381121e+01] [-1.23903739e-01 9.92288063e-01 -3.50182109e-03 -4.99012132e+00] [-2.62253201e-02 2.53153645e-04 9.99656025e-01 -2.49880173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932640000000006 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:57.97, Y:-5.00, Z:-2.50 [[ 9.92340082e-01 1.21005646e-01 2.48756106e-02 5.79663326e+01] [-1.20959679e-01 9.92651769e-01 -3.34990378e-03 -4.99576205e+00] [-2.50981762e-02 3.15297911e-04 9.99684941e-01 -2.50188933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.99, Y:-5.00, Z:-2.50 [[ 9.92464339e-01 1.20018328e-01 2.47009419e-02 5.79937670e+01] [-1.19972720e-01 9.92771619e-01 -3.32551795e-03 -5.00082695e+00] [-2.49215172e-02 3.37018781e-04 9.99689354e-01 -2.50284441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.02, Y:-5.01, Z:-2.51 [[ 9.92608766e-01 1.19005481e-01 2.37809354e-02 5.80209231e+01] [-1.18962959e-01 9.92893537e-01 -3.19988781e-03 -5.00806872e+00] [-2.39927413e-02 3.47186241e-04 9.99712072e-01 -2.50640360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02264 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:58.05, Y:-5.01, Z:-2.51 [[ 9.92610797e-01 1.18973578e-01 2.38556648e-02 5.80484522e+01] [-1.18930815e-01 9.92897360e-01 -3.20848398e-03 -5.01232987e+00] [-2.40679514e-02 3.47602205e-04 9.99710264e-01 -2.50753628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052640000000004 meters Centerline goodness [0,1] 0.9999569076962854 Centerline is valid? [True, True] Translation: X:58.08, Y:-5.01, Z:-2.51 [[ 9.92305870e-01 1.21107263e-01 2.57311159e-02 5.80765383e+01] [-1.21058272e-01 9.92639376e-01 -3.45898462e-03 -5.01191996e+00] [-2.59606270e-02 3.17406310e-04 9.99662916e-01 -2.50663386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.11, Y:-5.02, Z:-2.51 [[ 9.92345185e-01 1.20307074e-01 2.78790533e-02 5.81095501e+01] [-1.20458252e-01 9.92711113e-01 3.80200410e-03 -5.01526756e+00] [-2.72184381e-02 -7.13116248e-03 9.99604073e-01 -2.50518063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.13, Y:-5.01, Z:-2.50 [[ 9.91796359e-01 1.25249530e-01 2.55448227e-02 5.81346060e+01] [-1.24999738e-01 9.92094031e-01 -1.11578853e-02 -5.00835698e+00] [-2.67403860e-02 7.87325385e-03 9.99611406e-01 -2.50401476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264000000001 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:58.16, Y:-5.01, Z:-2.51 [[ 9.91507371e-01 1.27202000e-01 2.70700043e-02 5.81629477e+01] [-1.27150232e-01 9.91876820e-01 -3.63216417e-03 -5.01288065e+00] [-2.73121283e-02 1.59360218e-04 9.99626942e-01 -2.50553495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.19, Y:-5.01, Z:-2.51 [[ 9.90937711e-01 1.31555014e-01 2.71243554e-02 5.81918620e+01] [-1.31504691e-01 9.91308871e-01 -3.63858363e-03 -5.00855967e+00] [-2.73672881e-02 3.86297443e-05 9.99625445e-01 -2.50741578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20264 meters Centerline goodness [0,1] 0.9999782948428546 Centerline is valid? [True, True] Translation: X:58.22, Y:-5.01, Z:-2.51 [[ 9.90726915e-01 1.33141298e-01 2.70845710e-02 5.82201597e+01] [-1.33091779e-01 9.91097066e-01 -3.63094209e-03 -5.00910590e+00] [-2.73268672e-02 -7.46168200e-06 9.99626551e-01 -2.50800663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23264 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:58.25, Y:-5.01, Z:-2.51 [[ 9.90499143e-01 1.34818585e-01 2.71182030e-02 5.82468124e+01] [-1.34769623e-01 9.90870297e-01 -3.63354111e-03 -5.00995123e+00] [-2.73604907e-02 -5.56906501e-05 9.99625630e-01 -2.50977722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.28, Y:-5.01, Z:-2.51 [[ 9.90232284e-01 1.36738623e-01 2.72501877e-02 5.82756710e+01] [-1.36689990e-01 9.90607156e-01 -3.64831788e-03 -5.00903878e+00] [-2.74930969e-02 -1.12145727e-04 9.99621987e-01 -2.51017948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.30, Y:-5.01, Z:-2.51 [[ 9.90189704e-01 1.37018697e-01 2.73902652e-02 5.83030234e+01] [-1.36969695e-01 9.90568454e-01 -3.66615968e-03 -5.01016656e+00] [-2.76342651e-02 -1.21442710e-04 9.99618093e-01 -2.51181396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264000000001 meters Centerline goodness [0,1] 0.9999570741758241 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.01, Z:-2.52 [[ 9.90232000e-01 1.36831830e-01 2.67887350e-02 5.83318378e+01] [-1.36784962e-01 9.90594285e-01 -3.58294769e-03 -5.01142009e+00] [-2.70270290e-02 -1.16346632e-04 9.99634696e-01 -2.51559943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-5.01, Z:-2.51 [[ 9.90254732e-01 1.36691233e-01 2.66659413e-02 5.83597508e+01] [-1.36644767e-01 9.90613696e-01 -3.56560310e-03 -5.01461876e+00] [-2.69030333e-02 -1.12905987e-04 9.99638042e-01 -2.51323354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.39, Y:-5.02, Z:-2.52 [[ 9.90323424e-01 1.36289451e-01 2.61668132e-02 5.83873064e+01] [-1.36244624e-01 9.90669054e-01 -3.49675552e-03 -5.01619301e+00] [-2.63992230e-02 -1.02168724e-04 9.99651475e-01 -2.51768244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.02, Z:-2.52 [[ 9.90498190e-01 1.35113132e-01 2.56471654e-02 5.84155315e+01] [-1.35069719e-01 9.90830175e-01 -3.42556841e-03 -5.01944860e+00] [-2.58748247e-02 -7.11361149e-05 9.99665188e-01 -2.51756390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442640000000004 meters Centerline goodness [0,1] 0.9998490468386095 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.02, Z:-2.52 [[ 9.90647621e-01 1.33953748e-01 2.59554324e-02 5.84442708e+01] [-1.33908921e-01 9.90987584e-01 -3.46543662e-03 -5.02350680e+00] [-2.61857195e-02 -4.26374130e-05 9.99657094e-01 -2.52043065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.03, Z:-2.52 [[ 9.90758025e-01 1.33088464e-01 2.61915416e-02 5.84722500e+01] [-1.33042546e-01 9.91104162e-01 -3.49578538e-03 -5.02723056e+00] [-2.64237946e-02 -2.11119770e-05 9.99650830e-01 -2.51876807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.03, Z:-2.52 [[ 9.90958920e-01 1.31553736e-01 2.63445252e-02 5.84990460e+01] [-1.31506773e-01 9.91309041e-01 -3.51485791e-03 -5.03181191e+00] [-2.65779586e-02 1.85962991e-05 9.99646743e-01 -2.52034635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:-5.04, Z:-2.52 [[ 9.91379002e-01 1.28330989e-01 2.64354384e-02 5.85263312e+01] [-1.28282627e-01 9.91731388e-01 -3.52435326e-03 -5.03799016e+00] [-2.66691377e-02 1.02762352e-04 9.99644310e-01 -2.52096792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:-5.04, Z:-2.52 [[ 9.91578653e-01 1.26718059e-01 2.67265669e-02 5.85549344e+01] [-1.26668088e-01 9.91938764e-01 -3.56137010e-03 -5.04351690e+00] [-2.69624077e-02 1.45975447e-04 9.99636438e-01 -2.52189401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-5.05, Z:-2.52 [[ 9.91975633e-01 1.23515572e-01 2.69860401e-02 5.85824734e+01] [-1.23463472e-01 9.92342606e-01 -3.59478503e-03 -5.05107175e+00] [-2.72234093e-02 2.34148942e-04 9.99629347e-01 -2.52213156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.61, Y:-5.06, Z:-2.52 [[ 9.92157406e-01 1.22028959e-01 2.70668446e-02 5.86105585e+01] [-1.21976041e-01 9.92526503e-01 -3.60376711e-03 -5.05548758e+00] [-2.73043245e-02 2.73997672e-04 9.99627130e-01 -2.52163932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.64, Y:-5.06, Z:-2.52 [[ 9.92320896e-01 1.20608560e-01 2.74374588e-02 5.86388738e+01] [-1.20553680e-01 9.92700093e-01 -3.65171445e-03 -5.06015605e+00] [-2.76775959e-02 3.15985931e-04 9.99616852e-01 -2.52206325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.07, Z:-2.53 [[ 9.92608554e-01 1.18316363e-01 2.70091984e-02 5.86658689e+01] [-1.18262366e-01 9.92975881e-01 -3.59355270e-03 -5.06676122e+00] [-2.72446586e-02 3.72819456e-04 9.99628726e-01 -2.52502112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-5.07, Z:-2.53 [[ 9.92697657e-01 1.17630514e-01 2.67287052e-02 5.86939495e+01] [-1.17577432e-01 9.93057357e-01 -3.55444700e-03 -5.07142536e+00] [-2.69612488e-02 3.85798688e-04 9.99636405e-01 -2.52640675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74264 meters Centerline goodness [0,1] 0.9999783737024222 Centerline is valid? [True, True] Translation: X:58.72, Y:-5.08, Z:-2.53 [[ 9.92763864e-01 1.17111172e-01 2.65496550e-02 5.87216658e+01] [-1.17058643e-01 9.93118732e-01 -3.52951527e-03 -5.07684739e+00] [-2.67803054e-02 3.96108628e-04 9.99641265e-01 -2.52891325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77264 meters Centerline goodness [0,1] 0.9999785154151896 Centerline is valid? [True, True] Translation: X:58.75, Y:-5.08, Z:-2.53 [[ 9.92799528e-01 1.16914024e-01 2.60808066e-02 5.87497080e+01] [-1.16863308e-01 9.93141962e-01 -3.46563020e-03 -5.08003750e+00] [-2.63071242e-02 3.92786699e-04 9.99653831e-01 -2.53066606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-5.08, Z:-2.53 [[ 9.92791965e-01 1.17044139e-01 2.57834061e-02 5.87775828e+01] [-1.16994652e-01 9.93126640e-01 -3.42479792e-03 -5.08240560e+00] [-2.60070400e-02 3.83591241e-04 9.99661686e-01 -2.53191235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832640000000005 meters Centerline goodness [0,1] 0.9999565264645147 Centerline is valid? [True, True] Translation: X:58.81, Y:-5.07, Z:-2.53 [[ 9.92970558e-01 1.16759971e-01 1.94056708e-02 5.88134224e+01] [-1.16404332e-01 9.93028709e-01 -1.85476226e-02 -5.07468570e+00] [-2.14360081e-02 1.61583390e-02 9.99639638e-01 -2.52830655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862640000000006 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:58.83, Y:-5.10, Z:-2.54 [[ 9.92759099e-01 1.17043769e-01 2.70208710e-02 5.88327296e+01] [-1.17404165e-01 9.93009827e-01 1.21550544e-02 -5.09731450e+00] [-2.54093170e-02 -1.52394037e-02 9.99560967e-01 -2.53787159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89264000000001 meters Centerline goodness [0,1] 0.9999788256717556 Centerline is valid? [True, True] Translation: X:58.86, Y:-5.09, Z:-2.54 [[ 9.92745774e-01 1.17609839e-01 2.49750714e-02 5.88612857e+01] [-1.17563714e-01 9.93059818e-01 -3.31230033e-03 -5.09174061e+00] [-2.51912990e-02 3.52109990e-04 9.99682587e-01 -2.53620804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-5.09, Z:-2.54 [[ 9.92820809e-01 1.17185845e-01 2.39649518e-02 5.88896721e+01] [-1.17143299e-01 9.93109942e-01 -3.17642376e-03 -5.09434257e+00] [-2.41720638e-02 3.46286095e-04 9.99707753e-01 -2.53765930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:-5.09, Z:-2.53 [[ 9.93038808e-01 1.15870474e-01 2.11650485e-02 5.89241867e+01] [-1.15609402e-01 9.93207410e-01 -1.31721793e-02 -5.09332011e+00] [-2.25475496e-02 1.06336066e-02 9.99689219e-01 -2.53468060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-5.12, Z:-2.54 [[ 9.93345493e-01 1.12427379e-01 2.49963152e-02 5.89450707e+01] [-1.12630260e-01 9.93613302e-01 6.85785934e-03 -5.11548032e+00] [-2.40656601e-02 -9.62756514e-03 9.99664021e-01 -2.54069132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.97, Y:-5.12, Z:-2.54 [[ 9.93554444e-01 1.10830753e-01 2.37930978e-02 5.89726565e+01] [-1.10787139e-01 9.93839174e-01 -3.14752918e-03 -5.11797152e+00] [-2.39953557e-02 4.91272370e-04 9.99711949e-01 -2.54113013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042640000000006 meters Centerline goodness [0,1] 0.9999571706961903 Centerline is valid? [True, True] Translation: X:59.00, Y:-5.12, Z:-2.54 [[ 9.93740407e-01 1.09082003e-01 2.41064379e-02 5.90003617e+01] [-1.09036751e-01 9.94032608e-01 -3.18763157e-03 -5.12440982e+00] [-2.43102985e-02 5.39190624e-04 9.99704316e-01 -2.54120397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07264000000001 meters Centerline goodness [0,1] 0.9999785274097615 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.14, Z:-2.54 [[ 9.94002571e-01 1.06547644e-01 2.46269692e-02 5.90266957e+01] [-1.06499686e-01 9.94307409e-01 -3.25459811e-03 -5.13507897e+00] [-2.48335477e-02 6.12314418e-04 9.99691412e-01 -2.54071153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.06, Y:-5.14, Z:-2.54 [[ 9.94042652e-01 1.06195261e-01 2.45310466e-02 5.90553482e+01] [-1.06147619e-01 9.94345104e-01 -3.23985638e-03 -5.13750882e+00] [-2.47363835e-02 6.16643228e-04 9.99693819e-01 -2.53891074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13264 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:59.08, Y:-5.14, Z:-2.54 [[ 9.94011041e-01 1.06466326e-01 2.46367881e-02 5.90830940e+01] [-1.06418382e-01 9.94316120e-01 -3.25277460e-03 -5.14287164e+00] [-2.48430665e-02 6.11486743e-04 9.99691176e-01 -2.53951596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16264 meters Centerline goodness [0,1] 0.9999568127834161 Centerline is valid? [True, True] Translation: X:59.11, Y:-5.15, Z:-2.54 [[ 9.93758309e-01 1.08793846e-01 2.46642092e-02 5.91110996e+01] [-1.08746554e-01 9.94064180e-01 -3.25468229e-03 -5.14760763e+00] [-2.48718963e-02 5.52219815e-04 9.99690494e-01 -2.54135596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192640000000004 meters Centerline goodness [0,1] 0.9998925193465176 Centerline is valid? [True, True] Translation: X:59.14, Y:-5.15, Z:-2.54 [[ 9.93565542e-01 1.10676355e-01 2.40469983e-02 5.91402832e+01] [-1.10631978e-01 9.93856379e-01 -3.17213940e-03 -5.14846685e+00] [-2.42503435e-02 4.91361404e-04 9.99705796e-01 -2.54221942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:-5.15, Z:-2.54 [[ 9.93407558e-01 1.12148837e-01 2.37499730e-02 5.91691222e+01] [-1.12105997e-01 9.93691319e-01 -3.13183515e-03 -5.14972792e+00] [-2.39513737e-02 4.48674298e-04 9.99713024e-01 -2.54201437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.20, Y:-5.15, Z:-2.54 [[ 9.93213426e-01 1.13817249e-01 2.39316522e-02 5.91981755e+01] [-1.13774264e-01 9.93501618e-01 -3.15458669e-03 -5.15189842e+00] [-2.41351816e-02 4.10371746e-04 9.99708620e-01 -2.54303804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.16, Z:-2.54 [[ 9.92968045e-01 1.16088808e-01 2.31915811e-02 5.92261189e+01] [-1.16049086e-01 9.93238778e-01 -3.05593523e-03 -5.15582413e+00] [-2.33895376e-02 3.43084240e-04 9.99726368e-01 -2.54477908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.25, Y:-5.16, Z:-2.55 [[ 9.92955938e-01 1.16337373e-01 2.24526424e-02 5.92541682e+01] [-1.16300229e-01 9.93209701e-01 -2.95751924e-03 -5.16109697e+00] [-2.26442523e-02 3.25438838e-04 9.99743533e-01 -2.54652966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34264 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:59.28, Y:-5.17, Z:-2.55 [[ 9.93017366e-01 1.15861182e-01 2.21967845e-02 5.92809310e+01] [-1.15824781e-01 9.93265361e-01 -2.92295899e-03 -5.16908243e+00] [-2.23859547e-02 3.31611338e-04 9.99749348e-01 -2.54767006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.31, Y:-5.17, Z:-2.55 [[ 9.93072924e-01 1.15361048e-01 2.23158227e-02 5.93097993e+01] [-1.15324164e-01 9.93323568e-01 -2.93704308e-03 -5.17367804e+00] [-2.25056530e-02 3.43144360e-04 9.99746657e-01 -2.54726399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.34, Y:-5.18, Z:-2.55 [[ 9.93084537e-01 1.15228052e-01 2.24855343e-02 5.93368879e+01] [-1.15190592e-01 9.93339003e-01 -2.95845026e-03 -5.17934929e+00] [-2.26766547e-02 3.47869204e-04 9.99742791e-01 -2.54855916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.36, Y:-5.18, Z:-2.55 [[ 9.93069497e-01 1.15406403e-01 2.22336620e-02 5.93637543e+01] [-1.15369849e-01 9.93318301e-01 -2.92414548e-03 -5.18460259e+00] [-2.24225684e-02 3.38785461e-04 9.99748525e-01 -2.54992792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.39, Y:-5.19, Z:-2.55 [[ 9.92827082e-01 1.17359433e-01 2.28286938e-02 5.93921179e+01] [-1.17321460e-01 9.93089459e-01 -3.00030907e-03 -5.19027167e+00] [-2.30230497e-02 3.00492415e-04 9.99734889e-01 -2.54922909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49264 meters Centerline goodness [0,1] 0.9999786875812536 Centerline is valid? [True, True] Translation: X:59.42, Y:-5.19, Z:-2.55 [[ 9.92685166e-01 1.18567213e-01 2.27591124e-02 5.94195268e+01] [-1.18529809e-01 9.92945992e-01 -2.99026466e-03 -5.19451504e+00] [-2.29531168e-02 2.70758111e-04 9.99736506e-01 -2.55112413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52264 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:59.45, Y:-5.19, Z:-2.55 [[ 9.92264878e-01 1.22294922e-01 2.13157972e-02 5.94480169e+01] [-1.22263002e-01 9.92493790e-01 -2.79925625e-03 -5.19472673e+00] [-2.14981312e-02 1.71470307e-04 9.99768874e-01 -2.55485828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.48, Y:-5.20, Z:-2.55 [[ 9.92069216e-01 1.23946501e-01 2.08790482e-02 5.94770394e+01] [-1.23916260e-01 9.92288893e-01 -2.74098441e-03 -5.19511309e+00] [-2.10577831e-02 1.31992689e-04 9.99778252e-01 -2.55302705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.50, Y:-5.20, Z:-2.56 [[ 9.91855466e-01 1.25676045e-01 2.06946055e-02 5.95048891e+01] [-1.25646729e-01 9.92071330e-01 -2.71599199e-03 -5.19711233e+00] [-2.08718600e-02 9.36620144e-05 9.99782155e-01 -2.55501384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612640000000006 meters Centerline goodness [0,1] 0.9999786989306864 Centerline is valid? [True, True] Translation: X:59.53, Y:-5.20, Z:-2.56 [[ 9.91675020e-01 1.27063550e-01 2.08688509e-02 5.95327572e+01] [-1.27034063e-01 9.91894576e-01 -2.73799065e-03 -5.19956859e+00] [-2.10475988e-02 6.41420120e-05 9.99778473e-01 -2.55591825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.56, Y:-5.21, Z:-2.56 [[ 9.90896579e-01 1.30603892e-01 3.26587432e-02 5.95561534e+01] [-1.31061251e-01 9.91298338e-01 1.22700374e-02 -5.21131206e+00] [-3.07720433e-02 -1.64386338e-02 9.99391241e-01 -2.55725508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.59, Y:-5.20, Z:-2.56 [[ 9.90777407e-01 1.31993729e-01 3.06232867e-02 5.95852146e+01] [-1.31874872e-01 9.91248944e-01 -5.87790202e-03 -5.20437335e+00] [-3.11311468e-02 1.78525051e-03 9.99513714e-01 -2.55666796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:-5.20, Z:-2.56 [[ 9.91190665e-01 1.31104892e-01 1.87769021e-02 5.96194916e+01] [-1.30800752e-01 9.91269593e-01 -1.66059262e-02 -5.20206775e+00] [-2.07900902e-02 1.40036061e-02 9.99685786e-01 -2.55646039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73264 meters Centerline goodness [0,1] 0.9998275230148977 Centerline is valid? [True, True] Translation: X:59.64, Y:-5.22, Z:-2.56 [[ 9.90573928e-01 1.32946434e-01 3.29930209e-02 5.96408844e+01] [-1.33537274e-01 9.90908216e-01 1.63922054e-02 -5.22454489e+00] [-3.05137703e-02 -2.06434894e-02 9.99321148e-01 -2.56050426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:-5.21, Z:-2.56 [[ 9.90079994e-01 1.37122101e-01 3.06453096e-02 5.96711017e+01] [-1.36947686e-01 9.90548123e-01 -7.72957131e-03 -5.20963681e+00] [-3.14155490e-02 3.45608968e-03 9.99500435e-01 -2.55734811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.70, Y:-5.21, Z:-2.56 [[ 9.89871000e-01 1.38819968e-01 2.97391823e-02 5.96998245e+01] [-1.38745288e-01 9.90317554e-01 -4.57021292e-03 -5.21334992e+00] [-3.00856711e-02 3.97749834e-04 9.99547245e-01 -2.55797474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:-5.21, Z:-2.56 [[ 9.89724298e-01 1.40309343e-01 2.75518269e-02 5.97296038e+01] [-1.40035302e-01 9.90078025e-01 -1.16455612e-02 -5.20934897e+00] [-2.89124394e-02 7.66766647e-03 9.99552539e-01 -2.56044732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85264 meters Centerline goodness [0,1] 0.9999785917663934 Centerline is valid? [True, True] Translation: X:59.76, Y:-5.21, Z:-2.56 [[ 9.90005267e-01 1.39572391e-01 2.02266996e-02 5.97629804e+01] [-1.39395269e-01 9.90187090e-01 -9.92396813e-03 -5.21347805e+00] [-2.14133288e-02 7.00527448e-03 9.99746166e-01 -2.55825003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.23, Z:-2.56 [[ 9.89249749e-01 1.42009399e-01 3.49036508e-02 5.97833668e+01] [-1.42780070e-01 9.89538639e-01 2.06671978e-02 -5.23342021e+00] [-3.16035747e-02 -2.54285659e-02 9.99176962e-01 -2.56448243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91264 meters Centerline goodness [0,1] 0.999978855221703 Centerline is valid? [True, True] Translation: X:59.82, Y:-5.22, Z:-2.57 [[ 9.89420371e-01 1.41997035e-01 2.97350201e-02 5.98203243e+01] [-1.41756784e-01 9.89850516e-01 -1.00483499e-02 -5.21701540e+00] [-3.08600609e-02 5.72690123e-03 9.99507308e-01 -2.56536489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.23, Z:-2.57 [[ 9.89178625e-01 1.42775663e-01 3.37751140e-02 5.98402467e+01] [-1.43001410e-01 9.89712912e-01 4.35294558e-03 -5.23067908e+00] [-3.28061717e-02 -9.13572966e-03 9.99419979e-01 -2.56740430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972640000000006 meters Centerline goodness [0,1] 0.9999785370879121 Centerline is valid? [True, True] Translation: X:59.88, Y:-5.22, Z:-2.56 [[ 9.90029769e-01 1.39974458e-01 1.57545955e-02 5.98778464e+01] [-1.39476157e-01 9.89794199e-01 -2.92206237e-02 -5.21544654e+00] [-1.96839482e-02 2.67318969e-02 9.99448822e-01 -2.56476676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264000000001 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:59.90, Y:-5.24, Z:-2.57 [[ 9.90326023e-01 1.37572187e-01 1.81179746e-02 5.99038896e+01] [-1.37552128e-01 9.90491730e-01 -2.35461770e-03 -5.23784697e+00] [-1.82696339e-02 -1.60326784e-04 9.99833083e-01 -2.57162003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:-5.25, Z:-2.57 [[ 9.90694005e-01 1.35087666e-01 1.66346047e-02 5.99319613e+01] [-1.35070418e-01 9.90833645e-01 -2.16119503e-03 -5.24624436e+00] [-1.67740768e-02 -1.05760057e-04 9.99859300e-01 -2.57383943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-5.25, Z:-2.58 [[ 9.90798424e-01 1.34325648e-01 1.65862568e-02 5.99593202e+01] [-1.34308403e-01 9.90937239e-01 -2.15437078e-03 -5.25102189e+00] [-1.67253268e-02 -9.31264894e-05 9.99860118e-01 -2.57600975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-5.25, Z:-2.58 [[ 9.90897099e-01 1.33580435e-01 1.67094787e-02 5.99865478e+01] [-1.33562832e-01 9.91037971e-01 -2.17002618e-03 -5.25446126e+00] [-1.68496009e-02 -8.14926517e-05 9.99858032e-01 -2.58222931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.28, Z:-2.58 [[ 9.90410545e-01 1.33668512e-01 3.49239484e-02 6.00063068e+01] [-1.34684596e-01 9.90476802e-01 2.85615799e-02 -5.28025915e+00] [-3.07735769e-02 -3.29914077e-02 9.98981759e-01 -2.58317960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.05, Y:-5.25, Z:-2.57 [[ 9.90916858e-01 1.33817476e-01 1.32914819e-02 6.00477945e+01] [-1.33296531e-01 9.90478249e-01 -3.44219834e-02 -5.24725332e+00] [-1.77711866e-02 3.23376152e-02 9.99319000e-01 -2.57328035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.07, Y:-5.27, Z:-2.58 [[ 9.91034985e-01 1.32498023e-01 1.71444563e-02 6.00734814e+01] [-1.32479390e-01 9.91183267e-01 -2.22305115e-03 -5.26937959e+00] [-1.72878481e-02 -6.81656606e-05 9.99850552e-01 -2.58035462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:-5.27, Z:-2.58 [[ 9.91038256e-01 1.32437829e-01 1.74182787e-02 6.01019565e+01] [-1.32418602e-01 9.91191312e-01 -2.25772438e-03 -5.27438898e+00] [-1.75638546e-02 -6.90128746e-05 9.99845741e-01 -2.57923188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.13, Y:-5.28, Z:-2.58 [[ 9.91038977e-01 1.32284863e-01 1.85056811e-02 6.01298184e+01] [-1.32263148e-01 9.91211738e-01 -2.39788393e-03 -5.27833030e+00] [-1.86602521e-02 -7.12232004e-05 9.99825880e-01 -2.58104540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.16, Y:-5.28, Z:-2.58 [[ 9.91069836e-01 1.32041943e-01 1.85877562e-02 6.01585894e+01] [-1.32020019e-01 9.91244128e-01 -2.40706713e-03 -5.28253365e+00] [-1.87428380e-02 -6.83843069e-05 9.99824335e-01 -2.58117601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.19, Y:-5.29, Z:-2.58 [[ 9.91116360e-01 1.31677358e-01 1.86931856e-02 6.01873064e+01] [-1.31655136e-01 9.91292625e-01 -2.41985526e-03 -5.28666893e+00] [-1.88490572e-02 -6.26957681e-05 9.99822339e-01 -2.57998528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.32, Z:-2.59 [[ 9.90487922e-01 1.31597934e-01 4.01952844e-02 6.02060953e+01] [-1.33208788e-01 9.90262973e-01 4.04309635e-02 -5.31596901e+00] [-3.44832706e-02 -4.54007462e-02 9.98373515e-01 -2.58791086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362640000000006 meters Centerline goodness [0,1] 0.9999786210582576 Centerline is valid? [True, True] Translation: X:60.25, Y:-5.27, Z:-2.57 [[ 9.90903136e-01 1.33828460e-01 1.41745800e-02 6.02501138e+01] [-1.33034761e-01 9.89998841e-01 -4.69472872e-02 -5.26894824e+00] [-2.03157009e-02 4.46345022e-02 9.98796793e-01 -2.57226641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.30, Z:-2.58 [[ 9.90933773e-01 1.32784342e-01 2.04591282e-02 6.02742162e+01] [-1.32758025e-01 9.91144949e-01 -2.64523346e-03 -5.29701433e+00] [-2.06292072e-02 -9.48622945e-05 9.99787191e-01 -2.58110129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.29, Y:-5.32, Z:-2.59 [[ 9.90207487e-01 1.33807683e-01 3.98074910e-02 6.02943032e+01] [-1.35282734e-01 9.90115967e-01 3.69993713e-02 -5.32315499e+00] [-3.44632323e-02 -4.20223207e-02 9.98522113e-01 -2.58712586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.34, Y:-5.28, Z:-2.58 [[ 9.90465715e-01 1.36918862e-01 1.51951378e-02 6.03374148e+01] [-1.36148402e-01 9.89729244e-01 -4.35848261e-02 -5.27589239e+00] [-2.10066570e-02 4.11004822e-02 9.98934167e-01 -2.57514346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:-5.29, Z:-2.59 [[ 9.90164526e-01 1.38468940e-01 2.00141157e-02 6.03631165e+01] [-1.38444975e-01 9.90366754e-01 -2.58476432e-03 -5.29281842e+00] [-2.01792244e-02 -2.11511802e-04 9.99796356e-01 -2.58771563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.32, Z:-2.59 [[ 9.89525414e-01 1.39692068e-01 3.64085247e-02 6.03837254e+01] [-1.40892148e-01 9.89482034e-01 3.27827086e-02 -5.31631344e+00] [-3.14460967e-02 -3.75689985e-02 9.98799136e-01 -2.59205662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542640000000006 meters Centerline goodness [0,1] 0.999957378795951 Centerline is valid? [True, True] Translation: X:60.43, Y:-5.27, Z:-2.58 [[ 9.89584281e-01 1.43198269e-01 1.47379467e-02 6.04254551e+01] [-1.42537709e-01 9.89024208e-01 -3.89116601e-02 -5.26948485e+00] [-2.01482684e-02 3.64056540e-02 9.99133963e-01 -2.58132328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.45, Y:-5.30, Z:-2.59 [[ 9.89673454e-01 1.41387017e-01 2.35831772e-02 6.04488982e+01] [-1.41586605e-01 9.89901043e-01 7.01129047e-03 -5.29906863e+00] [-2.23537062e-02 -1.02779500e-02 9.99697292e-01 -2.58975374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60264000000001 meters Centerline goodness [0,1] 0.9999145061662428 Centerline is valid? [True, True] Translation: X:60.48, Y:-5.29, Z:-2.59 [[ 9.89628075e-01 1.42496453e-01 1.81943234e-02 6.04807231e+01] [-1.42287542e-01 9.89748830e-01 -1.23088725e-02 -5.28776314e+00] [-1.97617810e-02 9.59238020e-03 9.99758700e-01 -2.58966624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63264 meters Centerline goodness [0,1] 0.9999787102680378 Centerline is valid? [True, True] Translation: X:60.51, Y:-5.29, Z:-2.59 [[ 9.89818432e-01 1.41003846e-01 1.94264499e-02 6.05087836e+01] [-1.40981905e-01 9.90009013e-01 -2.50121912e-03 -5.29357974e+00] [-1.95850420e-02 -2.63025132e-04 9.99808160e-01 -2.59163436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.53, Y:-5.32, Z:-2.60 [[ 9.89344669e-01 1.41061587e-01 3.60382445e-02 6.05277861e+01] [-1.42221055e-01 9.89319870e-01 3.19275132e-02 -5.31823013e+00] [-3.11496057e-02 -3.67127121e-02 9.98840267e-01 -2.59748610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.57, Y:-5.28, Z:-2.58 [[ 9.89869687e-01 1.41159482e-01 1.52316455e-02 6.05695995e+01] [-1.40500740e-01 9.89350962e-01 -3.80028312e-02 -5.27781881e+00] [-2.04339031e-02 3.54777932e-02 9.99161539e-01 -2.58450996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:-5.30, Z:-2.59 [[ 9.90171256e-01 1.38482595e-01 1.95819864e-02 6.05956832e+01] [-1.38459867e-01 9.90364844e-01 -2.51828936e-03 -5.29680270e+00] [-1.97420501e-02 -2.17781500e-04 9.99805083e-01 -2.59336397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75264000000001 meters Centerline goodness [0,1] 0.9998714983294783 Centerline is valid? [True, True] Translation: X:60.62, Y:-5.30, Z:-2.59 [[ 9.90262969e-01 1.37817465e-01 1.96366722e-02 6.06242129e+01] [-1.37794498e-01 9.90457623e-01 -2.52436619e-03 -5.29857184e+00] [-1.97971934e-02 -2.06039029e-04 9.99803995e-01 -2.59430611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264000000001 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:60.65, Y:-5.30, Z:-2.59 [[ 9.90400330e-01 1.36802550e-01 1.98052477e-02 6.06531257e+01] [-1.36779003e-01 9.90598318e-01 -2.54507568e-03 -5.30121519e+00] [-1.99672179e-02 -1.88298254e-04 9.99800617e-01 -2.59454459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81264 meters Centerline goodness [0,1] 0.9999785269486794 Centerline is valid? [True, True] Translation: X:60.68, Y:-5.30, Z:-2.60 [[ 9.90410347e-01 1.36730008e-01 1.98053100e-02 6.06803829e+01] [-1.36706457e-01 9.90608333e-01 -2.54459133e-03 -5.30458444e+00] [-1.99672271e-02 -1.87324174e-04 9.99800617e-01 -2.59564083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.71, Y:-5.30, Z:-2.60 [[ 9.90697262e-01 1.34520677e-01 2.05699541e-02 6.07083575e+01] [-1.34494834e-01 9.90910775e-01 -2.64094577e-03 -5.30353001e+00] [-2.07382510e-02 -1.50174823e-04 9.99784928e-01 -2.59735228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872640000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.74, Y:-5.31, Z:-2.60 [[ 9.90920483e-01 1.32819907e-01 2.08679081e-02 6.07376599e+01] [-1.32792925e-01 9.91140181e-01 -2.67962445e-03 -5.30544118e+00] [-2.10389297e-02 -1.15815795e-04 9.99778651e-01 -2.59836194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902640000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.76, Y:-5.31, Z:-2.60 [[ 9.91495056e-01 1.28355517e-01 2.15038368e-02 6.07648594e+01] [-1.28325928e-01 9.91728219e-01 -2.75602412e-03 -5.31014150e+00] [-2.16797127e-02 -2.69155297e-05 9.99764967e-01 -2.60354827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932640000000006 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.79, Y:-5.34, Z:-2.60 [[ 9.91690542e-01 1.24165039e-01 3.36587513e-02 6.07882984e+01] [-1.25199406e-01 9.91659947e-01 3.05885220e-02 -5.33506575e+00] [-2.95800105e-02 -3.45484037e-02 9.98965180e-01 -2.60459567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-5.30, Z:-2.59 [[ 9.92118976e-01 1.24195350e-01 1.65967608e-02 6.08253592e+01] [-1.23522296e-01 9.91659411e-01 -3.67947713e-02 -5.30147990e+00] [-2.10280735e-02 3.44547208e-02 9.99185014e-01 -2.59440416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.85, Y:-5.33, Z:-2.60 [[ 9.92538025e-01 1.20178957e-01 2.06224775e-02 6.08497934e+01] [-1.20150043e-01 9.92752234e-01 -2.63987717e-03 -5.32544689e+00] [-2.07902683e-02 1.42386902e-04 9.99783849e-01 -2.60380387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:-5.33, Z:-2.61 [[ 9.93153214e-01 1.15127261e-01 1.98092851e-02 6.08786994e+01] [-1.15099635e-01 9.93350723e-01 -2.53295383e-03 -5.33342314e+00] [-1.99691797e-02 2.35569761e-04 9.99800568e-01 -2.60582946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.91, Y:-5.34, Z:-2.61 [[ 9.93406277e-01 1.12934157e-01 1.97444800e-02 6.09060569e+01] [-1.12906274e-01 9.93602435e-01 -2.52489915e-03 -5.34125900e+00] [-1.99033108e-02 2.78975000e-04 9.99801871e-01 -2.60923139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters Centerline goodness [0,1] 0.9999150364281314 Centerline is valid? [True, True] Translation: X:60.93, Y:-5.35, Z:-2.61 [[ 9.93860325e-01 1.08840343e-01 1.98855088e-02 6.09348584e+01] [-1.08811278e-01 9.94059178e-01 -2.54105800e-03 -5.34915143e+00] [-2.00439421e-02 3.61689112e-04 9.99799035e-01 -2.60931245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.96, Y:-5.35, Z:-2.61 [[ 9.94033938e-01 1.07197527e-01 2.01300898e-02 6.09636919e+01] [-1.07167405e-01 9.94237663e-01 -2.57232317e-03 -5.35241660e+00] [-2.02898401e-02 3.99687038e-04 9.99794060e-01 -2.60763901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:60.99, Y:-5.36, Z:-2.61 [[ 9.94218002e-01 1.05449392e-01 2.02728918e-02 6.09923284e+01] [-1.05418498e-01 9.94424574e-01 -2.58959586e-03 -5.35728622e+00] [-2.04329331e-02 4.37485024e-04 9.99791130e-01 -2.60735083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.02, Y:-5.37, Z:-2.61 [[ 9.94514918e-01 1.02474891e-01 2.09517267e-02 6.10205638e+01] [-1.02441256e-01 9.94735458e-01 -2.67520830e-03 -5.36500527e+00] [-2.11155672e-02 5.14213356e-04 9.99776909e-01 -2.60730888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters Centerline goodness [0,1] 0.9998500781735238 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.37, Z:-2.61 [[ 9.94597002e-01 1.01533949e-01 2.16254702e-02 6.10474197e+01] [-1.01497914e-01 9.94831923e-01 -2.76031331e-03 -5.37366743e+00] [-2.17939736e-02 5.50459222e-04 9.99762332e-01 -2.61077923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-5.38, Z:-2.61 [[ 9.94697168e-01 1.00719495e-01 2.08116924e-02 6.10760694e+01] [-1.00685972e-01 9.94914713e-01 -2.65503213e-03 -5.37767078e+00] [-2.09732724e-02 5.45507460e-04 9.99779888e-01 -2.61063093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26264 meters Centerline goodness [0,1] 0.9997638268636208 Centerline is valid? [True, True] Translation: X:61.10, Y:-5.39, Z:-2.61 [[ 9.94685432e-01 1.00538501e-01 2.22013553e-02 6.11027575e+01] [-1.00500328e-01 9.94932996e-01 -2.83135466e-03 -5.38771834e+00] [-2.23735212e-02 5.85063735e-04 9.99749510e-01 -2.61181521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29264 meters Centerline goodness [0,1] 0.9998061973772046 Centerline is valid? [True, True] Translation: X:61.13, Y:-5.39, Z:-2.61 [[ 9.94643463e-01 1.00872652e-01 2.25630122e-02 6.11297263e+01] [-1.00833346e-01 9.94899173e-01 -2.87592489e-03 -5.39273064e+00] [-2.27380244e-02 5.85415873e-04 9.99741286e-01 -2.61293319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32264 meters Centerline goodness [0,1] 0.9995927989712816 Centerline is valid? [True, True] Translation: X:61.16, Y:-5.41, Z:-2.62 [[ 9.94497208e-01 1.02279087e-01 2.26780038e-02 6.11562979e+01] [-1.02239776e-01 9.94755588e-01 -2.88918044e-03 -5.40556422e+00] [-2.28545737e-02 5.54687839e-04 9.99738646e-01 -2.61863863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35264000000001 meters Centerline goodness [0,1] 0.999978602760244 Centerline is valid? [True, True] Translation: X:61.19, Y:-5.40, Z:-2.62 [[ 9.94448444e-01 1.02926248e-01 2.18741600e-02 6.11853034e+01] [-1.02889865e-01 9.94688855e-01 -2.78530268e-03 -5.40451751e+00] [-2.20446639e-02 5.19210555e-04 9.99756852e-01 -2.61523905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.21, Y:-5.41, Z:-2.62 [[ 9.94369001e-01 1.03729109e-01 2.16924169e-02 6.12131142e+01] [-1.03693540e-01 9.94605462e-01 -2.76114879e-03 -5.41067957e+00] [-2.18618079e-02 4.96237254e-04 9.99760879e-01 -2.61657830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41264000000001 meters Centerline goodness [0,1] 0.9999350635295137 Centerline is valid? [True, True] Translation: X:61.24, Y:-5.42, Z:-2.62 [[ 9.94304699e-01 1.04278295e-01 2.20046186e-02 6.12398276e+01] [-1.04241850e-01 9.94548036e-01 -2.80001078e-03 -5.41876421e+00] [-2.21766305e-02 4.90261741e-04 9.99753948e-01 -2.61969051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264000000001 meters Centerline goodness [0,1] 0.9998502737850787 Centerline is valid? [True, True] Translation: X:61.27, Y:-5.43, Z:-2.62 [[ 9.94109194e-01 1.06315628e-01 2.10688618e-02 6.12662918e+01] [-1.06282698e-01 9.94332342e-01 -2.67979268e-03 -5.42770403e+00] [-2.12343545e-02 4.24751067e-04 9.99774435e-01 -2.62360895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47264 meters Centerline goodness [0,1] 0.9997854077253219 Centerline is valid? [True, True] Translation: X:61.30, Y:-5.43, Z:-2.62 [[ 9.93959191e-01 1.07778636e-01 2.07096941e-02 6.12952856e+01] [-1.07747172e-01 9.94174842e-01 -2.63241561e-03 -5.43195523e+00] [-2.08727750e-02 3.85102726e-04 9.99782066e-01 -2.62490075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters Centerline goodness [0,1] 0.999913552765231 Centerline is valid? [True, True] Translation: X:61.33, Y:-5.43, Z:-2.62 [[ 9.93314880e-01 1.13477271e-01 2.11768494e-02 6.13256669e+01] [-1.13445691e-01 9.93540556e-01 -2.69058194e-03 -5.43073828e+00] [-2.13453786e-02 2.70172759e-04 9.99772125e-01 -2.62267457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.35, Y:-5.43, Z:-2.62 [[ 9.92924887e-01 1.16808028e-01 2.13554250e-02 6.13534863e+01] [-1.16776669e-01 9.93154492e-01 -2.71389835e-03 -5.43141244e+00] [-2.15262414e-02 2.00881807e-04 9.99768263e-01 -2.62334706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters Centerline goodness [0,1] 0.9998711672249421 Centerline is valid? [True, True] Translation: X:61.38, Y:-5.43, Z:-2.62 [[ 9.91966509e-01 1.24537769e-01 2.21988602e-02 6.13824763e+01] [-1.24505855e-01 9.92214867e-01 -2.81940663e-03 -5.43002190e+00] [-2.23771618e-02 3.28688862e-05 9.99749599e-01 -2.62452494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:-5.43, Z:-2.63 [[ 9.91465069e-01 1.28526477e-01 2.18623186e-02 6.14108882e+01] [-1.28496511e-01 9.91706076e-01 -2.77583428e-03 -5.42932807e+00] [-2.20377624e-02 -5.70889326e-05 9.99757137e-01 -2.62530457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:-5.43, Z:-2.62 [[ 9.90985903e-01 1.31995164e-01 2.28957795e-02 6.14391598e+01] [-1.31963253e-01 9.91250350e-01 -2.90573681e-03 -5.42833196e+00] [-2.30789926e-02 -1.41857320e-04 9.99733635e-01 -2.62471444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-5.43, Z:-2.62 [[ 9.90116664e-01 1.38153381e-01 2.41378202e-02 6.14689455e+01] [-1.38119796e-01 9.90410799e-01 -3.06110435e-03 -5.42515686e+00] [-2.43292597e-02 -3.03060386e-04 9.99703954e-01 -2.62353020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-5.43, Z:-2.63 [[ 9.89820298e-01 1.40183262e-01 2.45851774e-02 6.14971546e+01] [-1.40149073e-01 9.90125509e-01 -3.11676263e-03 -5.42562181e+00] [-2.47793292e-02 -3.60554919e-04 9.99692880e-01 -2.62513356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71264000000001 meters Centerline goodness [0,1] 0.9999147376049793 Centerline is valid? [True, True] Translation: X:61.53, Y:-5.42, Z:-2.63 [[ 9.89441520e-01 1.42662136e-01 2.55537344e-02 6.15257660e+01] [-1.42626070e-01 9.89771348e-01 -3.23785378e-03 -5.42264416e+00] [-2.57542733e-02 -4.40961727e-04 9.99668206e-01 -2.62691606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264000000001 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:61.55, Y:-5.43, Z:-2.63 [[ 9.89414836e-01 1.42873135e-01 2.54076573e-02 6.15541617e+01] [-1.42837593e-01 9.89740910e-01 -3.21762489e-03 -5.42620509e+00] [-2.56067100e-02 -4.45602816e-04 9.99671995e-01 -2.62855608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77264000000001 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:61.58, Y:-5.43, Z:-2.63 [[ 9.89490172e-01 1.42371773e-01 2.52878895e-02 6.15823174e+01] [-1.42336433e-01 9.89813160e-01 -3.20126664e-03 -5.43144688e+00] [-2.54860558e-02 -4.31766098e-04 9.99675084e-01 -2.63103226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264000000001 meters Centerline goodness [0,1] 0.9999137670848963 Centerline is valid? [True, True] Translation: X:61.61, Y:-5.44, Z:-2.63 [[ 9.89615455e-01 1.41491626e-01 2.53252901e-02 6.16106980e+01] [-1.41455923e-01 9.89939367e-01 -3.20480477e-03 -5.43881542e+00] [-2.55239547e-02 -4.10887955e-04 9.99674126e-01 -2.63206631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83264 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:61.64, Y:-5.44, Z:-2.63 [[ 9.89893954e-01 1.39526994e-01 2.53412344e-02 6.16382505e+01] [-1.39490630e-01 9.90218202e-01 -3.20573870e-03 -5.44496212e+00] [-2.55406386e-02 -3.61523393e-04 9.99673719e-01 -2.63442339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:61.67, Y:-5.45, Z:-2.64 [[ 9.90052295e-01 1.38513354e-01 2.47083671e-02 6.16664867e+01] [-1.38478510e-01 9.90360512e-01 -3.12403207e-03 -5.44867539e+00] [-2.49029113e-02 -3.28622732e-04 9.99689820e-01 -2.63516277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.69, Y:-5.46, Z:-2.64 [[ 9.90404692e-01 1.36020777e-01 2.44314161e-02 6.16948496e+01] [-1.35985980e-01 9.90705950e-01 -3.08785214e-03 -5.45516514e+00] [-2.46243613e-02 -2.64106812e-04 9.99696740e-01 -2.63556117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.46, Z:-2.64 [[ 9.90580785e-01 1.34651277e-01 2.48745432e-02 6.17222401e+01] [-1.34614791e-01 9.90893021e-01 -3.14317881e-03 -5.46027300e+00] [-2.50712443e-02 -2.34908906e-04 9.99685639e-01 -2.63654252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:-5.47, Z:-2.64 [[ 9.90731241e-01 1.33451916e-01 2.53415583e-02 6.17495189e+01] [-1.33413722e-01 9.91055267e-01 -3.19954306e-03 -5.46552192e+00] [-2.55418700e-02 -2.11024346e-04 9.99673731e-01 -2.63748491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.78, Y:-5.47, Z:-2.64 [[ 9.90945274e-01 1.31822185e-01 2.55024430e-02 6.17783308e+01] [-1.31783014e-01 9.91273364e-01 -3.21797198e-03 -5.47179525e+00] [-2.57040925e-02 -1.71954672e-04 9.99669580e-01 -2.63767208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.81, Y:-5.48, Z:-2.64 [[ 9.91005031e-01 1.31264699e-01 2.60501095e-02 6.18073078e+01] [-1.31223656e-01 9.91347342e-01 -3.28627524e-03 -5.47554240e+00] [-2.62560788e-02 -1.61675310e-04 9.99655237e-01 -2.63771022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.84, Y:-5.48, Z:-2.63 [[ 9.90979736e-01 1.30955123e-01 2.84590636e-02 6.18359717e+01] [-1.30906052e-01 9.91388283e-01 -3.58865110e-03 -5.47818774e+00] [-2.86839345e-02 -1.69183154e-04 9.99588517e-01 -2.63463801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.48, Z:-2.64 [[ 9.91002288e-01 1.30823934e-01 2.82765640e-02 6.18628937e+01] [-1.30775464e-01 9.91405604e-01 -3.56468253e-03 -5.48130666e+00] [-2.84998898e-02 -1.65272245e-04 9.99593782e-01 -2.63724165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.89, Y:-5.49, Z:-2.64 [[ 9.91105406e-01 1.30170732e-01 2.76704620e-02 6.18913397e+01] [-1.30124139e-01 9.91491583e-01 -3.48557225e-03 -5.48806563e+00] [-2.78887496e-02 -1.46025548e-04 9.99611023e-01 -2.63890789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13264000000001 meters Centerline goodness [0,1] 0.9998285028297033 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.49, Z:-2.64 [[ 9.91152332e-01 1.29551560e-01 2.88694850e-02 6.19201863e+01] [-1.29500625e-01 9.91572678e-01 -3.63501913e-03 -5.49329755e+00] [-2.90971150e-02 -1.35758656e-04 9.99576580e-01 -2.63953187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.95, Y:-5.50, Z:-2.64 [[ 9.91151700e-01 1.29328258e-01 2.98748844e-02 6.19484480e+01] [-1.29273632e-01 9.91601827e-01 -3.76092260e-03 -5.49567354e+00] [-3.01103835e-02 -1.34389982e-04 9.99546571e-01 -2.63831150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.98, Y:-5.50, Z:-2.64 [[ 9.91394081e-01 1.27484726e-01 2.97560242e-02 6.19756583e+01] [-1.27429788e-01 9.91840531e-01 -3.74315322e-03 -5.50106294e+00] [-2.99904257e-02 -8.08638954e-05 9.99550183e-01 -2.64020662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters Centerline goodness [0,1] 0.9998713605763047 Centerline is valid? [True, True] Translation: X:62.00, Y:-5.51, Z:-2.64 [[ 9.91582717e-01 1.25911092e-01 3.01680689e-02 6.20041710e+01] [-1.25853953e-01 9.92041529e-01 -3.79301802e-03 -5.50823032e+00] [-3.04055603e-02 -3.56796162e-05 9.99537643e-01 -2.64162449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:-5.51, Z:-2.64 [[ 9.91807820e-01 1.24189120e-01 2.99050297e-02 6.20310285e+01] [-1.24132228e-01 9.92258566e-01 -3.75867827e-03 -5.51440272e+00] [-3.01403088e-02 1.57085356e-05 9.99545678e-01 -2.64168666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-5.53, Z:-2.64 [[ 9.92254193e-01 1.20512840e-01 3.01375534e-02 6.20589216e+01] [-1.20453426e-01 9.92711760e-01 -3.78587194e-03 -5.52658423e+00] [-3.03741498e-02 1.26375764e-04 9.99538591e-01 -2.64172248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.09, Y:-5.54, Z:-2.64 [[ 9.92523970e-01 1.18451687e-01 2.94171060e-02 6.20869257e+01] [-1.18394216e-01 9.92959800e-01 -3.69399496e-03 -5.53511674e+00] [-2.96475636e-02 1.83563355e-04 9.99560398e-01 -2.64372595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.11, Y:-5.55, Z:-2.65 [[ 9.92911376e-01 1.15193311e-01 2.92830999e-02 6.21130097e+01] [-1.15134983e-01 9.93343054e-01 -3.67587741e-03 -5.54777952e+00] [-2.95116003e-02 2.78311282e-04 9.99564399e-01 -2.64662544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37264 meters Centerline goodness [0,1] 0.9999572457726758 Centerline is valid? [True, True] Translation: X:62.14, Y:-5.55, Z:-2.65 [[ 9.93069156e-01 1.13779855e-01 2.94583906e-02 6.21414103e+01] [-1.13720262e-01 9.93505935e-01 -3.69596881e-03 -5.55491544e+00] [-2.96876127e-02 3.20336742e-04 9.99559174e-01 -2.64846654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40264 meters Centerline goodness [0,1] 0.9999132019789949 Centerline is valid? [True, True] Translation: X:62.17, Y:-5.56, Z:-2.65 [[ 9.93148733e-01 1.12909096e-01 3.01186077e-02 6.21696278e+01] [-1.12846445e-01 9.93605260e-01 -3.77731052e-03 -5.56073250e+00] [-3.03524997e-02 3.52653354e-04 9.99539195e-01 -2.64923262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.20, Y:-5.57, Z:-2.65 [[ 9.93223827e-01 1.12197505e-01 3.03009650e-02 6.21983926e+01] [-1.12133811e-01 9.93685855e-01 -3.79857818e-03 -5.56610888e+00] [-3.05358313e-02 3.75075683e-04 9.99533602e-01 -2.64820111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.23, Y:-5.58, Z:-2.65 [[ 9.93334318e-01 1.11111996e-01 3.06766599e-02 6.22256045e+01] [-1.11046231e-01 9.93807806e-01 -3.84452998e-03 -5.57666812e+00] [-3.09138775e-02 4.12376112e-04 9.99521967e-01 -2.65029925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.25, Y:-5.58, Z:-2.65 [[ 9.93390457e-01 1.10731057e-01 3.02329852e-02 6.22545840e+01] [-1.10667041e-01 9.93850320e-01 -3.78773469e-03 -5.58244402e+00] [-3.04664819e-02 4.16904482e-04 9.99535702e-01 -2.65142931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.28, Y:-5.59, Z:-2.65 [[ 9.93438325e-01 1.10462562e-01 2.96364112e-02 6.22827786e+01] [-1.10400959e-01 9.93880199e-01 -3.71194855e-03 -5.59204691e+00] [-2.98650736e-02 4.15703719e-04 9.99553853e-01 -2.65461087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.31, Y:-5.60, Z:-2.66 [[ 9.93458112e-01 1.10296132e-01 2.95929608e-02 6.23118672e+01] [-1.10234623e-01 9.93898680e-01 -3.70696604e-03 -5.59925083e+00] [-2.98212687e-02 4.20546612e-04 9.99555159e-01 -2.65672141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.34, Y:-5.60, Z:-2.66 [[ 9.93429511e-01 1.10463549e-01 2.99267765e-02 6.23409668e+01] [-1.10400727e-01 9.93880087e-01 -3.74852919e-03 -5.60411061e+00] [-3.01577031e-02 4.19961622e-04 9.99545065e-01 -2.65690001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61264 meters Centerline goodness [0,1] 0.9998707565052559 Centerline is valid? [True, True] Translation: X:62.37, Y:-5.61, Z:-2.66 [[ 9.93329169e-01 1.11301265e-01 3.01527705e-02 6.23708578e+01] [-1.11237906e-01 9.93786633e-01 -3.77586617e-03 -5.61199347e+00] [-3.03856789e-02 3.96546969e-04 9.99538170e-01 -2.65919990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.40, Y:-5.62, Z:-2.66 [[ 9.93172151e-01 1.12701188e-01 3.01250693e-02 6.23997829e+01] [-1.12638586e-01 9.93628863e-01 -3.77251067e-03 -5.61848301e+00] [-3.03583048e-02 3.53507345e-04 9.99539018e-01 -2.66038954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.43, Y:-5.62, Z:-2.66 [[ 9.93174698e-01 1.12678734e-01 3.01251012e-02 6.24287051e+01] [-1.12616129e-01 9.93631409e-01 -3.77225594e-03 -5.62205932e+00] [-3.03582998e-02 3.53936880e-04 9.99539018e-01 -2.66155240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.46, Y:-5.63, Z:-2.66 [[ 9.92816047e-01 1.15749546e-01 3.03041274e-02 6.24592058e+01] [-1.15687652e-01 9.93278397e-01 -3.79375951e-03 -5.62535357e+00] [-3.05395611e-02 2.60691968e-04 9.99533525e-01 -2.66036693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.49, Y:-5.63, Z:-2.66 [[ 9.92576847e-01 1.17798937e-01 3.02425809e-02 6.24880691e+01] [-1.17738241e-01 9.93037447e-01 -3.78617257e-03 -5.62964921e+00] [-3.04780224e-02 1.97358955e-04 9.99535418e-01 -2.66204910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.52, Y:-5.63, Z:-2.66 [[ 9.92315282e-01 1.20009292e-01 3.01355573e-02 6.25176090e+01] [-1.19950052e-01 9.92772760e-01 -3.77250439e-03 -5.63225427e+00] [-3.03704959e-02 1.28752107e-04 9.99538702e-01 -2.66379843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.55, Y:-5.64, Z:-2.66 [[ 9.91858225e-01 1.23605535e-01 3.06420170e-02 6.25475409e+01] [-1.23546025e-01 9.92331432e-01 -3.83514117e-03 -5.63527643e+00] [-3.08810813e-02 1.82169235e-05 9.99523066e-01 -2.66492694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.58, Y:-5.64, Z:-2.67 [[ 9.91620172e-01 1.25448912e-01 3.08545805e-02 6.25757044e+01] [-1.25389489e-01 9.92100080e-01 -3.86099869e-03 -5.63764900e+00] [-3.10951898e-02 -4.01958892e-05 9.99516427e-01 -2.66624940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.60, Y:-5.64, Z:-2.67 [[ 9.91384564e-01 1.27191888e-01 3.12868833e-02 6.26047937e+01] [-1.27131674e-01 9.91878125e-01 -3.91446094e-03 -5.63967169e+00] [-3.15306628e-02 -9.68177075e-05 9.99502780e-01 -2.66620265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.63, Y:-5.64, Z:-2.67 [[ 9.90967979e-01 1.30313652e-01 3.16356790e-02 6.26323744e+01] [-1.30253724e-01 9.91472800e-01 -3.95664434e-03 -5.64092983e+00] [-3.18815200e-02 -1.99757169e-04 9.99491635e-01 -2.66731463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-5.64, Z:-2.67 [[ 9.90823293e-01 1.31411052e-01 3.16281015e-02 6.26604058e+01] [-1.31351772e-01 9.91327937e-01 -3.95383663e-03 -5.64345102e+00] [-3.18733984e-02 -2.36853734e-04 9.99491886e-01 -2.66868583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.69, Y:-5.65, Z:-2.67 [[ 9.90695537e-01 1.32387227e-01 3.15590864e-02 6.26885076e+01] [-1.32328770e-01 9.91198037e-01 -3.94302224e-03 -5.64867559e+00] [-3.18033102e-02 -2.69840542e-04 9.99494110e-01 -2.66971362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97264 meters Centerline goodness [0,1] 0.9998718304744408 Centerline is valid? [True, True] Translation: X:62.72, Y:-5.65, Z:-2.67 [[ 9.90716589e-01 1.32206029e-01 3.16576540e-02 6.27170488e+01] [-1.32147163e-01 9.91222223e-01 -3.95376775e-03 -5.65342613e+00] [-3.19024821e-02 -2.66405857e-04 9.99490951e-01 -2.67123704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-5.66, Z:-2.67 [[ 9.90726322e-01 1.32053779e-01 3.19867725e-02 6.27448735e+01] [-1.31993652e-01 9.91242518e-01 -3.99336770e-03 -5.65786943e+00] [-3.22339882e-02 -2.65716418e-04 9.99480315e-01 -2.67193315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03264 meters Centerline goodness [0,1] 0.9997867849299589 Centerline is valid? [True, True] Translation: X:62.77, Y:-5.66, Z:-2.67 [[ 9.90858763e-01 1.30874936e-01 3.27209699e-02 6.27728853e+01] [-1.30811445e-01 9.91398858e-01 -4.08287869e-03 -5.66414600e+00] [-3.29738787e-02 -2.34721232e-04 9.99456186e-01 -2.67281125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:62.80, Y:-5.67, Z:-2.67 [[ 9.90960340e-01 1.29941670e-01 3.33581527e-02 6.28011156e+01] [-1.29875209e-01 9.91521618e-01 -4.16072512e-03 -5.66981353e+00] [-3.36159811e-02 -2.09283472e-04 9.99434801e-01 -2.67275400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:-5.68, Z:-2.67 [[ 9.91289813e-01 1.27490974e-01 3.30235911e-02 6.28295110e+01] [-1.27424541e-01 9.91839723e-01 -4.11713623e-03 -5.67947601e+00] [-3.32790072e-02 -1.26740745e-04 9.99446092e-01 -2.67462037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:62.86, Y:-5.69, Z:-2.68 [[ 9.91526872e-01 1.25787415e-01 3.24343763e-02 6.28582435e+01] [-1.25722434e-01 9.92057217e-01 -4.04328627e-03 -5.68669492e+00] [-3.26853516e-02 -6.87017344e-05 9.99465689e-01 -2.67778284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15264 meters Centerline goodness [0,1] 0.9998066761180564 Centerline is valid? [True, True] Translation: X:62.89, Y:-5.69, Z:-2.68 [[ 9.91793257e-01 1.23863663e-01 3.16848217e-02 6.28881339e+01] [-1.23800684e-01 9.92299246e-01 -3.94937889e-03 -5.69481788e+00] [-3.19300092e-02 -5.63526366e-06 9.99490107e-01 -2.68021331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:-5.71, Z:-2.68 [[ 9.92239689e-01 1.20243772e-01 3.16517742e-02 6.29173676e+01] [-1.20179086e-01 9.92744390e-01 -3.94516196e-03 -5.70692839e+00] [-3.18965024e-02 1.10664989e-04 9.99491171e-01 -2.68113733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21264000000001 meters Centerline goodness [0,1] 0.9998717948717949 Centerline is valid? [True, True] Translation: X:62.95, Y:-5.72, Z:-2.68 [[ 9.92409023e-01 1.18927843e-01 3.13129085e-02 6.29474402e+01] [-1.18863906e-01 9.92902888e-01 -3.90210976e-03 -5.71604942e+00] [-3.15547468e-02 1.50514341e-04 9.99502014e-01 -2.68448132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.98, Y:-5.72, Z:-2.68 [[ 9.92490721e-01 1.18065054e-01 3.19814159e-02 6.29783393e+01] [-1.17997709e-01 9.93005845e-01 -3.99159712e-03 -5.72267219e+00] [-3.22290010e-02 1.87889296e-04 9.99480493e-01 -2.68364136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.01, Y:-5.73, Z:-2.69 [[ 9.92553120e-01 1.17639614e-01 3.16105216e-02 6.30098576e+01] [-1.17573620e-01 9.93056334e-01 -3.94491166e-03 -5.73169326e+00] [-3.18551066e-02 1.98970927e-04 9.99492478e-01 -2.68595486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.04, Y:-5.74, Z:-2.69 [[ 9.92485618e-01 1.18225019e-01 3.15458790e-02 6.30415115e+01] [-1.18159423e-01 9.92986813e-01 -3.94207050e-03 -5.73729042e+00] [-3.17906932e-02 1.85005406e-04 9.99494531e-01 -2.68714297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.07, Y:-5.74, Z:-2.69 [[ 9.92197711e-01 1.20528023e-01 3.18857136e-02 6.30719806e+01] [-1.20462018e-01 9.92709918e-01 -3.99004892e-03 -5.74191439e+00] [-3.21341769e-02 1.17899997e-04 9.99483557e-01 -2.68828349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.10, Y:-5.74, Z:-2.69 [[ 9.91985332e-01 1.22395371e-01 3.13763181e-02 6.31030436e+01] [-1.22332242e-01 9.92481420e-01 -3.93106977e-03 -5.74487081e+00] [-3.16215575e-02 6.12282130e-05 9.99499912e-01 -2.69079137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.13, Y:-5.75, Z:-2.69 [[ 9.91797216e-01 1.24103672e-01 3.06032782e-02 6.31347552e+01] [-1.24044251e-01 9.92269257e-01 -3.83994540e-03 -5.74704775e+00] [-3.08432435e-02 1.22864187e-05 9.99524234e-01 -2.69320276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.17, Y:-5.75, Z:-2.70 [[ 9.91350535e-01 1.27851023e-01 2.96349819e-02 6.31652329e+01] [-1.27796950e-01 9.91793379e-01 -3.71935156e-03 -5.74662084e+00] [-2.98673017e-02 -1.00079131e-04 9.99553868e-01 -2.69691456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.20, Y:-5.75, Z:-2.70 [[ 9.91146855e-01 1.29516386e-01 2.92133026e-02 6.31957933e+01] [-1.29464565e-01 9.91577271e-01 -3.66642852e-03 -5.75014469e+00] [-2.94421094e-02 -1.48118410e-04 9.99566476e-01 -2.69688583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.23, Y:-5.75, Z:-2.70 [[ 9.90902756e-01 1.31428518e-01 2.89529345e-02 6.32250498e+01] [-1.31378428e-01 9.91325629e-01 -3.63388688e-03 -5.75116327e+00] [-2.91793824e-02 -2.02962510e-04 9.99574171e-01 -2.70076883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.25, Y:-5.75, Z:-2.70 [[ 9.90468835e-01 1.34655568e-01 2.89717840e-02 6.32547237e+01] [-1.34606800e-01 9.90892420e-01 -3.63600355e-03 -5.75249100e+00] [-2.91975293e-02 -2.98450947e-04 9.99573617e-01 -2.70191130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.28, Y:-5.76, Z:-2.70 [[ 9.90327623e-01 1.35719103e-01 2.88361637e-02 6.32839605e+01] [-1.35671261e-01 9.90747302e-01 -3.61828944e-03 -5.75618012e+00] [-2.90604224e-02 -3.28946709e-04 9.99577603e-01 -2.70234090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.31, Y:-5.76, Z:-2.70 [[ 9.90113109e-01 1.37168610e-01 2.93394651e-02 6.33122360e+01] [-1.37119740e-01 9.90547641e-01 -3.68073051e-03 -5.75945505e+00] [-2.95670186e-02 -3.78680309e-04 9.99562728e-01 -2.70485577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264000000001 meters Centerline goodness [0,1] 0.9999786004707897 Centerline is valid? [True, True] Translation: X:63.34, Y:-5.77, Z:-2.71 [[ 9.90159475e-01 1.36920592e-01 2.89303749e-02 6.33406726e+01] [-1.36872994e-01 9.90581959e-01 -3.62856601e-03 -5.76564528e+00] [-2.91547329e-02 -3.66928030e-04 9.99574843e-01 -2.70711265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.37, Y:-5.77, Z:-2.71 [[ 9.90213213e-01 1.36437088e-01 2.93719965e-02 6.33701608e+01] [-1.36387841e-01 9.90648672e-01 -3.68304572e-03 -5.77320442e+00] [-2.95998334e-02 -3.58982646e-04 9.99561764e-01 -2.70628930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.40, Y:-5.78, Z:-2.71 [[ 9.90255293e-01 1.36035002e-01 2.98149918e-02 6.33992238e+01] [-1.35984094e-01 9.90703969e-01 -3.73796527e-03 -5.77790908e+00] [-3.00463248e-02 -3.52824757e-04 9.99548445e-01 -2.70766027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.43, Y:-5.79, Z:-2.71 [[ 9.90322415e-01 1.35490717e-01 3.00629316e-02 6.34290276e+01] [-1.35438692e-01 9.90778558e-01 -3.76956930e-03 -5.78547409e+00] [-3.02964497e-02 -3.38595172e-04 9.99540900e-01 -2.70732141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.46, Y:-5.79, Z:-2.71 [[ 9.90308266e-01 1.35581562e-01 3.01194084e-02 6.34578104e+01] [-1.35529380e-01 9.90766129e-01 -3.77676850e-03 -5.78942659e+00] [-3.03533499e-02 -3.41899678e-04 9.99539172e-01 -2.70919497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:-5.80, Z:-2.71 [[ 9.90148873e-01 1.36470034e-01 3.13231242e-02 6.34882117e+01] [-1.36414058e-01 9.90644125e-01 -3.92719360e-03 -5.79658274e+00] [-3.15660132e-02 -3.84408154e-04 9.99501595e-01 -2.70770530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters Centerline goodness [0,1] 0.9999785789259473 Centerline is valid? [True, True] Translation: X:63.52, Y:-5.80, Z:-2.71 [[ 9.89988197e-01 1.37582878e-01 3.15328777e-02 6.35185151e+01] [-1.37526713e-01 9.90490168e-01 -3.95349182e-03 -5.80109003e+00] [-3.17769381e-02 -4.22702784e-04 9.99494896e-01 -2.70866051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81264 meters Centerline goodness [0,1] 0.9997003681191678 Centerline is valid? [True, True] Translation: X:63.55, Y:-5.80, Z:-2.71 [[ 9.89563902e-01 1.40896539e-01 3.01902017e-02 6.35491467e+01] [-1.40846597e-01 9.90024196e-01 -3.78515138e-03 -5.80314025e+00] [-3.04223449e-02 -5.06537993e-04 9.99537005e-01 -2.71108949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.58, Y:-5.80, Z:-2.71 [[ 9.89139726e-01 1.43545206e-01 3.15812769e-02 6.35793220e+01] [-1.43491897e-01 9.89643570e-01 -3.95975813e-03 -5.80196458e+00] [-3.18226119e-02 -6.14903264e-04 9.99493343e-01 -2.71049492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.61, Y:-5.80, Z:-2.71 [[ 9.88736260e-01 1.46255292e-01 3.17804769e-02 6.36089958e+01] [-1.46202729e-01 9.89246627e-01 -3.98403539e-03 -5.80087164e+00] [-3.20214159e-02 -7.07232208e-04 9.99486933e-01 -2.71132422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90264 meters Centerline goodness [0,1] 0.9999572740867336 Centerline is valid? [True, True] Translation: X:63.64, Y:-5.80, Z:-2.71 [[ 9.88302008e-01 1.49189131e-01 3.16503525e-02 6.36379210e+01] [-1.49138535e-01 9.88808355e-01 -3.96664536e-03 -5.79697070e+00] [-3.18879133e-02 -8.00043635e-04 9.99491131e-01 -2.71350690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93264 meters Centerline goodness [0,1] 0.9997873788059194 Centerline is valid? [True, True] Translation: X:63.67, Y:-5.79, Z:-2.72 [[ 9.87591146e-01 1.54068937e-01 3.04383230e-02 6.36674458e+01] [-1.54024507e-01 9.88059670e-01 -3.81308039e-03 -5.79162670e+00] [-3.06623566e-02 -9.22483277e-04 9.99529374e-01 -2.71676790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264000000001 meters Centerline goodness [0,1] 0.9999147503250144 Centerline is valid? [True, True] Translation: X:63.70, Y:-5.79, Z:-2.72 [[ 9.87011914e-01 1.57555209e-01 3.13662008e-02 6.36974458e+01] [-1.57509807e-01 9.87509608e-01 -3.92865020e-03 -5.78877582e+00] [-3.15934039e-02 -1.06285968e-03 9.99500239e-01 -2.71570206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99264000000001 meters Centerline goodness [0,1] 0.9998716000770399 Centerline is valid? [True, True] Translation: X:63.73, Y:-5.79, Z:-2.72 [[ 9.86877536e-01 1.58384877e-01 3.14159157e-02 6.37257208e+01] [-1.58339780e-01 9.87376847e-01 -3.93394560e-03 -5.78569928e+00] [-3.16424253e-02 -1.09206666e-03 9.99498656e-01 -2.71758113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264000000001 meters Centerline goodness [0,1] 0.9998934674223378 Centerline is valid? [True, True] Translation: X:63.75, Y:-5.79, Z:-2.72 [[ 9.86784259e-01 1.58922845e-01 3.16284126e-02 6.37537778e+01] [-1.58877472e-01 9.87290372e-01 -3.95864291e-03 -5.78968291e+00] [-3.18555460e-02 -1.11871574e-03 9.99491857e-01 -2.71850237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05264000000001 meters Centerline goodness [0,1] 0.9998712059416992 Centerline is valid? [True, True] Translation: X:63.78, Y:-5.79, Z:-2.72 [[ 9.86896823e-01 1.58421203e-01 3.06167219e-02 6.37815106e+01] [-1.58378499e-01 9.87371045e-01 -3.83029547e-03 -5.79201107e+00] [-3.08368647e-02 -1.06892402e-03 9.99523859e-01 -2.72096842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters Centerline goodness [0,1] 0.9998933810986012 Centerline is valid? [True, True] Translation: X:63.81, Y:-5.80, Z:-2.72 [[ 9.87091417e-01 1.57107542e-01 3.11087536e-02 6.38104237e+01] [-1.57062864e-01 9.87580946e-01 -3.88990942e-03 -5.79520116e+00] [-3.13335464e-02 -1.04633374e-03 9.99508436e-01 -2.72093092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-5.80, Z:-2.72 [[ 9.87423168e-01 1.54807658e-01 3.20947873e-02 6.38394225e+01] [-1.54758946e-01 9.87944116e-01 -4.01143337e-03 -5.80010923e+00] [-3.23288569e-02 -1.00597321e-03 9.99476780e-01 -2.72084183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters Centerline goodness [0,1] 0.9999571339777525 Centerline is valid? [True, True] Translation: X:63.87, Y:-5.81, Z:-2.72 [[ 9.87613319e-01 1.53492750e-01 3.25562318e-02 6.38672867e+01] [-1.53441934e-01 9.88149290e-01 -4.06849717e-03 -5.80747400e+00] [-3.27949022e-02 -9.77389182e-04 9.99461625e-01 -2.72050907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17264 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:63.90, Y:-5.81, Z:-2.72 [[ 9.87847069e-01 1.52033797e-01 3.23093257e-02 6.38954123e+01] [-1.51983018e-01 9.88374864e-01 -4.03614422e-03 -5.80646530e+00] [-3.25473557e-02 -9.23375571e-04 9.99469768e-01 -2.72275079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:63.93, Y:-5.81, Z:-2.73 [[ 9.88364948e-01 1.48807908e-01 3.14791407e-02 6.39252052e+01] [-1.48758142e-01 9.88865799e-01 -3.93015285e-03 -5.80982927e+00] [-3.17134834e-02 -7.98353165e-04 9.99496682e-01 -2.72524004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.95, Y:-5.81, Z:-2.73 [[ 9.88613449e-01 1.47195819e-01 3.12544449e-02 6.39531439e+01] [-1.47145955e-01 9.89107093e-01 -3.90212557e-03 -5.81274496e+00] [-3.14883697e-02 -7.41271311e-04 9.99503843e-01 -2.72718953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:-5.82, Z:-2.73 [[ 9.88885625e-01 1.45322772e-01 3.14087873e-02 6.39819677e+01] [-1.45271535e-01 9.89384061e-01 -3.91932757e-03 -5.81752138e+00] [-3.16449211e-02 -6.87036066e-04 9.99498938e-01 -2.72893495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29264 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:64.01, Y:-5.82, Z:-2.73 [[ 9.89117812e-01 1.43861841e-01 3.08176117e-02 6.40102909e+01] [-1.43811836e-01 9.89597582e-01 -3.84460812e-03 -5.82454334e+00] [-3.10501264e-02 -6.29166958e-04 9.99517631e-01 -2.72969086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:-5.83, Z:-2.73 [[ 9.89495323e-01 1.41361720e-01 3.02633581e-02 6.40383809e+01] [-1.41312370e-01 9.89957863e-01 -3.77410918e-03 -5.82503363e+00] [-3.04929638e-02 -5.42123465e-04 9.99534834e-01 -2.73311094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.07, Y:-5.83, Z:-2.73 [[ 9.89850186e-01 1.39035177e-01 2.94249768e-02 6.40666576e+01] [-1.38987551e-01 9.90287336e-01 -3.66768316e-03 -5.82777878e+00] [-2.96491189e-02 -4.59248609e-04 9.99560263e-01 -2.73499397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-5.83, Z:-2.74 [[ 9.90019722e-01 1.37863036e-01 2.92358217e-02 6.40947169e+01] [-1.37815547e-01 9.90451213e-01 -3.64284255e-03 -5.82959568e+00] [-2.94588684e-02 -4.22664804e-04 9.99565904e-01 -2.73779124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41264000000001 meters Centerline goodness [0,1] 0.9999789455954186 Centerline is valid? [True, True] Translation: X:64.12, Y:-5.83, Z:-2.74 [[ 9.90224270e-01 1.36416628e-01 2.90929371e-02 6.41228317e+01] [-1.36369037e-01 9.90651482e-01 -3.62304431e-03 -5.83251503e+00] [-2.93152047e-02 -3.79749407e-04 9.99570145e-01 -2.73957055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:-5.84, Z:-2.74 [[ 9.90444236e-01 1.34793252e-01 2.91718218e-02 6.41516890e+01] [-1.34744743e-01 9.90873689e-01 -3.63136404e-03 -5.83798181e+00] [-2.93950741e-02 -3.34086045e-04 9.99567816e-01 -2.73961622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:-5.84, Z:-2.74 [[ 9.90932811e-01 1.30903795e-01 3.02714389e-02 6.41786913e+01] [-1.30849772e-01 9.91395050e-01 -3.76732332e-03 -5.84379614e+00] [-3.05041116e-02 -2.27846579e-04 9.99534615e-01 -2.73870085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-5.85, Z:-2.74 [[ 9.91182021e-01 1.28717575e-01 3.14640726e-02 6.42072713e+01] [-1.28658181e-01 9.91681278e-01 -3.91345810e-03 -5.84842371e+00] [-3.17060625e-02 -1.69161046e-04 9.99497222e-01 -2.73778091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-5.86, Z:-2.74 [[ 9.91760958e-01 1.23952413e-01 3.23419324e-02 6.42367978e+01] [-1.23887151e-01 9.92288163e-01 -4.02179545e-03 -5.85765590e+00] [-3.25910280e-02 -1.80901657e-05 9.99468771e-01 -2.73701604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.27, Y:-5.86, Z:-2.74 [[ 9.92039672e-01 1.21734438e-01 3.22182641e-02 6.42660071e+01] [-1.21668502e-01 9.92562705e-01 -4.00650638e-03 -5.86497307e+00] [-3.24663771e-02 5.46653529e-05 9.99472827e-01 -2.73927378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.30, Y:-5.87, Z:-2.74 [[ 9.92039672e-01 1.21734419e-01 3.22183230e-02 6.42957550e+01] [-1.21668498e-01 9.92562707e-01 -4.00603226e-03 -5.86867220e+00] [-3.24663779e-02 5.41879450e-05 9.99472827e-01 -2.74046993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:64.33, Y:-5.88, Z:-2.74 [[ 9.92370425e-01 1.19290353e-01 3.11568665e-02 6.43261251e+01] [-1.19227507e-01 9.92859403e-01 -3.87384614e-03 -5.87608767e+00] [-3.13965004e-02 1.29534819e-04 9.99507000e-01 -2.74203030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65264 meters Centerline goodness [0,1] 0.9999356637357925 Centerline is valid? [True, True] Translation: X:64.36, Y:-5.88, Z:-2.75 [[ 9.92702326e-01 1.16771331e-01 3.01089382e-02 6.43558350e+01] [-1.16711459e-01 9.93158807e-01 -3.74436906e-03 -5.88364937e+00] [-3.03401921e-02 2.02985788e-04 9.99539610e-01 -2.74620055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.39, Y:-5.89, Z:-2.75 [[ 9.92729414e-01 1.16430906e-01 3.05312176e-02 6.43870951e+01] [-1.16369173e-01 9.93198770e-01 -3.79714441e-03 -5.88643622e+00] [-3.07656727e-02 2.16644400e-04 9.99526601e-01 -2.74594382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.42, Y:-5.89, Z:-2.75 [[ 9.92759236e-01 1.16204481e-01 3.04239591e-02 6.44168815e+01] [-1.16143048e-01 9.93225286e-01 -3.78466876e-03 -5.89181830e+00] [-3.06576410e-02 2.23733519e-04 9.99529919e-01 -2.74916448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.45, Y:-5.89, Z:-2.75 [[ 9.92722352e-01 1.16657860e-01 2.98877274e-02 6.44474657e+01] [-1.16598782e-01 9.93172141e-01 -3.71788388e-03 -5.89497627e+00] [-3.01173786e-02 2.05953799e-04 9.99546348e-01 -2.75194201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77264000000001 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:64.48, Y:-5.90, Z:-2.75 [[ 9.92745549e-01 1.16656177e-01 2.91137473e-02 6.44782746e+01] [-1.16600072e-01 9.93172339e-01 -3.62322756e-03 -5.89749316e+00] [-2.93376404e-02 2.02277992e-04 9.99569538e-01 -2.75210446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264000000001 meters Centerline goodness [0,1] 0.9999137689438852 Centerline is valid? [True, True] Translation: X:64.51, Y:-5.90, Z:-2.76 [[ 9.92706002e-01 1.17055936e-01 2.88565521e-02 6.45081368e+01] [-1.17000926e-01 9.93125305e-01 -3.59331407e-03 -5.90272390e+00] [-2.90787909e-02 1.90861115e-04 9.99577104e-01 -2.75525015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:-5.91, Z:-2.76 [[ 9.92649790e-01 1.17411529e-01 2.93415773e-02 6.45375518e+01] [-1.17354799e-01 9.93083329e-01 -3.65406850e-03 -5.90825270e+00] [-2.95676611e-02 1.83835426e-04 9.99562764e-01 -2.75843174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.57, Y:-5.91, Z:-2.76 [[ 9.92724176e-01 1.16776890e-01 2.93575923e-02 6.45680873e+01] [-1.16719809e-01 9.93158153e-01 -3.65641032e-03 -5.91298450e+00] [-2.95837164e-02 2.03194340e-04 9.99562285e-01 -2.75796929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89264 meters Centerline goodness [0,1] 0.9997625677221611 Centerline is valid? [True, True] Translation: X:64.60, Y:-5.92, Z:-2.76 [[ 9.92920879e-01 1.15209518e-01 2.88945418e-02 6.45990628e+01] [-1.15153555e-01 9.93341183e-01 -3.59893924e-03 -5.92077203e+00] [-2.91167704e-02 2.46152707e-04 9.99575987e-01 -2.75798555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters Centerline goodness [0,1] 0.9998069787891136 Centerline is valid? [True, True] Translation: X:64.63, Y:-5.93, Z:-2.76 [[ 9.92969751e-01 1.14778133e-01 2.89318718e-02 6.46300163e+01] [-1.14721822e-01 9.93391118e-01 -3.60429441e-03 -5.92587771e+00] [-2.91543586e-02 2.59838291e-04 9.99574888e-01 -2.75897403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:-5.93, Z:-2.76 [[ 9.92892435e-01 1.15119352e-01 3.02017698e-02 6.46603878e+01] [-1.15058160e-01 9.93351633e-01 -3.76201816e-03 -5.93227914e+00] [-3.04340584e-02 2.60319313e-04 9.99536743e-01 -2.75854284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters Centerline goodness [0,1] 0.999957111916454 Centerline is valid? [True, True] Translation: X:64.69, Y:-5.94, Z:-2.76 [[ 9.92898761e-01 1.15155836e-01 2.98527077e-02 6.46929081e+01] [-1.15095936e-01 9.93347404e-01 -3.72290409e-03 -5.93880645e+00] [-3.00828239e-02 2.60541518e-04 9.99547375e-01 -2.75971913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01264 meters Centerline goodness [0,1] 0.9998928785671437 Centerline is valid? [True, True] Translation: X:64.72, Y:-5.95, Z:-2.76 [[ 9.92847306e-01 1.15658237e-01 2.96209154e-02 6.47240969e+01] [-1.15599310e-01 9.93289037e-01 -3.69991850e-03 -5.94620715e+00] [-2.98500566e-02 2.49296727e-04 9.99554357e-01 -2.76322635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.76, Y:-5.95, Z:-2.76 [[ 9.92670981e-01 1.17140540e-01 2.97054986e-02 6.47553747e+01] [-1.17081735e-01 9.93115325e-01 -3.71731597e-03 -5.95266732e+00] [-2.99364343e-02 2.12100362e-04 9.99551782e-01 -2.76372989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07264 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:64.79, Y:-5.96, Z:-2.77 [[ 9.92588013e-01 1.17752964e-01 3.00545675e-02 6.47860301e+01] [-1.17693035e-01 9.93042900e-01 -3.76144760e-03 -5.95845923e+00] [-3.02883964e-02 1.96354541e-04 9.99541182e-01 -2.76523567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.82, Y:-5.96, Z:-2.77 [[ 9.92438198e-01 1.18982198e-01 3.01605758e-02 6.48168453e+01] [-1.18922228e-01 9.92896374e-01 -3.78080644e-03 -5.96129090e+00] [-3.03961750e-02 1.65453857e-04 9.99537916e-01 -2.76603424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13264000000001 meters Centerline goodness [0,1] 0.9998495141456704 Centerline is valid? [True, True] Translation: X:64.85, Y:-5.96, Z:-2.77 [[ 9.92181564e-01 1.21176279e-01 2.98672811e-02 6.48490135e+01] [-1.21118486e-01 9.92630999e-01 -3.74330195e-03 -5.96456488e+00] [-3.01007885e-02 9.65553177e-05 9.99546864e-01 -2.76670129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.88, Y:-5.97, Z:-2.77 [[ 9.91967920e-01 1.22946852e-01 2.97273834e-02 6.48801879e+01] [-1.22890238e-01 9.92413255e-01 -3.73096794e-03 -5.96875691e+00] [-2.99605601e-02 4.77952717e-05 9.99551081e-01 -2.76921351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19264000000001 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:64.91, Y:-5.97, Z:-2.77 [[ 9.91786859e-01 1.24838097e-01 2.78258176e-02 6.49096326e+01] [-1.24789078e-01 9.92177126e-01 -3.49805953e-03 -5.97346063e+00] [-2.80448308e-02 -3.02863712e-06 9.99606666e-01 -2.77393615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.94, Y:-5.98, Z:-2.78 [[ 9.91650244e-01 1.26036262e-01 2.72883419e-02 6.49397711e+01] [-1.25989559e-01 9.92025634e-01 -3.43095638e-03 -5.97610341e+00] [-2.75031596e-02 -3.57374374e-05 9.99621716e-01 -2.77547410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.97, Y:-5.98, Z:-2.78 [[ 9.91459243e-01 1.27483672e-01 2.75042165e-02 6.49687910e+01] [-1.27436780e-01 9.91840666e-01 -3.45824516e-03 -5.97807699e+00] [-2.77206702e-02 -7.63396627e-05 9.99615705e-01 -2.77684221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters Centerline goodness [0,1] 0.9998493684233177 Centerline is valid? [True, True] Translation: X:65.00, Y:-5.98, Z:-2.78 [[ 9.91289140e-01 1.28806655e-01 2.74715635e-02 6.49991777e+01] [-1.28760395e-01 9.91669720e-01 -3.45365785e-03 -5.98044393e+00] [-2.76875718e-02 -1.13675860e-04 9.99616619e-01 -2.77797198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.03, Y:-5.98, Z:-2.78 [[ 9.90826459e-01 1.32410022e-01 2.70280453e-02 6.50287235e+01] [-1.32366580e-01 9.91195007e-01 -3.39805066e-03 -5.97931534e+00] [-2.72399995e-02 -2.10731413e-04 9.99628900e-01 -2.78028352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters Centerline goodness [0,1] 0.9999362285568523 Centerline is valid? [True, True] Translation: X:65.06, Y:-5.98, Z:-2.78 [[ 9.90590742e-01 1.34069761e-01 2.74823846e-02 6.50582275e+01] [-1.34025490e-01 9.90971862e-01 -3.45497640e-03 -5.98156392e+00] [-2.76974777e-02 -2.60872430e-04 9.99616317e-01 -2.78123735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.09, Y:-5.98, Z:-2.78 [[ 9.90168295e-01 1.37010849e-01 2.81917436e-02 6.50867129e+01] [-1.36965482e-01 9.90569484e-01 -3.54315023e-03 -5.98094074e+00] [-2.84113310e-02 -3.52980743e-04 9.99596254e-01 -2.78086869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40264 meters Centerline goodness [0,1] 0.9999789327322139 Centerline is valid? [True, True] Translation: X:65.12, Y:-5.98, Z:-2.78 [[ 9.89976000e-01 1.38309695e-01 2.85997804e-02 6.51150433e+01] [-1.38263523e-01 9.90388950e-01 -3.59526888e-03 -5.98189974e+00] [-2.88221670e-02 -3.95076477e-04 9.99584477e-01 -2.78123567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:-5.98, Z:-2.78 [[ 9.89845259e-01 1.39394328e-01 2.78493200e-02 6.51437448e+01] [-1.39351033e-01 9.90236864e-01 -3.49896009e-03 -5.98280950e+00] [-2.80651585e-02 -4.17402449e-04 9.99606009e-01 -2.78204333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264000000001 meters Centerline goodness [0,1] 0.9999571394895314 Centerline is valid? [True, True] Translation: X:65.17, Y:-5.98, Z:-2.78 [[ 9.89863651e-01 1.39237448e-01 2.79800838e-02 6.51719651e+01] [-1.39193717e-01 9.90258936e-01 -3.51415738e-03 -5.98458596e+00] [-2.81968303e-02 -4.16115200e-04 9.99602304e-01 -2.78368639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49264000000001 meters Centerline goodness [0,1] 0.9999360122856411 Centerline is valid? [True, True] Translation: X:65.20, Y:-5.99, Z:-2.78 [[ 9.89976373e-01 1.38338634e-01 2.84465137e-02 6.52002520e+01] [-1.38293116e-01 9.90384907e-01 -3.57084339e-03 -5.98997694e+00] [-2.86669835e-02 -3.98906427e-04 9.99588938e-01 -2.78336608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264000000001 meters Centerline goodness [0,1] 0.9999785320194929 Centerline is valid? [True, True] Translation: X:65.23, Y:-6.00, Z:-2.78 [[ 9.90309513e-01 1.35766720e-01 2.92312645e-02 6.52283458e+01] [-1.35717582e-01 9.90740776e-01 -3.66774904e-03 -5.99554929e+00] [-2.94585639e-02 -3.34989769e-04 9.99565946e-01 -2.78424869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-6.00, Z:-2.79 [[ 9.90536417e-01 1.34095891e-01 2.92557311e-02 6.52573417e+01] [-1.34045978e-01 9.90968319e-01 -3.66962862e-03 -6.00179094e+00] [-2.94835848e-02 -2.86712296e-04 9.99565223e-01 -2.78515781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.29, Y:-6.01, Z:-2.79 [[ 9.91019666e-01 1.30448220e-01 2.93816769e-02 6.52860964e+01] [-1.30396292e-01 9.91455107e-01 -3.68474297e-03 -6.01362017e+00] [-2.96112818e-02 -1.79608981e-04 9.99561474e-01 -2.78648413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61264 meters Centerline goodness [0,1] 0.9998713274715848 Centerline is valid? [True, True] Translation: X:65.32, Y:-6.02, Z:-2.79 [[ 9.91258279e-01 1.28579705e-01 2.95682860e-02 6.53154099e+01] [-1.28526312e-01 9.91699170e-01 -3.70722096e-03 -6.02237178e+00] [-2.97995180e-02 -1.25489269e-04 9.99555888e-01 -2.78569553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-6.03, Z:-2.79 [[ 9.91394186e-01 1.27552964e-01 2.94585905e-02 6.53455932e+01] [-1.27499517e-01 9.91831756e-01 -3.69334247e-03 -6.02831991e+00] [-2.96890623e-02 -9.43978042e-05 9.99559178e-01 -2.78769285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.04, Z:-2.79 [[ 9.91644371e-01 1.25626421e-01 2.93162570e-02 6.53765508e+01] [-1.25572684e-01 9.92077618e-01 -3.67424215e-03 -6.03837702e+00] [-2.95455843e-02 -3.77795446e-05 9.99563433e-01 -2.78850816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:-6.04, Z:-2.79 [[ 9.91723796e-01 1.25114413e-01 2.88148542e-02 6.54067504e+01] [-1.25062140e-01 9.92142320e-01 -3.61633195e-03 -6.04447713e+00] [-2.90408916e-02 -1.72448710e-05 9.99578224e-01 -2.79057371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.05, Z:-2.79 [[ 9.91772159e-01 1.24661194e-01 2.91130813e-02 6.54384517e+01] [-1.24607507e-01 9.92199368e-01 -3.65820912e-03 -6.05014085e+00] [-2.93420176e-02 4.01471820e-07 9.99569430e-01 -2.78992205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.47, Y:-6.05, Z:-2.79 [[ 9.91727638e-01 1.25083914e-01 2.88150318e-02 6.54689513e+01] [-1.25031351e-01 9.92146166e-01 -3.62586381e-03 -6.05489464e+00] [-2.90422605e-02 -6.91300786e-06 9.99578185e-01 -2.79267541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79264 meters Centerline goodness [0,1] 0.9998060888113244 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.06, Z:-2.79 [[ 9.91665974e-01 1.25514953e-01 2.90618792e-02 6.55006740e+01] [-1.25461536e-01 9.92091728e-01 -3.66151163e-03 -6.06022618e+00] [-2.92916245e-02 -1.51515228e-05 9.99570908e-01 -2.79300057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-6.06, Z:-2.80 [[ 9.91247136e-01 1.29037976e-01 2.78983132e-02 6.55307391e+01] [-1.28989964e-01 9.91639647e-01 -3.52136866e-03 -6.06097085e+00] [-2.81194637e-02 -1.08055824e-04 9.99604564e-01 -2.79603722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:-6.06, Z:-2.80 [[ 9.90935002e-01 1.31502524e-01 2.74755905e-02 6.55610119e+01] [-1.31456890e-01 9.91315820e-01 -3.46849184e-03 -6.06160796e+00] [-2.76931029e-02 -1.74805706e-04 9.99616457e-01 -2.79762223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264000000001 meters Centerline goodness [0,1] 0.999893235394602 Centerline is valid? [True, True] Translation: X:65.59, Y:-6.05, Z:-2.80 [[ 9.90121038e-01 1.37315453e-01 2.83689288e-02 6.55903974e+01] [-1.37269175e-01 9.90527307e-01 -3.58163454e-03 -6.05427772e+00] [-2.85920124e-02 -3.47927760e-04 9.99591104e-01 -2.79760059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.62, Y:-6.05, Z:-2.80 [[ 9.89588795e-01 1.41156374e-01 2.80872617e-02 6.56208445e+01] [-1.41112586e-01 9.89987207e-01 -3.54506124e-03 -6.04982965e+00] [-2.83064377e-02 -4.55313249e-04 9.99599189e-01 -2.79845782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264000000001 meters Centerline goodness [0,1] 0.9997652481966793 Centerline is valid? [True, True] Translation: X:65.65, Y:-6.04, Z:-2.80 [[ 9.88627132e-01 1.47685112e-01 2.83813732e-02 6.56512373e+01] [-1.47643107e-01 9.89034219e-01 -3.58148330e-03 -6.04039287e+00] [-2.85990811e-02 -6.49562577e-04 9.99590752e-01 -2.80042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97264 meters Centerline goodness [0,1] 0.9998512442357141 Centerline is valid? [True, True] Translation: X:65.68, Y:-6.04, Z:-2.80 [[ 9.88189268e-01 1.50671374e-01 2.79303934e-02 6.56808301e+01] [-1.50631897e-01 9.88583639e-01 -3.52417377e-03 -6.03950703e+00] [-2.81425220e-02 -7.24657439e-04 9.99603658e-01 -2.80112236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters Centerline goodness [0,1] 0.9998935150676179 Centerline is valid? [True, True] Translation: X:65.71, Y:-6.04, Z:-2.80 [[ 9.87652101e-01 1.54049509e-01 2.84969511e-02 6.57108535e+01] [-1.54009856e-01 9.88062774e-01 -3.59433406e-03 -6.03567372e+00] [-2.87104819e-02 -8.38859745e-04 9.99587417e-01 -2.80165772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03264 meters Centerline goodness [0,1] 0.9998065348237317 Centerline is valid? [True, True] Translation: X:65.74, Y:-6.03, Z:-2.80 [[ 9.87550903e-01 1.54700465e-01 2.84776996e-02 6.57391505e+01] [-1.54661168e-01 9.87961047e-01 -3.59078469e-03 -6.03441340e+00] [-2.86903540e-02 -8.58311621e-04 9.99587979e-01 -2.80298222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters Centerline goodness [0,1] 0.9998503378089455 Centerline is valid? [True, True] Translation: X:65.77, Y:-6.04, Z:-2.80 [[ 9.87570461e-01 1.54448179e-01 2.91606807e-02 6.57670710e+01] [-1.54406938e-01 9.88000504e-01 -3.67439336e-03 -6.03573879e+00] [-2.93782706e-02 -8.73889080e-04 9.99567983e-01 -2.80342810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09264 meters Centerline goodness [0,1] 0.9999571835327867 Centerline is valid? [True, True] Translation: X:65.80, Y:-6.04, Z:-2.80 [[ 9.87687899e-01 1.53647320e-01 2.94128314e-02 6.57952050e+01] [-1.53605064e-01 9.88125378e-01 -3.70429267e-03 -6.04006698e+00] [-2.96327198e-02 -8.59274799e-04 9.99560485e-01 -2.80378250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:65.82, Y:-6.04, Z:-2.81 [[ 9.88223227e-01 1.50166389e-01 2.94093333e-02 6.58232873e+01] [-1.50122647e-01 9.88660449e-01 -3.70232525e-03 -6.04429082e+00] [-2.96318095e-02 -7.56283180e-04 9.99560595e-01 -2.80608416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15264 meters Centerline goodness [0,1] 0.9998724327082537 Centerline is valid? [True, True] Translation: X:65.85, Y:-6.05, Z:-2.81 [[ 9.88538853e-01 1.48043128e-01 2.95663434e-02 6.58515695e+01] [-1.47997997e-01 9.88980660e-01 -3.72115142e-03 -6.05150281e+00] [-2.97914327e-02 -6.97256829e-04 9.99555894e-01 -2.80618695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18264 meters Centerline goodness [0,1] 0.9999573660761868 Centerline is valid? [True, True] Translation: X:65.88, Y:-6.06, Z:-2.81 [[ 9.89199124e-01 1.43542950e-01 2.96734807e-02 6.58808297e+01] [-1.43495514e-01 9.89643927e-01 -3.73305020e-03 -6.05914889e+00] [-2.99020330e-02 -5.65281378e-04 9.99552674e-01 -2.80672571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21264000000001 meters Centerline goodness [0,1] 0.9999572229114086 Centerline is valid? [True, True] Translation: X:65.91, Y:-6.06, Z:-2.81 [[ 9.89475113e-01 1.41715905e-01 2.92506811e-02 6.59078373e+01] [-1.41669031e-01 9.89907243e-01 -3.67922520e-03 -6.06383998e+00] [-2.94768658e-02 -5.03413872e-04 9.99565336e-01 -2.80870526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:-6.07, Z:-2.81 [[ 9.89742202e-01 1.39821536e-01 2.93310821e-02 6.59353927e+01] [-1.39773626e-01 9.90176618e-01 -3.68752681e-03 -6.06643208e+00] [-2.95585473e-02 -4.50010810e-04 9.99562949e-01 -2.81174591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27264000000001 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:65.96, Y:-6.07, Z:-2.81 [[ 9.90125104e-01 1.37104688e-01 2.92332470e-02 6.59629716e+01] [-1.37055966e-01 9.90556494e-01 -3.67341563e-03 -6.07217711e+00] [-2.94608251e-02 -3.69449885e-04 9.99565867e-01 -2.81345138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264000000001 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:65.99, Y:-6.08, Z:-2.81 [[ 9.90230134e-01 1.36427202e-01 2.88426841e-02 6.59916362e+01] [-1.36379536e-01 9.90650038e-01 -3.62264091e-03 -6.07871011e+00] [-2.90672329e-02 -3.46303679e-04 9.99577399e-01 -2.81255386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:-6.08, Z:-2.81 [[ 9.90305719e-01 1.35954006e-01 2.84796574e-02 6.60196569e+01] [-1.35907372e-01 9.90715095e-01 -3.57580664e-03 -6.08042859e+00] [-2.87013717e-02 -3.29453619e-04 9.99587976e-01 -2.81463560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.05, Y:-6.08, Z:-2.82 [[ 9.90321085e-01 1.35906334e-01 2.81711933e-02 6.60475011e+01] [-1.35860734e-01 9.90721637e-01 -3.53537281e-03 -6.08111118e+00] [-2.83902903e-02 -3.26204760e-04 9.99596861e-01 -2.81865777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39264 meters Centerline goodness [0,1] 0.9997853662724561 Centerline is valid? [True, True] Translation: X:66.08, Y:-6.09, Z:-2.82 [[ 9.90474183e-01 1.34737681e-01 2.84016009e-02 6.60760123e+01] [-1.34690904e-01 9.90881259e-01 -3.56244756e-03 -6.08699974e+00] [-2.86226099e-02 -2.96924978e-04 9.99590245e-01 -2.81805409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.10, Y:-6.09, Z:-2.82 [[ 9.90469459e-01 1.34869052e-01 2.79390484e-02 6.61042501e+01] [-1.34823876e-01 9.90863386e-01 -3.50311357e-03 -6.09030473e+00] [-2.81562417e-02 -2.97123806e-04 9.99603490e-01 -2.81901648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.13, Y:-6.09, Z:-2.82 [[ 9.90453399e-01 1.35054738e-01 2.76094749e-02 6.61332307e+01] [-1.35010731e-01 9.90838094e-01 -3.46047752e-03 -6.09403453e+00] [-2.78238733e-02 -3.00133661e-04 9.99612796e-01 -2.81963344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters Centerline goodness [0,1] 0.9998935082637588 Centerline is valid? [True, True] Translation: X:66.16, Y:-6.10, Z:-2.82 [[ 9.90505950e-01 1.34646549e-01 2.77176852e-02 6.61612985e+01] [-1.34602070e-01 9.90893648e-01 -3.47284496e-03 -6.09605956e+00] [-2.79328848e-02 -2.90984203e-04 9.99609758e-01 -2.82297543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51264 meters Centerline goodness [0,1] 0.9998935082637588 Centerline is valid? [True, True] Translation: X:66.19, Y:-6.10, Z:-2.82 [[ 9.90512296e-01 1.34599806e-01 2.77179378e-02 6.61893965e+01] [-1.34555365e-01 9.90899999e-01 -3.47082796e-03 -6.09948678e+00] [-2.79328773e-02 -2.91699451e-04 9.99609758e-01 -2.82410511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.22, Y:-6.10, Z:-2.82 [[ 9.90491637e-01 1.34838966e-01 2.72904903e-02 6.62180023e+01] [-1.34796011e-01 9.90867482e-01 -3.41602993e-03 -6.10243192e+00] [-2.75018733e-02 -2.95100152e-04 9.99621708e-01 -2.82485167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.25, Y:-6.11, Z:-2.83 [[ 9.90477258e-01 1.34883446e-01 2.75908946e-02 6.62462164e+01] [-1.34839595e-01 9.90861426e-01 -3.45228201e-03 -6.10521878e+00] [-2.78044088e-02 -3.00938240e-04 9.99613337e-01 -2.82531958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.11, Z:-2.83 [[ 9.90453752e-01 1.34993166e-01 2.78964284e-02 6.62754277e+01] [-1.34948420e-01 9.90846482e-01 -3.48914296e-03 -6.10780629e+00] [-2.81120883e-02 -3.08744187e-04 9.99604729e-01 -2.82576421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:-6.11, Z:-2.83 [[ 9.90473472e-01 1.34892415e-01 2.76828205e-02 6.63035722e+01] [-1.34848349e-01 9.90860204e-01 -3.46109834e-03 -6.11180803e+00] [-2.78966811e-02 -3.04856546e-04 9.99610765e-01 -2.82740624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264000000001 meters Centerline goodness [0,1] 0.9999575461685417 Centerline is valid? [True, True] Translation: X:66.33, Y:-6.12, Z:-2.83 [[ 9.90565956e-01 1.34150317e-01 2.79781887e-02 6.63319257e+01] [-1.34105049e-01 9.90960952e-01 -3.49665533e-03 -6.11706886e+00] [-2.81943700e-02 -2.88348642e-04 9.99602418e-01 -2.82908981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.36, Y:-6.12, Z:-2.83 [[ 9.90763961e-01 1.32983960e-01 2.64960342e-02 6.63596457e+01] [-1.32942975e-01 9.91118160e-01 -3.31024952e-03 -6.12413114e+00] [-2.67009108e-02 -2.42785698e-04 9.99643438e-01 -2.83075464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters Centerline goodness [0,1] 0.9998503442083209 Centerline is valid? [True, True] Translation: X:66.39, Y:-6.13, Z:-2.83 [[ 9.90939701e-01 1.31535271e-01 2.71473857e-02 6.63882237e+01] [-1.31491746e-01 9.91311469e-01 -3.39007441e-03 -6.12876417e+00] [-2.73574292e-02 -2.10297812e-04 9.99625693e-01 -2.83283211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.42, Y:-6.14, Z:-2.83 [[ 9.91196049e-01 1.29682093e-01 2.67010668e-02 6.64166896e+01] [-1.29639340e-01 9.91555611e-01 -3.33338832e-03 -6.13789291e+00] [-2.69078734e-02 -1.57467353e-04 9.99637905e-01 -2.83251486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-6.14, Z:-2.83 [[ 9.91279255e-01 1.29057181e-01 2.66398657e-02 6.64446082e+01] [-1.29014425e-01 9.91637143e-01 -3.32474477e-03 -6.14286842e+00] [-2.68461626e-02 -1.41176442e-04 9.99639567e-01 -2.83392010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-6.15, Z:-2.83 [[ 9.91316682e-01 1.28718392e-01 2.68851456e-02 6.64740052e+01] [-1.28674753e-01 9.91681177e-01 -3.35418042e-03 -6.14782706e+00] [-2.70932375e-02 -1.34384457e-04 9.99632902e-01 -2.83417294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.50, Y:-6.15, Z:-2.83 [[ 9.91297973e-01 1.28620036e-01 2.80217061e-02 6.65023436e+01] [-1.28572606e-01 9.91693938e-01 -3.49538211e-03 -6.15337567e+00] [-2.82385322e-02 -1.37858574e-04 9.99601204e-01 -2.83496570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.53, Y:-6.16, Z:-2.84 [[ 9.91302902e-01 1.28625768e-01 2.78202938e-02 6.65311989e+01] [-1.28579052e-01 9.91693195e-01 -3.46909795e-03 -6.15854382e+00] [-2.80354114e-02 -1.38180124e-04 9.99606921e-01 -2.83508239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90264 meters Centerline goodness [0,1] 0.999806538982395 Centerline is valid? [True, True] Translation: X:66.56, Y:-6.16, Z:-2.84 [[ 9.91266340e-01 1.28910889e-01 2.78033354e-02 6.65601491e+01] [-1.28864366e-01 9.91656171e-01 -3.46615351e-03 -6.16380697e+00] [-2.80181740e-02 -1.46977872e-04 9.99607403e-01 -2.83826549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93264 meters Centerline goodness [0,1] 0.999978583054913 Centerline is valid? [True, True] Translation: X:66.59, Y:-6.17, Z:-2.84 [[ 9.91182873e-01 1.29577870e-01 2.76782880e-02 6.65894427e+01] [-1.29532029e-01 9.91569235e-01 -3.45037548e-03 -6.16801742e+00] [-2.78920311e-02 -1.65271712e-04 9.99610928e-01 -2.83842225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264000000001 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:66.62, Y:-6.17, Z:-2.84 [[ 9.91013755e-01 1.30873432e-01 2.76384296e-02 6.66178716e+01] [-1.30828242e-01 9.91399064e-01 -3.44486811e-03 -6.17047312e+00] [-2.78515549e-02 -2.01975478e-04 9.99612050e-01 -2.84019509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-6.17, Z:-2.84 [[ 9.90929021e-01 1.31518125e-01 2.76162696e-02 6.66463135e+01] [-1.31473282e-01 9.91313741e-01 -3.44122139e-03 -6.17331219e+00] [-2.78289705e-02 -2.20795465e-04 9.99612675e-01 -2.84162092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.67, Y:-6.18, Z:-2.84 [[ 9.90836360e-01 1.32241275e-01 2.74873224e-02 6.66748663e+01] [-1.32197164e-01 9.91217528e-01 -3.42385509e-03 -6.17594415e+00] [-2.76986907e-02 -2.41265953e-04 9.99616289e-01 -2.84268270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-6.18, Z:-2.85 [[ 9.90675088e-01 1.33556562e-01 2.69353962e-02 6.67044656e+01] [-1.33514732e-01 9.91041154e-01 -3.35356700e-03 -6.17974224e+00] [-2.71419770e-02 -2.73976934e-04 9.99631551e-01 -2.84525062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264000000001 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:66.73, Y:-6.18, Z:-2.85 [[ 9.90666103e-01 1.33754444e-01 2.62758739e-02 6.67341351e+01] [-1.33714724e-01 9.91014467e-01 -3.27085055e-03 -6.18459084e+00] [-2.64772620e-02 -2.73150462e-04 9.99649379e-01 -2.84749428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11264 meters Centerline goodness [0,1] 0.9999783802481947 Centerline is valid? [True, True] Translation: X:66.76, Y:-6.19, Z:-2.85 [[ 9.90633119e-01 1.33972093e-01 2.64102549e-02 6.67631800e+01] [-1.33932060e-01 9.90985065e-01 -3.28695593e-03 -6.19140755e+00] [-2.66125286e-02 -2.81012447e-04 9.99645784e-01 -2.84665934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-6.19, Z:-2.85 [[ 9.90676266e-01 1.33509879e-01 2.71228269e-02 6.67916014e+01] [-1.33467498e-01 9.91047444e-01 -3.37508385e-03 -6.19488514e+00] [-2.73306153e-02 -2.76400374e-04 9.99626411e-01 -2.84817525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:-6.20, Z:-2.85 [[ 9.90772369e-01 1.32609943e-01 2.80127756e-02 6.68210984e+01] [-1.32564415e-01 9.91168268e-01 -3.48443073e-03 -6.20252224e+00] [-2.82274444e-02 -2.61219505e-04 9.99601492e-01 -2.84685417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-6.21, Z:-2.85 [[ 9.90824704e-01 1.32122315e-01 2.84622595e-02 6.68502808e+01] [-1.32075123e-01 9.91233389e-01 -3.53997506e-03 -6.20712671e+00] [-2.86804516e-02 -2.51661667e-04 9.99588600e-01 -2.84793489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.88, Y:-6.21, Z:-2.85 [[ 9.90819775e-01 1.32032546e-01 2.90444701e-02 6.68803836e+01] [-1.31983379e-01 9.91245349e-01 -3.61188308e-03 -6.21229925e+00] [-2.92670821e-02 -2.54662127e-04 9.99571595e-01 -2.84757951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.91, Y:-6.22, Z:-2.85 [[ 9.90730576e-01 1.32644147e-01 2.92994365e-02 6.69108429e+01] [-1.32594380e-01 9.91163687e-01 -3.64358993e-03 -6.21601505e+00] [-2.95238383e-02 -2.75124681e-04 9.99564039e-01 -2.84783667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.94, Y:-6.22, Z:-2.85 [[ 9.90650151e-01 1.33375721e-01 2.86913800e-02 6.69403696e+01] [-1.33328301e-01 9.91065504e-01 -3.56810647e-03 -6.21744093e+00] [-2.89109358e-02 -2.90627745e-04 9.99581949e-01 -2.85109022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.97, Y:-6.22, Z:-2.85 [[ 9.90527782e-01 1.34401850e-01 2.81221490e-02 6.69699255e+01] [-1.34356713e-01 9.90926861e-01 -3.49711700e-03 -6.21936944e+00] [-2.83370118e-02 -3.14407949e-04 9.99598377e-01 -2.85244623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.00, Y:-6.22, Z:-2.86 [[ 9.90247570e-01 1.36651938e-01 2.71292770e-02 6.69984036e+01] [-1.36610785e-01 9.90619056e-01 -3.37332849e-03 -6.21741720e+00] [-2.73357507e-02 -3.65721486e-04 9.99626242e-01 -2.85647502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.03, Y:-6.22, Z:-2.86 [[ 9.90038312e-01 1.38292298e-01 2.64458278e-02 6.70275424e+01] [-1.38253816e-01 9.90391377e-01 -3.28691359e-03 -6.21872032e+00] [-2.66462746e-02 -4.02066215e-04 9.99644844e-01 -2.85779488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41264000000001 meters Centerline goodness [0,1] 0.9999350199272223 Centerline is valid? [True, True] Translation: X:67.06, Y:-6.22, Z:-2.86 [[ 9.89982122e-01 1.38739342e-01 2.62067396e-02 6.70564766e+01] [-1.38701723e-01 9.90328848e-01 -3.25663989e-03 -6.22223665e+00] [-2.64051143e-02 -4.10904681e-04 9.99651240e-01 -2.85893815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264000000001 meters Centerline goodness [0,1] 0.9999785361665593 Centerline is valid? [True, True] Translation: X:67.09, Y:-6.22, Z:-2.86 [[ 9.90011655e-01 1.38659046e-01 2.55066943e-02 6.70854171e+01] [-1.38623415e-01 9.90340098e-01 -3.16842371e-03 -6.22482938e+00] [-2.56996328e-02 -3.99048682e-04 9.99669630e-01 -2.86102151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47264 meters Centerline goodness [0,1] 0.9999144696046357 Centerline is valid? [True, True] Translation: X:67.11, Y:-6.22, Z:-2.86 [[ 9.90093526e-01 1.37900771e-01 2.64232397e-02 6.71140571e+01] [-1.37862300e-01 9.90445971e-01 -3.28088898e-03 -6.22303500e+00] [-2.66232284e-02 -3.94381675e-04 9.99645461e-01 -2.86402467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters Centerline goodness [0,1] 0.9999359808796228 Centerline is valid? [True, True] Translation: X:67.14, Y:-6.23, Z:-2.86 [[ 9.90217249e-01 1.36981639e-01 2.65674844e-02 6.71426669e+01] [-1.36942452e-01 9.90573516e-01 -3.29746452e-03 -6.22946885e+00] [-2.67687386e-02 -3.73010227e-04 9.99641584e-01 -2.86246539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.17, Y:-6.24, Z:-2.86 [[ 9.90541264e-01 1.34502767e-01 2.71479125e-02 6.71710730e+01] [-1.34460955e-01 9.90913168e-01 -3.36816871e-03 -6.23643154e+00] [-2.73542520e-02 -3.14024139e-04 9.99625753e-01 -2.86211474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:67.20, Y:-6.24, Z:-2.86 [[ 9.90725644e-01 1.33155748e-01 2.70600221e-02 6.72005851e+01] [-1.33113748e-01 9.91095086e-01 -3.35564882e-03 -6.24164517e+00] [-2.72658788e-02 -2.77533605e-04 9.99628178e-01 -2.86250738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59264 meters Centerline goodness [0,1] 0.9998069332418054 Centerline is valid? [True, True] Translation: X:67.23, Y:-6.25, Z:-2.86 [[ 9.90889320e-01 1.31864312e-01 2.73890359e-02 6.72289717e+01] [-1.31820805e-01 9.91267745e-01 -3.39590587e-03 -6.24643325e+00] [-2.75976666e-02 -2.45477915e-04 9.99619082e-01 -2.86485187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62264 meters Centerline goodness [0,1] 0.9999354658291565 Centerline is valid? [True, True] Translation: X:67.26, Y:-6.25, Z:-2.87 [[ 9.91054134e-01 1.30618568e-01 2.73951276e-02 6.72577059e+01] [-1.30574598e-01 9.91432673e-01 -3.39549786e-03 -6.25234047e+00] [-2.76039396e-02 -2.11985587e-04 9.99618916e-01 -2.86534326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:-6.26, Z:-2.86 [[ 9.91409853e-01 1.27706205e-01 2.82423361e-02 6.72863258e+01] [-1.27658327e-01 9.91812032e-01 -3.49924965e-03 -6.26070986e+00] [-2.84579646e-02 -1.36178796e-04 9.99594981e-01 -2.86483280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:-6.27, Z:-2.87 [[ 9.91794648e-01 1.24691543e-01 2.82027403e-02 6.73161892e+01] [-1.24642556e-01 9.92195554e-01 -3.49518522e-03 -6.26908409e+00] [-2.84184535e-02 -4.87556471e-05 9.99596113e-01 -2.86548827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:-6.28, Z:-2.87 [[ 9.91978673e-01 1.23260283e-01 2.80216869e-02 6.73454653e+01] [-1.23211372e-01 9.92374376e-01 -3.47203663e-03 -6.27540802e+00] [-2.82359683e-02 -8.40421548e-06 9.99601286e-01 -2.86726140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264000000001 meters Centerline goodness [0,1] 0.9999572905099513 Centerline is valid? [True, True] Translation: X:67.38, Y:-6.28, Z:-2.87 [[ 9.92137322e-01 1.22013115e-01 2.78627677e-02 6.73766590e+01] [-1.21964206e-01 9.92528488e-01 -3.45448064e-03 -6.28169767e+00] [-2.80760826e-02 2.90588269e-05 9.99605789e-01 -2.86910453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.41, Y:-6.29, Z:-2.87 [[ 9.92387144e-01 1.20151649e-01 2.70432438e-02 6.74063649e+01] [-1.20104905e-01 9.92755546e-01 -3.35212897e-03 -6.29052745e+00] [-2.72500941e-02 7.85834564e-05 9.99628644e-01 -2.87230016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.44, Y:-6.30, Z:-2.87 [[ 9.92474090e-01 1.19519448e-01 2.66511222e-02 6.74381102e+01] [-1.19473740e-01 9.92831855e-01 -3.30658535e-03 -6.29807260e+00] [-2.68552843e-02 9.75910374e-05 9.99639327e-01 -2.87352606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.47, Y:-6.31, Z:-2.87 [[ 9.92546632e-01 1.18876082e-01 2.68264816e-02 6.74687957e+01] [-1.18829407e-01 9.92909091e-01 -3.33310544e-03 -6.30747669e+00] [-2.70324839e-02 1.20487692e-04 9.99634548e-01 -2.87436463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.50, Y:-6.31, Z:-2.87 [[ 9.92482643e-01 1.19360489e-01 2.70421389e-02 6.75007900e+01] [-1.19313127e-01 9.92850976e-01 -3.36400195e-03 -6.31120594e+00] [-2.72503430e-02 1.12231379e-04 9.99628634e-01 -2.87426008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89264 meters Centerline goodness [0,1] 0.9997845013360918 Centerline is valid? [True, True] Translation: X:67.53, Y:-6.31, Z:-2.87 [[ 9.92331866e-01 1.20501265e-01 2.75120384e-02 6.75326796e+01] [-1.20452548e-01 9.92713170e-01 -3.42724121e-03 -6.31435431e+00] [-2.77245498e-02 8.70655216e-05 9.99615597e-01 -2.87445425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters Centerline goodness [0,1] 0.9996785461714849 Centerline is valid? [True, True] Translation: X:67.56, Y:-6.32, Z:-2.88 [[ 9.92182185e-01 1.21702852e-01 2.76211300e-02 6.75639360e+01] [-1.21654084e-01 9.92566578e-01 -3.44549061e-03 -6.31863324e+00] [-2.78351365e-02 5.83311261e-05 9.99612526e-01 -2.87660836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95264 meters Centerline goodness [0,1] 0.9998492548884487 Centerline is valid? [True, True] Translation: X:67.60, Y:-6.32, Z:-2.88 [[ 9.92028263e-01 1.23008028e-01 2.73669594e-02 6.75953214e+01] [-1.22960509e-01 9.92405675e-01 -3.41891624e-03 -6.32319282e+00] [-2.75796799e-02 2.66062874e-05 9.99619608e-01 -2.87696347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:-6.33, Z:-2.88 [[ 9.91733146e-01 1.25164328e-01 2.82711549e-02 6.76263450e+01] [-1.25114321e-01 9.92136024e-01 -3.53785981e-03 -6.32774706e+00] [-2.84916451e-02 -2.85135212e-05 9.99594030e-01 -2.87738447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.66, Y:-6.33, Z:-2.88 [[ 9.91429381e-01 1.27326512e-01 2.92530733e-02 6.76576331e+01] [-1.27273845e-01 9.91860853e-01 -3.66297922e-03 -6.33455230e+00] [-2.94813726e-02 -9.15659104e-05 9.99565326e-01 -2.87574882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:-6.34, Z:-2.88 [[ 9.91294661e-01 1.28333444e-01 2.94180628e-02 6.76902178e+01] [-1.28280478e-01 9.91731069e-01 -3.68856457e-03 -6.34045572e+00] [-2.96481731e-02 -1.17308805e-04 9.99560389e-01 -2.87676040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:-6.34, Z:-2.88 [[ 9.91140658e-01 1.29500913e-01 2.94908442e-02 6.77223877e+01] [-1.29448016e-01 9.91579292e-01 -3.70391640e-03 -6.34498862e+00] [-2.97221709e-02 -1.46429136e-04 9.99558188e-01 -2.87784733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-6.35, Z:-2.88 [[ 9.90916772e-01 1.31422161e-01 2.84985272e-02 6.77530688e+01] [-1.31373417e-01 9.91326474e-01 -3.58421017e-03 -6.34776965e+00] [-2.87223891e-02 -1.92294928e-04 9.99587409e-01 -2.88293014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-6.35, Z:-2.88 [[ 9.90785446e-01 1.32547924e-01 2.78432742e-02 6.77843040e+01] [-1.32501723e-01 9.91176574e-01 -3.50598971e-03 -6.35399690e+00] [-2.80623128e-02 -2.15598233e-04 9.99606153e-01 -2.88302856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-6.36, Z:-2.89 [[ 9.90611941e-01 1.33799347e-01 2.80306596e-02 6.78147004e+01] [-1.33752851e-01 9.91008413e-01 -3.53567630e-03 -6.35739707e+00] [-2.82516906e-02 -2.46697472e-04 9.99600811e-01 -2.88619473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-6.36, Z:-2.89 [[ 9.90105699e-01 1.37384465e-01 2.85694622e-02 6.78441640e+01] [-1.37337549e-01 9.90517736e-01 -3.60735082e-03 -6.35844313e+00] [-2.87941530e-02 -3.52001302e-04 9.99585300e-01 -2.88693343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.87, Y:-6.36, Z:-2.89 [[ 9.89818458e-01 1.39510074e-01 2.82198423e-02 6.78747984e+01] [-1.39465176e-01 9.90220567e-01 -3.56273563e-03 -6.36146436e+00] [-2.84409058e-02 -4.09223787e-04 9.99595392e-01 -2.88675901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:-6.36, Z:-2.89 [[ 9.89196979e-01 1.43838196e-01 2.82826681e-02 6.79058485e+01] [-1.43794865e-01 9.89601075e-01 -3.57066734e-03 -6.36138180e+00] [-2.85021571e-02 -5.34809084e-04 9.99593588e-01 -2.88817476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters Centerline goodness [0,1] 0.9999358768836165 Centerline is valid? [True, True] Translation: X:67.94, Y:-6.36, Z:-2.89 [[ 9.88930199e-01 1.45657812e-01 2.82995186e-02 6.79351015e+01] [-1.45615185e-01 9.89334855e-01 -3.57238108e-03 -6.36141877e+00] [-2.85180453e-02 -5.88004100e-04 9.99593105e-01 -2.89020178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31264 meters Centerline goodness [0,1] 0.9998927383889306 Centerline is valid? [True, True] Translation: X:67.96, Y:-6.36, Z:-2.89 [[ 9.88720585e-01 1.47177197e-01 2.77574904e-02 6.79634538e+01] [-1.47136735e-01 9.89109949e-01 -3.50576112e-03 -6.36233715e+00] [-2.79711780e-02 -6.17928311e-04 9.99608539e-01 -2.89243223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters Centerline goodness [0,1] 0.999893741366486 Centerline is valid? [True, True] Translation: X:67.99, Y:-6.36, Z:-2.90 [[ 9.88509753e-01 1.48727270e-01 2.69938284e-02 6.79925355e+01] [-1.48689603e-01 9.88878043e-01 -3.40853186e-03 -6.36255849e+00] [-2.72005459e-02 -6.44334641e-04 9.99629789e-01 -2.89626061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37264 meters Centerline goodness [0,1] 0.9999785522788204 Centerline is valid? [True, True] Translation: X:68.02, Y:-6.37, Z:-2.90 [[ 9.88495246e-01 1.48833054e-01 2.69419795e-02 6.80203169e+01] [-1.48795591e-01 9.88862126e-01 -3.40119370e-03 -6.36918961e+00] [-2.71481131e-02 -6.46783960e-04 9.99631213e-01 -2.89656649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40264 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:68.05, Y:-6.37, Z:-2.90 [[ 9.88661890e-01 1.47749591e-01 2.67903880e-02 6.80495451e+01] [-1.47712196e-01 9.89024610e-01 -3.38042721e-03 -6.37465434e+00] [-2.69958098e-02 -6.15167499e-04 9.99635357e-01 -2.89751754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43264 meters Centerline goodness [0,1] 0.9999573906003665 Centerline is valid? [True, True] Translation: X:68.08, Y:-6.38, Z:-2.90 [[ 9.88669097e-01 1.47701352e-01 2.67904309e-02 6.80776477e+01] [-1.47663949e-01 9.89031816e-01 -3.38008748e-03 -6.37811033e+00] [-2.69958320e-02 -6.14192779e-04 9.99635357e-01 -2.89864736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264000000001 meters Centerline goodness [0,1] 0.9998059257342476 Centerline is valid? [True, True] Translation: X:68.11, Y:-6.38, Z:-2.90 [[ 9.88761639e-01 1.47106615e-01 2.66470468e-02 6.81071883e+01] [-1.47069439e-01 9.89120462e-01 -3.36036973e-03 -6.38348366e+00] [-2.68514718e-02 -5.96361529e-04 9.99639256e-01 -2.89834613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49264000000001 meters Centerline goodness [0,1] 0.9999782599243445 Centerline is valid? [True, True] Translation: X:68.14, Y:-6.39, Z:-2.90 [[ 9.88908676e-01 1.46104843e-01 2.67021703e-02 6.81355444e+01] [-1.46067166e-01 9.89268947e-01 -3.36661818e-03 -6.38754500e+00] [-2.69075071e-02 -5.71032419e-04 9.99637764e-01 -2.90014865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264000000001 meters Centerline goodness [0,1] 0.9999786036758885 Centerline is valid? [True, True] Translation: X:68.16, Y:-6.39, Z:-2.90 [[ 9.89167200e-01 1.44262430e-01 2.71404147e-02 6.81641813e+01] [-1.44222825e-01 9.89539322e-01 -3.42142250e-03 -6.39088322e+00] [-2.73500903e-02 -5.29908386e-04 9.99625776e-01 -2.90271513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-6.40, Z:-2.90 [[ 9.89299782e-01 1.43324629e-01 2.72762094e-02 6.81939708e+01] [-1.43284307e-01 9.89675600e-01 -3.43721621e-03 -6.39590176e+00] [-2.74872366e-02 -5.07815516e-04 9.99622026e-01 -2.90302772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-6.40, Z:-2.90 [[ 9.89575366e-01 1.41429138e-01 2.71734205e-02 6.82242997e+01] [-1.41388418e-01 9.89948278e-01 -3.42378724e-03 -6.40124270e+00] [-2.73845041e-02 -4.53911420e-04 9.99624871e-01 -2.90417224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-6.41, Z:-2.91 [[ 9.89712498e-01 1.40393606e-01 2.75464403e-02 6.82534695e+01] [-1.40351355e-01 9.90095677e-01 -3.47093304e-03 -6.40543901e+00] [-2.77609083e-02 -4.30954412e-04 9.99614499e-01 -2.90560018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-6.41, Z:-2.90 [[ 9.89877899e-01 1.39163639e-01 2.78428878e-02 6.82836774e+01] [-1.39120002e-01 9.90269317e-01 -3.50779959e-03 -6.41297284e+00] [-2.80601157e-02 -4.01209306e-04 9.99606157e-01 -2.90455505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:-6.42, Z:-2.91 [[ 9.90353205e-01 1.35618072e-01 2.84300367e-02 6.83131546e+01] [-1.35571117e-01 9.90761144e-01 -3.58163582e-03 -6.42188689e+00] [-2.86531102e-02 -3.07207293e-04 9.99589368e-01 -2.90568139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-6.43, Z:-2.91 [[ 9.90655006e-01 1.33486025e-01 2.80024886e-02 6.83450232e+01] [-1.33439627e-01 9.91050666e-01 -3.52752712e-03 -6.43028522e+00] [-2.82227605e-02 -2.42079224e-04 9.99601629e-01 -2.90636728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-6.44, Z:-2.91 [[ 9.90940768e-01 1.31304179e-01 2.82065189e-02 6.83763165e+01] [-1.31256204e-01 9.91342110e-01 -3.55373208e-03 -6.43871339e+00] [-2.84289299e-02 -1.80742596e-04 9.99595800e-01 -2.90777491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:-6.45, Z:-2.91 [[ 9.91503584e-01 1.26992740e-01 2.81688933e-02 6.84062737e+01] [-1.26942988e-01 9.91903645e-01 -3.55478081e-03 -6.45052763e+00] [-2.83922593e-02 -5.12655816e-05 9.99596857e-01 -2.91055094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.44, Y:-6.46, Z:-2.91 [[ 9.91718334e-01 1.25366591e-01 2.78919980e-02 6.84386217e+01] [-1.25317125e-01 9.92110487e-01 -3.52140704e-03 -6.45825851e+00] [-2.81134105e-02 -3.10107307e-06 9.99604740e-01 -2.91085750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:-6.47, Z:-2.92 [[ 9.92101923e-01 1.22515521e-01 2.69020568e-02 6.84683244e+01] [-1.22468305e-01 9.92466594e-01 -3.40199105e-03 -6.46948178e+00] [-2.71161894e-02 8.04725653e-05 9.99632285e-01 -2.91559406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:-6.48, Z:-2.92 [[ 9.92265472e-01 1.21305346e-01 2.63485553e-02 6.84997509e+01] [-1.21259523e-01 9.92615232e-01 -3.33592893e-03 -6.47738813e+00] [-2.65586434e-02 1.15113847e-04 9.99647250e-01 -2.91560457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-6.49, Z:-2.92 [[ 9.92402733e-01 1.20199492e-01 2.62468493e-02 6.85302862e+01] [-1.20153487e-01 9.92749747e-01 -3.32862559e-03 -6.48608051e+00] [-2.64566521e-02 1.49686667e-04 9.99649950e-01 -2.91892342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:-6.50, Z:-2.92 [[ 9.92533853e-01 1.19354783e-01 2.51194324e-02 6.85612243e+01] [-1.19312347e-01 9.92851655e-01 -3.18677090e-03 -6.49565425e+00] [-2.53202263e-02 1.65919569e-04 9.99679378e-01 -2.91987482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264000000001 meters Centerline goodness [0,1] 0.9998914294399931 Centerline is valid? [True, True] Translation: X:68.59, Y:-6.50, Z:-2.92 [[ 9.92516326e-01 1.19574026e-01 2.47667930e-02 6.85939165e+01] [-1.19532749e-01 9.92825275e-01 -3.14575318e-03 -6.50160929e+00] [-2.49652484e-02 1.61768545e-04 9.99688307e-01 -2.92015429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-6.51, Z:-2.92 [[ 9.92371116e-01 1.20493622e-01 2.60931884e-02 6.86245132e+01] [-1.20447960e-01 9.92714090e-01 -3.32039306e-03 -6.51187495e+00] [-2.63031620e-02 1.52190853e-04 9.99654000e-01 -2.92210948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.66, Y:-6.52, Z:-2.92 [[ 9.92276780e-01 1.21238370e-01 2.62306991e-02 6.86554916e+01] [-1.21192360e-01 9.92623412e-01 -3.34265795e-03 -6.51856367e+00] [-2.64424645e-02 1.37881550e-04 9.99650327e-01 -2.92256621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.69, Y:-6.53, Z:-2.92 [[ 9.92101541e-01 1.22459751e-01 2.71687553e-02 6.86868760e+01] [-1.22410708e-01 9.92473474e-01 -3.46731428e-03 -6.52703143e+00] [-2.73888754e-02 1.14181280e-04 9.99624848e-01 -2.91946448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.72, Y:-6.53, Z:-2.92 [[ 9.91955386e-01 1.23430982e-01 2.80945695e-02 6.87172437e+01] [-1.23378773e-01 9.92353155e-01 -3.59096374e-03 -6.53431563e+00] [-2.83229708e-02 9.58023108e-05 9.99598820e-01 -2.92078693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.75, Y:-6.54, Z:-2.92 [[ 9.91823021e-01 1.24453159e-01 2.82578391e-02 6.87472242e+01] [-1.24400597e-01 9.92225481e-01 -3.61737657e-03 -6.54134880e+00] [-2.84883419e-02 7.25052976e-05 9.99594122e-01 -2.92339300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:-6.55, Z:-2.92 [[ 9.91446096e-01 1.27501245e-01 2.78939372e-02 6.87800260e+01] [-1.27451192e-01 9.91838410e-01 -3.57229254e-03 -6.54826709e+00] [-2.81217501e-02 -1.33800509e-05 9.99604505e-01 -2.92277245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15264 meters Centerline goodness [0,1] 0.9999357945425361 Centerline is valid? [True, True] Translation: X:68.81, Y:-6.55, Z:-2.92 [[ 9.91162469e-01 1.29676140e-01 2.79474328e-02 6.88120427e+01] [-1.29626597e-01 9.91556400e-01 -3.58492045e-03 -6.55266785e+00] [-2.81763345e-02 -6.94919965e-05 9.99602966e-01 -2.92445975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.84, Y:-6.55, Z:-2.93 [[ 9.90497577e-01 1.34844066e-01 2.70486075e-02 6.88438101e+01] [-1.34799448e-01 9.90866810e-01 -3.47461012e-03 -6.55484665e+00] [-2.72700980e-02 -2.04544447e-04 9.99628081e-01 -2.92775862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21264000000001 meters Centerline goodness [0,1] 0.9999358384840773 Centerline is valid? [True, True] Translation: X:68.88, Y:-6.56, Z:-2.93 [[ 9.90078107e-01 1.37937119e-01 2.68084430e-02 6.88753072e+01] [-1.37894294e-01 9.90440948e-01 -3.44850550e-03 -6.55783703e+00] [-2.70278566e-02 -2.82441529e-04 9.99634641e-01 -2.92874785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.91, Y:-6.56, Z:-2.93 [[ 9.89659815e-01 1.40854475e-01 2.70826018e-02 6.89074032e+01] [-1.40811744e-01 9.90030245e-01 -3.48806412e-03 -6.56064327e+00] [-2.73039043e-02 -3.61551484e-04 9.99627114e-01 -2.92949690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.94, Y:-6.56, Z:-2.93 [[ 9.88898217e-01 1.46087771e-01 2.71786597e-02 6.89389491e+01] [-1.46046575e-01 9.89271505e-01 -3.50534508e-03 -6.56035767e+00] [-2.73991616e-02 -5.02920669e-04 9.99624446e-01 -2.92984063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264000000001 meters Centerline goodness [0,1] 0.9999361076798569 Centerline is valid? [True, True] Translation: X:68.97, Y:-6.56, Z:-2.93 [[ 9.88573836e-01 1.48255258e-01 2.72424255e-02 6.89697755e+01] [-1.48214572e-01 9.88948970e-01 -3.51794507e-03 -6.56169913e+00] [-2.74629225e-02 -5.59975985e-04 9.99622666e-01 -2.93208347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33264000000001 meters Centerline goodness [0,1] 0.9999784941611648 Centerline is valid? [True, True] Translation: X:69.00, Y:-6.56, Z:-2.93 [[ 9.88105448e-01 1.51347077e-01 2.72339250e-02 6.90018147e+01] [-1.51307433e-01 9.88480477e-01 -3.52251480e-03 -6.56414075e+00] [-2.74533254e-02 -6.40079200e-04 9.99622882e-01 -2.93283736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:69.03, Y:-6.57, Z:-2.93 [[ 9.87952235e-01 1.52350286e-01 2.71987346e-02 6.90333908e+01] [-1.52311129e-01 9.88326335e-01 -3.51776425e-03 -6.56785413e+00] [-2.74171581e-02 -6.67286921e-04 9.99623856e-01 -2.93417615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.06, Y:-6.57, Z:-2.94 [[ 9.87882311e-01 1.52842265e-01 2.69774465e-02 6.90648716e+01] [-1.52803799e-01 9.88250369e-01 -3.49382962e-03 -6.57068444e+00] [-2.71944763e-02 -6.70763845e-04 9.99629937e-01 -2.93606980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters Centerline goodness [0,1] 0.999763445947399 Centerline is valid? [True, True] Translation: X:69.10, Y:-6.58, Z:-2.94 [[ 9.87865258e-01 1.52984037e-01 2.67977062e-02 6.90969818e+01] [-1.52946036e-01 9.88228435e-01 -3.47417261e-03 -6.57762767e+00] [-2.70137482e-02 -6.66588539e-04 9.99634840e-01 -2.93682913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:-6.59, Z:-2.94 [[ 9.88179584e-01 1.51132544e-01 2.56917017e-02 6.91282612e+01] [-1.51096858e-01 9.88513334e-01 -3.33589071e-03 -6.58560217e+00] [-2.59007514e-02 -5.85476315e-04 9.99664348e-01 -2.93937152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:69.16, Y:-6.59, Z:-2.94 [[ 9.88400468e-01 1.49750063e-01 2.52870149e-02 6.91591199e+01] [-1.49714924e-01 9.88723739e-01 -3.28790568e-03 -6.59175421e+00] [-2.54942360e-02 -5.36076003e-04 9.99674825e-01 -2.94186513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-6.60, Z:-2.95 [[ 9.89054046e-01 1.45362343e-01 2.53354243e-02 6.91888707e+01] [-1.45325473e-01 9.89378398e-01 -3.30034441e-03 -6.60117590e+00] [-2.55460673e-02 -4.17663511e-04 9.99673559e-01 -2.94568614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.22, Y:-6.61, Z:-2.94 [[ 9.89440913e-01 1.42741757e-01 2.51290709e-02 6.92205820e+01] [-1.42704638e-01 9.89759905e-01 -3.27355099e-03 -6.61172354e+00] [-2.53390193e-02 -3.47049678e-04 9.99678855e-01 -2.94479125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57264 meters Centerline goodness [0,1] 0.9999785232593101 Centerline is valid? [True, True] Translation: X:69.25, Y:-6.62, Z:-2.95 [[ 9.90133598e-01 1.37748531e-01 2.57060276e-02 6.92508251e+01] [-1.37707947e-01 9.90467209e-01 -3.35087296e-03 -6.62427788e+00] [-2.59225553e-02 -2.22112388e-04 9.99663929e-01 -2.94507403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-6.63, Z:-2.95 [[ 9.90417918e-01 1.35598754e-01 2.61787436e-02 6.92816661e+01] [-1.35555947e-01 9.90763821e-01 -3.41118600e-03 -6.63157020e+00] [-2.63995046e-02 -1.70184646e-04 9.99651458e-01 -2.94879221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:-6.64, Z:-2.95 [[ 9.90680357e-01 1.33635528e-01 2.63434262e-02 6.93131644e+01] [-1.33591365e-01 9.91030541e-01 -3.43721921e-03 -6.64158937e+00] [-2.65664745e-02 -1.14068703e-04 9.99647042e-01 -2.94607846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264000000001 meters Centerline goodness [0,1] 0.9999569011959918 Centerline is valid? [True, True] Translation: X:69.34, Y:-6.65, Z:-2.95 [[ 9.91130893e-01 1.30179851e-01 2.66975376e-02 6.93443565e+01] [-1.30133111e-01 9.91490396e-01 -3.48819064e-03 -6.65345501e+00] [-2.69244443e-02 -1.69801102e-05 9.99637471e-01 -2.94642679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-6.66, Z:-2.95 [[ 9.91311859e-01 1.28843153e-01 2.64620617e-02 6.93755787e+01] [-1.28796639e-01 9.91664984e-01 -3.46184075e-03 -6.66123652e+00] [-2.66875345e-02 2.35391731e-05 9.99643824e-01 -2.94932785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-6.67, Z:-2.95 [[ 9.91476145e-01 1.27750733e-01 2.55891590e-02 6.94068807e+01] [-1.27706753e-01 9.91806305e-01 -3.35235508e-03 -6.66855237e+00] [-2.58077551e-02 5.58716917e-05 9.99666923e-01 -2.95031597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75264 meters Centerline goodness [0,1] 0.9998703907718229 Centerline is valid? [True, True] Translation: X:69.44, Y:-6.68, Z:-2.95 [[ 9.91618649e-01 1.26550287e-01 2.60284262e-02 6.94389045e+01] [-1.26504257e-01 9.91960189e-01 -3.41421203e-03 -6.67720614e+00] [-2.62512321e-02 9.28896107e-05 9.99655373e-01 -2.95140824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.47, Y:-6.68, Z:-2.95 [[ 9.91658731e-01 1.26336197e-01 2.55367689e-02 6.94711813e+01] [-1.26291693e-01 9.91987477e-01 -3.35459887e-03 -6.68301162e+00] [-2.57559623e-02 1.01535480e-04 9.99668255e-01 -2.95191127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:-6.69, Z:-2.95 [[ 9.91505720e-01 1.27559528e-01 2.53963484e-02 6.95021284e+01] [-1.27515776e-01 9.91830914e-01 -3.34149141e-03 -6.69021096e+00] [-2.56151225e-02 7.46727662e-05 9.99671876e-01 -2.95469445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:-6.69, Z:-2.96 [[ 9.91307109e-01 1.29191964e-01 2.48927980e-02 6.95345342e+01] [-1.29150332e-01 9.91619602e-01 -3.27971866e-03 -6.69334942e+00] [-2.51078997e-02 3.62952941e-05 9.99684746e-01 -2.95603791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-6.70, Z:-2.96 [[ 9.91013666e-01 1.31319387e-01 2.54387901e-02 6.95653824e+01] [-1.31276461e-01 9.91340112e-01 -3.35743603e-03 -6.69554890e+00] [-2.56593894e-02 -1.22493438e-05 9.99670744e-01 -2.95754368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.60, Y:-6.70, Z:-2.96 [[ 9.90695418e-01 1.33679205e-01 2.55432775e-02 6.95969325e+01] [-1.33636610e-01 9.91024654e-01 -3.37507209e-03 -6.69730272e+00] [-2.57651947e-02 -6.98485712e-05 9.99668020e-01 -2.95890885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93264 meters Centerline goodness [0,1] 0.9998283998283999 Centerline is valid? [True, True] Translation: X:69.63, Y:-6.70, Z:-2.96 [[ 9.90116443e-01 1.37884282e-01 2.56389128e-02 6.96294327e+01] [-1.37842651e-01 9.90448330e-01 -3.39257284e-03 -6.69909260e+00] [-2.58618008e-02 -1.75093535e-04 9.99665512e-01 -2.96100171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:-6.70, Z:-2.96 [[ 9.89927735e-01 1.39439381e-01 2.44895767e-02 6.96606980e+01] [-1.39401774e-01 9.90230588e-01 -3.24455928e-03 -6.70139831e+00] [-2.47027473e-02 -2.02011212e-04 9.99694820e-01 -2.96427867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.69, Y:-6.70, Z:-2.97 [[ 9.89731952e-01 1.40934894e-01 2.38331517e-02 6.96924188e+01] [-1.40899628e-01 9.90018840e-01 -3.16099893e-03 -6.70457827e+00] [-2.40407642e-02 -2.29540565e-04 9.99710953e-01 -2.96599793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.72, Y:-6.71, Z:-2.97 [[ 9.89477495e-01 1.42647165e-01 2.42089303e-02 6.97246131e+01] [-1.42611190e-01 9.89773566e-01 -3.21492675e-03 -6.70854366e+00] [-2.44199595e-02 -2.71366699e-04 9.99701751e-01 -2.96575845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:-6.71, Z:-2.97 [[ 9.89439975e-01 1.42806167e-01 2.47978669e-02 6.97559239e+01] [-1.42768359e-01 9.89750636e-01 -3.29754810e-03 -6.71470782e+00] [-2.50146147e-02 -2.77624857e-04 9.99687047e-01 -2.96614693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264000000001 meters Centerline goodness [0,1] 0.9997839752867728 Centerline is valid? [True, True] Translation: X:69.79, Y:-6.72, Z:-2.97 [[ 9.89470720e-01 1.42423781e-01 2.57518963e-02 6.97873783e+01] [-1.42382760e-01 9.89805734e-01 -3.42898546e-03 -6.72305504e+00] [-2.59777437e-02 -2.73745362e-04 9.99662484e-01 -2.96524636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.82, Y:-6.73, Z:-2.97 [[ 9.89740303e-01 1.40659511e-01 2.50805788e-02 6.98173040e+01] [-1.40619922e-01 9.90058006e-01 -3.34404786e-03 -6.73225567e+00] [-2.53016000e-02 -2.17090104e-04 9.99679840e-01 -2.96663499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.85, Y:-6.74, Z:-2.97 [[ 9.89857166e-01 1.39731553e-01 2.56492405e-02 6.98479118e+01] [-1.39689724e-01 9.90189404e-01 -3.42424045e-03 -6.73861631e+00] [-2.58760806e-02 -1.93426373e-04 9.99665139e-01 -2.96819608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.88, Y:-6.75, Z:-2.97 [[ 9.89911863e-01 1.39190086e-01 2.64692922e-02 6.98797230e+01] [-1.39145230e-01 9.90265665e-01 -3.53801858e-03 -6.74602471e+00] [-2.67040884e-02 -1.80749195e-04 9.99643366e-01 -2.96717814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.91, Y:-6.75, Z:-2.97 [[ 9.89947733e-01 1.38799244e-01 2.71708777e-02 6.99106272e+01] [-1.38751693e-01 9.90320524e-01 -3.63686097e-03 -6.75358906e+00] [-2.74126714e-02 -1.69702999e-04 9.99624188e-01 -2.96753832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:-6.76, Z:-2.97 [[ 9.89907104e-01 1.39050545e-01 2.73655050e-02 6.99436571e+01] [-1.39002295e-01 9.90285270e-01 -3.66692842e-03 -6.75917183e+00] [-2.76095449e-02 -1.73949507e-04 9.99618769e-01 -2.96834474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.98, Y:-6.77, Z:-2.97 [[ 9.89755752e-01 1.40069655e-01 2.76413432e-02 6.99758212e+01] [-1.40020671e-01 9.90141632e-01 -3.70937401e-03 -6.76530675e+00] [-2.78884154e-02 -1.98985167e-04 9.99611023e-01 -2.96889397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29264 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:70.01, Y:-6.77, Z:-2.97 [[ 9.89653236e-01 1.40820114e-01 2.74985199e-02 7.00083177e+01] [-1.40771774e-01 9.90035176e-01 -3.69563365e-03 -6.77047900e+00] [-2.77449215e-02 -2.13619635e-04 9.99615013e-01 -2.97133693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32264 meters Centerline goodness [0,1] 0.9998274076630997 Centerline is valid? [True, True] Translation: X:70.04, Y:-6.77, Z:-2.97 [[ 9.89625782e-01 1.41013056e-01 2.74978024e-02 7.00404814e+01] [-1.40964642e-01 9.90007713e-01 -3.70096276e-03 -6.77499717e+00] [-2.77449206e-02 -2.13649712e-04 9.99615013e-01 -2.97263353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.07, Y:-6.78, Z:-2.97 [[ 9.89513724e-01 1.41894125e-01 2.69934482e-02 7.00712729e+01] [-1.41847645e-01 9.89881814e-01 -3.63877202e-03 -6.77920212e+00] [-2.72366438e-02 -2.28342200e-04 9.99628988e-01 -2.97452560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264000000001 meters Centerline goodness [0,1] 0.9998698001432198 Centerline is valid? [True, True] Translation: X:70.10, Y:-6.78, Z:-2.98 [[ 9.89192877e-01 1.44208533e-01 2.64830480e-02 7.01035152e+01] [-1.44164518e-01 9.89547280e-01 -3.57387708e-03 -6.78253890e+00] [-2.67216117e-02 -2.82662105e-04 9.99642874e-01 -2.97630987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.13, Y:-6.78, Z:-2.98 [[ 9.88935579e-01 1.45956826e-01 2.65146308e-02 7.01349914e+01] [-1.45913204e-01 9.89290907e-01 -3.58300837e-03 -6.78188005e+00] [-2.67536476e-02 -3.25470268e-04 9.99642004e-01 -2.97993344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264000000001 meters Centerline goodness [0,1] 0.9999783348137877 Centerline is valid? [True, True] Translation: X:70.17, Y:-6.79, Z:-2.98 [[ 9.88488378e-01 1.48982908e-01 2.63594461e-02 7.01669965e+01] [-1.48940760e-01 9.88839690e-01 -3.56617198e-03 -6.78515071e+00] [-2.65965652e-02 -4.00876392e-04 9.99646168e-01 -2.97790116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47264 meters Centerline goodness [0,1] 0.9999786907603136 Centerline is valid? [True, True] Translation: X:70.20, Y:-6.79, Z:-2.98 [[ 9.88234910e-01 1.50623717e-01 2.65378705e-02 7.01980588e+01] [-1.50581458e-01 9.88591068e-01 -3.59513535e-03 -6.78733198e+00] [-2.67766144e-02 -4.43272965e-04 9.99641344e-01 -2.97930220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters Centerline goodness [0,1] 0.9999785223367698 Centerline is valid? [True, True] Translation: X:70.23, Y:-6.79, Z:-2.98 [[ 9.88045320e-01 1.51876712e-01 2.64558254e-02 7.02305162e+01] [-1.51835054e-01 9.88399333e-01 -3.58810429e-03 -6.79064321e+00] [-2.66938697e-02 -4.71712041e-04 9.99643544e-01 -2.98012224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53264 meters Centerline goodness [0,1] 0.9999355143802932 Centerline is valid? [True, True] Translation: X:70.26, Y:-6.79, Z:-2.98 [[ 9.87846142e-01 1.53079971e-01 2.69540712e-02 7.02619200e+01] [-1.53037021e-01 9.88213673e-01 -3.66141087e-03 -6.79179218e+00] [-2.71968704e-02 -5.08060150e-04 9.99629968e-01 -2.98218451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:-6.79, Z:-2.98 [[ 9.87572673e-01 1.54858256e-01 2.68167211e-02 7.02943624e+01] [-1.54816356e-01 9.87936544e-01 -3.64428778e-03 -6.79107391e+00] [-2.70575668e-02 -5.52668002e-04 9.99633724e-01 -2.98311386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59264 meters Centerline goodness [0,1] 0.9998274783808846 Centerline is valid? [True, True] Translation: X:70.33, Y:-6.79, Z:-2.98 [[ 9.87477349e-01 1.55333576e-01 2.75674673e-02 7.03276815e+01] [-1.55289355e-01 9.87861907e-01 -3.75085452e-03 -6.79427776e+00] [-2.78154845e-02 -5.77050338e-04 9.99612908e-01 -2.98453562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62264 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:70.36, Y:-6.80, Z:-2.99 [[ 9.87416190e-01 1.55706284e-01 2.76553807e-02 7.03595167e+01] [-1.55661774e-01 9.87803225e-01 -3.76830368e-03 -6.79722085e+00] [-2.79048228e-02 -5.84001565e-04 9.99610414e-01 -2.98544119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65264 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:70.39, Y:-6.80, Z:-2.99 [[ 9.87454376e-01 1.55449441e-01 2.77367548e-02 7.03912138e+01] [-1.55404423e-01 9.87843683e-01 -3.78455448e-03 -6.79997613e+00] [-2.79878849e-02 -5.73339479e-04 9.99608098e-01 -2.98625477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.42, Y:-6.81, Z:-2.99 [[ 9.87506061e-01 1.55204269e-01 2.72656457e-02 7.04239963e+01] [-1.55160563e-01 9.87882245e-01 -3.72428952e-03 -6.80587942e+00] [-2.75132729e-02 -5.52794469e-04 9.99621285e-01 -2.98644846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:-6.81, Z:-2.99 [[ 9.87727388e-01 1.53838104e-01 2.69897298e-02 7.04551178e+01] [-1.53794611e-01 9.88095939e-01 -3.69237481e-03 -6.80744156e+00] [-2.72364704e-02 -5.03815271e-04 9.99628892e-01 -2.98939219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.49, Y:-6.81, Z:-2.99 [[ 9.87924845e-01 1.52632639e-01 2.66040864e-02 7.04861291e+01] [-1.52589830e-01 9.88282888e-01 -3.64383905e-03 -6.81124447e+00] [-2.68485321e-02 -4.59673889e-04 9.99639407e-01 -2.99193517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-6.82, Z:-2.99 [[ 9.88139153e-01 1.51246311e-01 2.65625398e-02 7.05179478e+01] [-1.51203026e-01 9.88496019e-01 -3.64220896e-03 -6.81778130e+00] [-2.68078355e-02 -4.17327128e-04 9.99640518e-01 -2.99357917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-6.83, Z:-3.00 [[ 9.88776985e-01 1.47124577e-01 2.59698404e-02 7.05486924e+01] [-1.47081667e-01 9.89117926e-01 -3.56528549e-03 -6.82778856e+00] [-2.62117758e-02 -2.94415182e-04 9.99656369e-01 -2.99524502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83264000000001 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:70.58, Y:-6.83, Z:-3.00 [[ 9.89079400e-01 1.45017825e-01 2.63015471e-02 7.05796776e+01] [-1.44972941e-01 9.89429014e-01 -3.61553070e-03 -6.83444885e+00] [-2.65478303e-02 -2.36965718e-04 9.99647516e-01 -2.99789894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-6.84, Z:-3.00 [[ 9.89787761e-01 1.40309506e-01 2.51680471e-02 7.06107300e+01] [-1.40266740e-01 9.90107687e-01 -3.46543093e-03 -6.84446474e+00] [-2.54053098e-02 -1.00198793e-04 9.99677228e-01 -2.99975296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-6.85, Z:-3.00 [[ 9.90059293e-01 1.38422512e-01 2.49360114e-02 7.06426123e+01] [-1.38379945e-01 9.90373266e-01 -3.43299306e-03 -6.85098558e+00] [-2.51711626e-02 -5.17772000e-05 9.99683155e-01 -3.00191494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-6.86, Z:-3.00 [[ 9.90393661e-01 1.35851914e-01 2.57808948e-02 7.06728616e+01] [-1.35805387e-01 9.90729154e-01 -3.55525885e-03 -6.85792605e+00] [-2.60248729e-02 1.99214248e-05 9.99661295e-01 -3.00312755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95264 meters Centerline goodness [0,1] 0.9998497854077253 Centerline is valid? [True, True] Translation: X:70.70, Y:-6.86, Z:-3.00 [[ 9.90410126e-01 1.35644590e-01 2.62360053e-02 7.07037404e+01] [-1.35596214e-01 9.90757561e-01 -3.62246039e-03 -6.86377762e+00] [-2.64848878e-02 3.02184508e-05 9.99649213e-01 -3.00462459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-6.87, Z:-3.00 [[ 9.90358549e-01 1.36064336e-01 2.60084928e-02 7.07363530e+01] [-1.36016852e-01 9.90700003e-01 -3.59443656e-03 -6.86823352e+00] [-2.62556885e-02 2.21876660e-05 9.99655260e-01 -3.00398640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01264 meters Centerline goodness [0,1] 0.9998052116699853 Centerline is valid? [True, True] Translation: X:70.77, Y:-6.87, Z:-3.01 [[ 9.90224651e-01 1.37040981e-01 2.59790283e-02 7.07682280e+01] [-1.36993799e-01 9.90565379e-01 -3.59575482e-03 -6.87213955e+00] [-2.62266918e-02 1.63928856e-06 9.99656021e-01 -3.00516608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-6.87, Z:-3.01 [[ 9.89881029e-01 1.39484906e-01 2.60673984e-02 7.08000891e+01] [-1.39438098e-01 9.90224196e-01 -3.61373813e-03 -6.87140535e+00] [-2.63166305e-02 -5.76176229e-05 9.99653656e-01 -3.00718496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:-6.87, Z:-3.01 [[ 9.89667958e-01 1.40975268e-01 2.61401426e-02 7.08333045e+01] [-1.40928661e-01 9.90013113e-01 -3.62601439e-03 -6.87401318e+00] [-2.63902623e-02 -9.53450287e-05 9.99651712e-01 -3.00688351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.87, Y:-6.87, Z:-3.01 [[ 9.89269408e-01 1.43686000e-01 2.64645185e-02 7.08657017e+01] [-1.43639046e-01 9.89623315e-01 -3.67668121e-03 -6.87454654e+00] [-2.67181922e-02 -1.64109954e-04 9.99642992e-01 -3.00856462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.90, Y:-6.88, Z:-3.01 [[ 9.89112353e-01 1.44780319e-01 2.63706771e-02 7.08978290e+01] [-1.44733952e-01 9.89463806e-01 -3.66868089e-03 -6.87733579e+00] [-2.66239833e-02 -1.87994729e-04 9.99645501e-01 -3.01126646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264000000001 meters Centerline goodness [0,1] 0.9998925447551095 Centerline is valid? [True, True] Translation: X:70.93, Y:-6.88, Z:-3.01 [[ 9.88958376e-01 1.45826848e-01 2.63791781e-02 7.09311290e+01] [-1.45780696e-01 9.89310106e-01 -3.67464714e-03 -6.88074258e+00] [-2.66330497e-02 -2.11501885e-04 9.99645255e-01 -3.01172471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.96, Y:-6.88, Z:-3.01 [[ 9.88734741e-01 1.47226426e-01 2.69813240e-02 7.09640842e+01] [-1.47178518e-01 9.89102784e-01 -3.76384744e-03 -6.88351530e+00] [-2.72414405e-02 -2.49624576e-04 9.99628852e-01 -3.01191133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.00, Y:-6.89, Z:-3.01 [[ 9.88598614e-01 1.48049743e-01 2.74600307e-02 7.09965667e+01] [-1.48000281e-01 9.88979878e-01 -3.83627328e-03 -6.88753699e+00] [-2.77253771e-02 -2.71557809e-04 9.99615541e-01 -3.01202026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-6.89, Z:-3.01 [[ 9.88303374e-01 1.49875263e-01 2.81752747e-02 7.10282549e+01] [-1.49823751e-01 9.88704860e-01 -3.94251649e-03 -6.88708125e+00] [-2.84479168e-02 -3.24923009e-04 9.99595223e-01 -3.01411020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.06, Y:-6.89, Z:-3.01 [[ 9.88140917e-01 1.50906559e-01 2.83678980e-02 7.10605762e+01] [-1.50854640e-01 9.88547968e-01 -3.97386152e-03 -6.89084113e+00] [-2.86427097e-02 -3.52693872e-04 9.99589651e-01 -3.01394883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:-6.89, Z:-3.02 [[ 9.88006407e-01 1.51783524e-01 2.83743068e-02 7.10926010e+01] [-1.51731790e-01 9.88413690e-01 -3.98009682e-03 -6.89454751e+00] [-2.86496664e-02 -3.72923192e-04 9.99589444e-01 -3.01519122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-6.90, Z:-3.02 [[ 9.87844439e-01 1.52905065e-01 2.79893662e-02 7.11240555e+01] [-1.52855035e-01 9.88240803e-01 -3.93106542e-03 -6.89517090e+00] [-2.82613136e-02 -3.95034439e-04 9.99600491e-01 -3.01886324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.16, Y:-6.90, Z:-3.02 [[ 9.87786038e-01 1.53298278e-01 2.78994714e-02 7.11566495e+01] [-1.53248611e-01 9.88179881e-01 -3.92252469e-03 -6.90018968e+00] [-2.81710126e-02 -4.00940107e-04 9.99603038e-01 -3.01918499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.19, Y:-6.90, Z:-3.02 [[ 9.87749484e-01 1.53605082e-01 2.75033621e-02 7.11890378e+01] [-1.53556782e-01 9.88132238e-01 -3.87231516e-03 -6.90158321e+00] [-2.77717661e-02 -3.98450464e-04 9.99614211e-01 -3.02284038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-6.91, Z:-3.02 [[ 9.87768867e-01 1.53503342e-01 2.73749758e-02 7.12215528e+01] [-1.53455318e-01 9.88148052e-01 -3.85908122e-03 -6.90796138e+00] [-2.76429108e-02 -3.88955333e-04 9.99617786e-01 -3.02332328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.25, Y:-6.91, Z:-3.03 [[ 9.87760131e-01 1.53560107e-01 2.73718271e-02 7.12531140e+01] [-1.53511966e-01 9.88139234e-01 -3.86406351e-03 -6.91198880e+00] [-2.76405423e-02 -3.85135114e-04 9.99617853e-01 -3.02557344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49264000000001 meters Centerline goodness [0,1] 0.9998704131660223 Centerline is valid? [True, True] Translation: X:71.29, Y:-6.92, Z:-3.03 [[ 9.87729451e-01 1.53767691e-01 2.73135223e-02 7.12857444e+01] [-1.53719685e-01 9.88106952e-01 -3.86122331e-03 -6.91730257e+00] [-2.75824127e-02 -3.84782080e-04 9.99619459e-01 -3.02567504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264000000001 meters Centerline goodness [0,1] 0.9997626906564839 Centerline is valid? [True, True] Translation: X:71.32, Y:-6.92, Z:-3.03 [[ 9.87670523e-01 1.54116656e-01 2.74771461e-02 7.13187906e+01] [-1.54068062e-01 9.88052581e-01 -3.88961857e-03 -6.92277369e+00] [-2.77483201e-02 -3.91689040e-04 9.99614864e-01 -3.02523575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.35, Y:-6.92, Z:-3.03 [[ 9.87585933e-01 1.54526162e-01 2.82079774e-02 7.13524048e+01] [-1.54474949e-01 9.87988613e-01 -3.99896111e-03 -6.92359526e+00] [-2.84871046e-02 -4.08108125e-04 9.99594077e-01 -3.02781409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.38, Y:-6.92, Z:-3.03 [[ 9.87473156e-01 1.55184669e-01 2.85391706e-02 7.13840904e+01] [-1.55132346e-01 9.87885387e-01 -4.05194297e-03 -6.92497821e+00] [-2.88222290e-02 -4.26163565e-04 9.99584462e-01 -3.02974270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.42, Y:-6.93, Z:-3.03 [[ 9.87390271e-01 1.55611510e-01 2.90776611e-02 7.14165761e+01] [-1.55557216e-01 9.87818234e-01 -4.13393422e-03 -6.93038711e+00] [-2.93667316e-02 -4.41433599e-04 9.99568607e-01 -3.02910037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.45, Y:-6.93, Z:-3.03 [[ 9.87238541e-01 1.56440042e-01 2.97754368e-02 7.14490192e+01] [-1.56383277e-01 9.87687345e-01 -4.24014549e-03 -6.93182548e+00] [-3.00721507e-02 -4.70345329e-04 9.99547620e-01 -3.03016371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.48, Y:-6.94, Z:-3.03 [[ 9.87122764e-01 1.57135312e-01 2.99523326e-02 7.14814212e+01] [-1.57078095e-01 9.87576960e-01 -4.26845543e-03 -6.93528542e+00] [-3.02509587e-02 -4.91365841e-04 9.99542214e-01 -3.03130342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters Centerline goodness [0,1] 0.9999786343047603 Centerline is valid? [True, True] Translation: X:71.51, Y:-6.94, Z:-3.03 [[ 9.86992270e-01 1.57941018e-01 3.00148773e-02 7.15130189e+01] [-1.57883741e-01 9.87448416e-01 -4.28375068e-03 -6.93620627e+00] [-3.03147230e-02 -5.10832309e-04 9.99540273e-01 -3.03400705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.55, Y:-6.94, Z:-3.04 [[ 9.86845613e-01 1.58787316e-01 3.03697963e-02 7.15457346e+01] [-1.58728933e-01 9.87312665e-01 -4.33906932e-03 -6.94006640e+00] [-3.06734737e-02 -5.38573843e-04 9.99529313e-01 -3.03505957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76264 meters Centerline goodness [0,1] 0.9998929152745653 Centerline is valid? [True, True] Translation: X:71.58, Y:-6.94, Z:-3.03 [[ 9.86646412e-01 1.60014755e-01 3.03996201e-02 7.15784689e+01] [-1.59956650e-01 9.87114457e-01 -4.34949817e-03 -6.94095140e+00] [-3.07038884e-02 -5.71204639e-04 9.99528361e-01 -3.03350245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79264 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:71.61, Y:-6.94, Z:-3.04 [[ 9.86563631e-01 1.60422774e-01 3.09311443e-02 7.16103921e+01] [-1.60362636e-01 9.87048219e-01 -4.43142968e-03 -6.94191829e+00] [-3.12414332e-02 -5.88312490e-04 9.99511694e-01 -3.03558739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.64, Y:-6.94, Z:-3.04 [[ 9.86434350e-01 1.61091830e-01 3.15704893e-02 7.16437672e+01] [-1.61029415e-01 9.86939228e-01 -4.52637218e-03 -6.94481062e+00] [-3.18873159e-02 -6.18808418e-04 9.99491279e-01 -3.03754982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.68, Y:-6.95, Z:-3.04 [[ 9.86431854e-01 1.61307305e-01 3.05311451e-02 7.16752704e+01] [-1.61248841e-01 9.86904045e-01 -4.38367484e-03 -6.94645088e+00] [-3.08384294e-02 -5.98915257e-04 9.99524203e-01 -3.04104076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:-6.95, Z:-3.04 [[ 9.86451301e-01 1.61202530e-01 3.04561107e-02 7.17073648e+01] [-1.61144155e-01 9.86921171e-01 -4.37769038e-03 -6.94896134e+00] [-3.07634752e-02 -5.89445871e-04 9.99526518e-01 -3.04318815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91264000000001 meters Centerline goodness [0,1] 0.999978383052313 Centerline is valid? [True, True] Translation: X:71.74, Y:-6.95, Z:-3.04 [[ 9.86488407e-01 1.60932890e-01 3.06794436e-02 7.17391376e+01] [-1.60873343e-01 9.86965181e-01 -4.41568959e-03 -6.95229494e+00] [-3.09901723e-02 -5.79478066e-04 9.99519521e-01 -3.04452536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264000000001 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:71.77, Y:-6.95, Z:-3.05 [[ 9.86704350e-01 1.59753366e-01 2.98895811e-02 7.17701863e+01] [-1.59696150e-01 9.87156820e-01 -4.30714083e-03 -6.95402796e+00] [-3.01937841e-02 -5.23376441e-04 9.99543927e-01 -3.04785371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-6.96, Z:-3.05 [[ 9.86843168e-01 1.58923948e-01 2.97277832e-02 7.18018888e+01] [-1.58866835e-01 9.87290706e-01 -4.28844507e-03 -6.95997987e+00] [-3.00315007e-02 -4.90736097e-04 9.99548832e-01 -3.04907073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.83, Y:-6.96, Z:-3.05 [[ 9.87055868e-01 1.57359440e-01 3.09632148e-02 7.18331450e+01] [-1.57296529e-01 9.87541290e-01 -4.47249553e-03 -6.96238269e+00] [-3.12812425e-02 -4.55803254e-04 9.99510518e-01 -3.04919760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03264 meters Centerline goodness [0,1] 0.9999785890161653 Centerline is valid? [True, True] Translation: X:71.86, Y:-6.97, Z:-3.05 [[ 9.87164100e-01 1.56568959e-01 3.15150950e-02 7.18642925e+01] [-1.56503215e-01 9.87666934e-01 -4.55746888e-03 -6.96628627e+00] [-3.18399755e-02 -4.33244012e-04 9.99492886e-01 -3.05039372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:-6.97, Z:-3.05 [[ 9.87280877e-01 1.55827917e-01 3.15298247e-02 7.18964839e+01] [-1.55761580e-01 9.87784135e-01 -4.56442217e-03 -6.97166111e+00] [-3.18559250e-02 -4.04768578e-04 9.99492389e-01 -3.05095045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-6.98, Z:-3.05 [[ 9.87354402e-01 1.55283162e-01 3.19127519e-02 7.19280588e+01] [-1.55214742e-01 9.87869926e-01 -4.62530305e-03 -6.97696347e+00] [-3.22438796e-02 -3.86516244e-04 9.99479956e-01 -3.05122078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.96, Y:-6.98, Z:-3.05 [[ 9.87489410e-01 1.54502138e-01 3.15238623e-02 7.19591706e+01] [-1.54434788e-01 9.87992392e-01 -4.57491287e-03 -6.97749211e+00] [-3.18521699e-02 -3.50702986e-04 9.99492529e-01 -3.05372875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.99, Y:-6.98, Z:-3.06 [[ 9.87474905e-01 1.54608081e-01 3.14587642e-02 7.19923268e+01] [-1.54540989e-01 9.87975819e-01 -4.56778093e-03 -6.98021673e+00] [-3.17867141e-02 -3.51099483e-04 9.99494613e-01 -3.05573670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.03, Y:-6.98, Z:-3.06 [[ 9.87449003e-01 1.54682760e-01 3.19015647e-02 7.20255294e+01] [-1.54613607e-01 9.87964129e-01 -4.63821229e-03 -6.98194995e+00] [-3.22350530e-02 -3.52417870e-04 9.99480254e-01 -3.05593914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.06, Y:-6.98, Z:-3.06 [[ 9.87428310e-01 1.54744115e-01 3.22427103e-02 7.20585082e+01] [-1.54673296e-01 9.87954521e-01 -4.69427938e-03 -6.98467791e+00] [-3.25807435e-02 -3.51821930e-04 9.99469045e-01 -3.05702810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.09, Y:-6.99, Z:-3.06 [[ 9.87398269e-01 1.54935872e-01 3.22418016e-02 7.20906355e+01] [-1.54864952e-01 9.87924467e-01 -4.70051179e-03 -6.98955359e+00] [-3.25807425e-02 -3.51847850e-04 9.99469045e-01 -3.05832469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.12, Y:-6.99, Z:-3.06 [[ 9.87336440e-01 1.55258816e-01 3.25799777e-02 7.21229507e+01] [-1.55186357e-01 9.87873763e-01 -4.75644646e-03 -6.99073183e+00] [-3.29233854e-02 -3.59755144e-04 9.99457814e-01 -3.05960962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.16, Y:-6.99, Z:-3.06 [[ 9.87185024e-01 1.56104344e-01 3.31234338e-02 7.21550747e+01] [-1.56029711e-01 9.87740494e-01 -4.84213588e-03 -6.99033535e+00] [-3.34732353e-02 -3.88155776e-04 9.99439539e-01 -3.05999878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.19, Y:-6.99, Z:-3.06 [[ 9.87116046e-01 1.56418279e-01 3.36932447e-02 7.21872479e+01] [-1.56341040e-01 9.87690823e-01 -4.93122423e-03 -6.99377216e+00] [-3.40498422e-02 -3.99946372e-04 9.99420056e-01 -3.06035968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-6.99, Z:-3.06 [[ 9.87021130e-01 1.56947368e-01 3.40119588e-02 7.22187726e+01] [-1.56868746e-01 9.87606881e-01 -4.98453535e-03 -6.99280104e+00] [-3.43727543e-02 -4.15571609e-04 9.99408996e-01 -3.06077582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39264 meters Centerline goodness [0,1] 0.9999788998375287 Centerline is valid? [True, True] Translation: X:72.25, Y:-6.99, Z:-3.06 [[ 9.87006513e-01 1.57127874e-01 3.36002168e-02 7.22490374e+01] [-1.57051227e-01 9.87578178e-01 -4.92481616e-03 -6.99338027e+00] [-3.39566668e-02 -4.16129651e-04 9.99423219e-01 -3.06268362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.28, Y:-7.00, Z:-3.06 [[ 9.87072126e-01 1.56815190e-01 3.31302554e-02 7.22805305e+01] [-1.56740462e-01 9.87627884e-01 -4.85696826e-03 -6.99707175e+00] [-3.34820104e-02 -3.98673558e-04 9.99439241e-01 -3.06419790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.31, Y:-7.00, Z:-3.07 [[ 9.87174308e-01 1.56085499e-01 3.35291194e-02 7.23124557e+01] [-1.56008333e-01 9.87743478e-01 -4.92155339e-03 -6.99675904e+00] [-3.38863521e-02 -3.72390954e-04 9.99425623e-01 -3.06589034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.34, Y:-7.00, Z:-3.07 [[ 9.87319087e-01 1.55205492e-01 3.33507940e-02 7.23425822e+01] [-1.55128429e-01 9.87882151e-01 -4.90174229e-03 -6.99903408e+00] [-3.37074314e-02 -3.34072546e-04 9.99431687e-01 -3.06748894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-7.00, Z:-3.07 [[ 9.87619143e-01 1.53331893e-01 3.31324384e-02 7.23731955e+01] [-1.53254771e-01 9.88174711e-01 -4.86996447e-03 -7.00293156e+00] [-3.34873586e-02 -2.68034107e-04 9.99439105e-01 -3.06853253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.40, Y:-7.01, Z:-3.07 [[ 9.87765914e-01 1.52323279e-01 3.34083601e-02 7.24040214e+01] [-1.52244288e-01 9.88330695e-01 -4.91054102e-03 -7.00666983e+00] [-3.37664975e-02 -2.35766971e-04 9.99429721e-01 -3.07021845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57264 meters Centerline goodness [0,1] 0.999871948096295 Centerline is valid? [True, True] Translation: X:72.43, Y:-7.01, Z:-3.07 [[ 9.88061291e-01 1.50453489e-01 3.31456302e-02 7.24343092e+01] [-1.50374474e-01 9.88617075e-01 -4.87820188e-03 -7.00860085e+00] [-3.35022785e-02 -1.64294269e-04 9.99438628e-01 -3.07013628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-7.01, Z:-3.07 [[ 9.88162233e-01 1.49737903e-01 3.33760673e-02 7.24653532e+01] [-1.49657367e-01 9.88725715e-01 -4.91243743e-03 -7.01134476e+00] [-3.37353541e-02 -1.40689217e-04 9.99430791e-01 -3.07201462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.50, Y:-7.01, Z:-3.07 [[ 9.88235362e-01 1.49188240e-01 3.36710389e-02 7.24959393e+01] [-1.49105923e-01 9.88808806e-01 -4.95676447e-03 -7.01386771e+00] [-3.40337107e-02 -1.22101406e-04 9.99420678e-01 -3.07357349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264000000001 meters Centerline goodness [0,1] 0.9998938721796532 Centerline is valid? [True, True] Translation: X:72.53, Y:-7.02, Z:-3.07 [[ 9.88422502e-01 1.48042450e-01 3.32323727e-02 7.25272450e+01] [-1.47961607e-01 9.88981004e-01 -4.89251426e-03 -7.01672708e+00] [-3.35904851e-02 -8.12440724e-05 9.99435677e-01 -3.07434416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.56, Y:-7.02, Z:-3.08 [[ 9.88478717e-01 1.47604539e-01 3.35071079e-02 7.25587885e+01] [-1.47522073e-01 9.89046458e-01 -4.93379398e-03 -7.01929393e+00] [-3.38683367e-02 -6.60876549e-05 9.99426301e-01 -3.07717869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.59, Y:-7.02, Z:-3.08 [[ 9.88683010e-01 1.46402316e-01 3.27455060e-02 7.25903419e+01] [-1.46322872e-01 9.89225132e-01 -4.82242613e-03 -7.02111408e+00] [-3.30986918e-02 -2.35656953e-05 9.99452088e-01 -3.07965666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.62, Y:-7.02, Z:-3.08 [[ 9.88816901e-01 1.45551340e-01 3.24953025e-02 7.26201699e+01] [-1.45472617e-01 9.89350700e-01 -4.78646442e-03 -7.02459031e+00] [-3.28459266e-02 5.76021391e-06 9.99460427e-01 -3.08188664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.65, Y:-7.03, Z:-3.08 [[ 9.88984953e-01 1.44486251e-01 3.21323222e-02 7.26515504e+01] [-1.44408706e-01 9.89506807e-01 -4.73329513e-03 -7.02891504e+00] [-3.24790477e-02 4.09705979e-05 9.99472416e-01 -3.08282129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.68, Y:-7.03, Z:-3.08 [[ 9.89256121e-01 1.42394719e-01 3.31069607e-02 7.26826692e+01] [-1.42311226e-01 9.89809947e-01 -4.87685943e-03 -7.03428066e+00] [-3.34640381e-02 1.12970889e-04 9.99439916e-01 -3.08321973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:-7.04, Z:-3.08 [[ 9.89326705e-01 1.41715949e-01 3.39007357e-02 7.27137318e+01] [-1.41627808e-01 9.89907354e-01 -4.99950772e-03 -7.03968538e+00] [-3.42670976e-02 1.44859602e-04 9.99412700e-01 -3.08386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.75, Y:-7.05, Z:-3.09 [[ 9.89560721e-01 1.40277889e-01 3.30407843e-02 7.27453836e+01] [-1.40193194e-01 9.90112153e-01 -4.87777091e-03 -7.04587661e+00] [-3.33983255e-02 1.94757435e-04 9.99442101e-01 -3.08615558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.78, Y:-7.05, Z:-3.09 [[ 9.89603183e-01 1.39919724e-01 3.32868007e-02 7.27768633e+01] [-1.39833368e-01 9.90162828e-01 -4.91976166e-03 -7.05042408e+00] [-3.36477244e-02 2.14006346e-04 9.99433732e-01 -3.08689380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93264 meters Centerline goodness [0,1] 0.999957172530461 Centerline is valid? [True, True] Translation: X:72.81, Y:-7.06, Z:-3.09 [[ 9.89643824e-01 1.39491015e-01 3.38726879e-02 7.28079865e+01] [-1.39401124e-01 9.90223308e-01 -5.01268866e-03 -7.05545317e+00] [-3.42407501e-02 2.38885615e-04 9.99413585e-01 -3.08686594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:-7.06, Z:-3.09 [[ 9.89716009e-01 1.38878903e-01 3.42763911e-02 7.28392840e+01] [-1.38786374e-01 9.90309335e-01 -5.07574265e-03 -7.05997378e+00] [-3.46491437e-02 2.66447720e-04 9.99399503e-01 -3.08837210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.87, Y:-7.06, Z:-3.09 [[ 9.89696245e-01 1.39123066e-01 3.38543324e-02 7.28711675e+01] [-1.39032854e-01 9.90275066e-01 -5.01590859e-03 -7.06399459e+00] [-3.42229299e-02 2.57361440e-04 9.99414191e-01 -3.08995737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-7.07, Z:-3.09 [[ 9.89615530e-01 1.40018707e-01 3.24940683e-02 7.29027177e+01] [-1.39935912e-01 9.90148833e-01 -4.81957260e-03 -7.06700153e+00] [-3.28487941e-02 2.22436816e-04 9.99460308e-01 -3.09376060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-7.07, Z:-3.10 [[ 9.89560775e-01 1.40549900e-01 3.18621789e-02 7.29330895e+01] [-1.40470363e-01 9.90073574e-01 -4.73226018e-03 -7.07140861e+00] [-3.22110200e-02 2.07167210e-04 9.99481069e-01 -3.09687677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.96, Y:-7.08, Z:-3.10 [[ 9.89480504e-01 1.41113940e-01 3.18620268e-02 7.29643904e+01] [-1.41034687e-01 9.89993344e-01 -4.73252377e-03 -7.07599867e+00] [-3.22110195e-02 1.89089023e-04 9.99481073e-01 -3.09787493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.00, Y:-7.08, Z:-3.10 [[ 9.89346491e-01 1.42000521e-01 3.20838269e-02 7.29956775e+01] [-1.41920601e-01 9.89866570e-01 -4.76625398e-03 -7.07940282e+00] [-3.24355182e-02 1.62120665e-04 9.99473817e-01 -3.09855888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters Centerline goodness [0,1] 0.9999132038624281 Centerline is valid? [True, True] Translation: X:73.03, Y:-7.08, Z:-3.10 [[ 9.89273949e-01 1.42317676e-01 3.29048979e-02 7.30267932e+01] [-1.42233760e-01 9.89821021e-01 -4.88906487e-03 -7.08365402e+00] [-3.32657601e-02 1.56437151e-04 9.99446529e-01 -3.09759799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.06, Y:-7.09, Z:-3.10 [[ 9.89094369e-01 1.43157360e-01 3.46164621e-02 7.30572363e+01] [-1.43064964e-01 9.89699930e-01 -5.14434081e-03 -7.08764420e+00] [-3.49963604e-02 1.35835628e-04 9.99387431e-01 -3.09783803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:73.09, Y:-7.09, Z:-3.10 [[ 9.89067585e-01 1.43341222e-01 3.46209070e-02 7.30878633e+01] [-1.43248902e-01 9.89673318e-01 -5.14537122e-03 -7.09292576e+00] [-3.50009318e-02 1.29712956e-04 9.99387271e-01 -3.09811683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-7.10, Z:-3.10 [[ 9.89029032e-01 1.43620381e-01 3.45652986e-02 7.31179549e+01] [-1.43528521e-01 9.89632847e-01 -5.13729578e-03 -7.10028172e+00] [-3.49447752e-02 1.19828485e-04 9.99389238e-01 -3.10063448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-7.11, Z:-3.10 [[ 9.89064641e-01 1.43547508e-01 3.38415225e-02 7.31490070e+01] [-1.43459240e-01 9.89643419e-01 -5.03480175e-03 -7.10722686e+00] [-3.42137733e-02 1.24865286e-04 9.99414530e-01 -3.10354498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-7.11, Z:-3.11 [[ 9.89155445e-01 1.43358556e-01 3.19347654e-02 7.31799422e+01] [-1.43279699e-01 9.89670808e-01 -4.75605379e-03 -7.11451511e+00] [-3.22867261e-02 1.28872942e-04 9.99478639e-01 -3.10712663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-7.12, Z:-3.11 [[ 9.89152005e-01 1.43382504e-01 3.19338033e-02 7.32104121e+01] [-1.43303451e-01 9.89667338e-01 -4.76250481e-03 -7.11910009e+00] [-3.22867019e-02 1.34616975e-04 9.99478639e-01 -3.10835585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:-7.12, Z:-3.11 [[ 9.88902802e-01 1.44861380e-01 3.29610176e-02 7.32410450e+01] [-1.44777980e-01 9.89451956e-01 -4.91567186e-03 -7.12457463e+00] [-3.33254343e-02 8.90921328e-05 9.99444549e-01 -3.10915203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:-7.13, Z:-3.11 [[ 9.88728579e-01 1.46007558e-01 3.31299097e-02 7.32715324e+01] [-1.45923739e-01 9.89283473e-01 -4.94699116e-03 -7.12953285e+00] [-3.34971703e-02 5.67912515e-05 9.99438811e-01 -3.11009468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41264000000001 meters Centerline goodness [0,1] 0.9998272138228942 Centerline is valid? [True, True] Translation: X:73.30, Y:-7.13, Z:-3.11 [[ 9.88336602e-01 1.48622706e-01 3.31971851e-02 7.33022366e+01] [-1.48539994e-01 9.88893973e-01 -4.95782555e-03 -7.13467231e+00] [-3.35653417e-02 -3.11092155e-05 9.99436525e-01 -3.10912096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:-7.14, Z:-3.11 [[ 9.88052294e-01 1.50288782e-01 3.41459669e-02 7.33322923e+01] [-1.50202234e-01 9.88642137e-01 -5.10045520e-03 -7.13738418e+00] [-3.45246829e-02 -8.92840631e-05 9.99403841e-01 -3.11024530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47264000000001 meters Centerline goodness [0,1] 0.9998925101040502 Centerline is valid? [True, True] Translation: X:73.36, Y:-7.14, Z:-3.11 [[ 9.87685280e-01 1.52524053e-01 3.48453867e-02 7.33636443e+01] [-1.52435300e-01 9.88299744e-01 -5.20530825e-03 -7.14266674e+00] [-3.52316214e-02 -1.70460628e-04 9.99379159e-01 -3.10930120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-7.15, Z:-3.11 [[ 9.87543129e-01 1.53511305e-01 3.45376404e-02 7.33934841e+01] [-1.53424684e-01 9.88146871e-01 -5.16025311e-03 -7.14731565e+00] [-3.49204185e-02 -2.02954061e-04 9.99390076e-01 -3.11315364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.42, Y:-7.15, Z:-3.12 [[ 9.87377322e-01 1.54721875e-01 3.38698325e-02 7.34245699e+01] [-1.54639273e-01 9.87958037e-01 -5.06082184e-03 -7.15379358e+00] [-3.42449930e-02 -2.40665538e-04 9.99413439e-01 -3.11551324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-7.16, Z:-3.12 [[ 9.87268784e-01 1.55396304e-01 3.39460935e-02 7.34542867e+01] [-1.55313696e-01 9.87852175e-01 -5.07312292e-03 -7.15804071e+00] [-3.43220668e-02 -2.63757361e-04 9.99410789e-01 -3.11714952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-7.16, Z:-3.12 [[ 9.86999369e-01 1.57142727e-01 3.37403133e-02 7.34842927e+01] [-1.57062122e-01 9.87575850e-01 -5.04284819e-03 -7.16417402e+00] [-3.41135655e-02 -3.22037216e-04 9.99417911e-01 -3.11968801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-7.17, Z:-3.12 [[ 9.86874167e-01 1.58021811e-01 3.32939426e-02 7.35142197e+01] [-1.57943825e-01 9.87435561e-01 -4.97613334e-03 -7.16908501e+00] [-3.36619605e-02 -3.47755198e-04 9.99433215e-01 -3.12107914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:-7.17, Z:-3.12 [[ 9.86671871e-01 1.59418281e-01 3.26256223e-02 7.35443169e+01] [-1.59344158e-01 9.87211052e-01 -4.87624578e-03 -7.17239396e+00] [-3.29857376e-02 -3.87447757e-04 9.99455747e-01 -3.12290161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:-7.17, Z:-3.12 [[ 9.86416881e-01 1.60903306e-01 3.30433582e-02 7.35740080e+01] [-1.60828102e-01 9.86970076e-01 -4.93875999e-03 -7.17317006e+00] [-3.34074685e-02 -4.42624342e-04 9.99441717e-01 -3.12455926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:-7.17, Z:-3.12 [[ 9.85895496e-01 1.63802229e-01 3.43351349e-02 7.36028821e+01] [-1.63722794e-01 9.86493038e-01 -5.13156948e-03 -7.17093142e+00] [-3.47119341e-02 -5.62252978e-04 9.99397201e-01 -3.12480360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:-7.18, Z:-3.13 [[ 9.85697037e-01 1.65038921e-01 3.41102076e-02 7.36319593e+01] [-1.64961324e-01 9.86286870e-01 -5.09620276e-03 -7.17537183e+00] [-3.44835217e-02 -6.03553052e-04 9.99405084e-01 -3.12547153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:-7.18, Z:-3.13 [[ 9.85390590e-01 1.66993380e-01 3.34454310e-02 7.36614856e+01] [-1.66919930e-01 9.85957796e-01 -4.99609703e-03 -7.17805465e+00] [-3.38100986e-02 -6.59602003e-04 9.99428058e-01 -3.12843826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264000000001 meters Centerline goodness [0,1] 0.9998938473950151 Centerline is valid? [True, True] Translation: X:73.69, Y:-7.18, Z:-3.13 [[ 9.85336585e-01 1.67401778e-01 3.29918033e-02 7.36890174e+01] [-1.67330554e-01 9.85888534e-01 -4.92781367e-03 -7.17922611e+00] [-3.33511654e-02 -6.64981621e-04 9.99443474e-01 -3.13023872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-7.18, Z:-3.13 [[ 9.85135336e-01 1.68433198e-01 3.37435588e-02 7.37166836e+01] [-1.68359376e-01 9.85712809e-01 -5.03770599e-03 -7.17987335e+00] [-3.41099751e-02 -7.18222330e-04 9.99417827e-01 -3.13191994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-7.18, Z:-3.13 [[ 9.85097816e-01 1.68355737e-01 3.51942920e-02 7.37455106e+01] [-1.68275460e-01 9.85726019e-01 -5.25205851e-03 -7.18454204e+00] [-3.55761436e-02 -7.48544316e-04 9.99366688e-01 -3.13013608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:-7.19, Z:-3.13 [[ 9.85045852e-01 1.68354978e-01 3.66233631e-02 7.37734562e+01] [-1.68268114e-01 9.85726124e-01 -5.46349409e-03 -7.18629708e+00] [-3.70204122e-02 -7.80752063e-04 9.99314205e-01 -3.12910815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:-7.19, Z:-3.13 [[ 9.85060259e-01 1.68289274e-01 3.65377407e-02 7.38023292e+01] [-1.68202856e-01 9.85737345e-01 -5.44841714e-03 -7.19138574e+00] [-3.69335256e-02 -7.78733151e-04 9.99317421e-01 -3.12999654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.83, Y:-7.19, Z:-3.13 [[ 9.85295348e-01 1.67475833e-01 3.38367070e-02 7.38327006e+01] [-1.67310337e-01 9.85874330e-01 -7.68479767e-03 -7.19430359e+00] [-3.46457587e-02 1.91056455e-03 9.99397829e-01 -3.13436155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-7.20, Z:-3.14 [[ 9.85276756e-01 1.67258206e-01 3.54175966e-02 7.38601012e+01] [-1.67267734e-01 9.85907772e-01 -2.71490031e-03 -7.19744814e+00] [-3.53725731e-02 -3.24929295e-03 9.99368912e-01 -3.13702408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01264 meters Centerline goodness [0,1] 0.9999352387531302 Centerline is valid? [True, True] Translation: X:73.89, Y:-7.20, Z:-3.14 [[ 9.85423294e-01 1.66634332e-01 3.42626836e-02 7.38894980e+01] [-1.66557435e-01 9.86018531e-01 -5.10652636e-03 -7.20133254e+00] [-3.46345636e-02 -6.74614663e-04 9.99399816e-01 -3.13759465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.20, Z:-3.14 [[ 9.85520607e-01 1.66035179e-01 3.43722587e-02 7.39180422e+01] [-1.65957450e-01 9.86119612e-01 -5.12212059e-03 -7.20227866e+00] [-3.47456107e-02 -6.56377031e-04 9.99395973e-01 -3.14058223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07264 meters Centerline goodness [0,1] 0.9999354852583815 Centerline is valid? [True, True] Translation: X:73.95, Y:-7.21, Z:-3.14 [[ 9.85946540e-01 1.63423645e-01 3.46717811e-02 7.39470993e+01] [-1.63343007e-01 9.86555820e-01 -5.16487840e-03 -7.20751821e+00] [-3.50497107e-02 -5.71098971e-04 9.99385407e-01 -3.14055998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.21, Z:-3.14 [[ 9.86173495e-01 1.61957513e-01 3.50941755e-02 7.39754970e+01] [-1.61873999e-01 9.86797592e-01 -5.22695854e-03 -7.21044310e+00] [-3.54773931e-02 -5.26146566e-04 9.99370341e-01 -3.14294757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.00, Y:-7.21, Z:-3.14 [[ 9.86181004e-01 1.61911744e-01 3.50943618e-02 7.40035092e+01] [-1.61828246e-01 9.86805103e-01 -5.22570765e-03 -7.21452151e+00] [-3.54773987e-02 -5.25765412e-04 9.99370341e-01 -3.14407718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.03, Y:-7.22, Z:-3.14 [[ 9.86550151e-01 1.59604534e-01 3.52872711e-02 7.40321483e+01] [-1.59518703e-01 9.87180932e-01 -5.25265732e-03 -7.22390483e+00] [-3.56732691e-02 -4.46969851e-04 9.99363406e-01 -3.14479877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:-7.23, Z:-3.15 [[ 9.86946334e-01 1.57220418e-01 3.49095222e-02 7.40612535e+01] [-1.57134957e-01 9.87563472e-01 -5.19549662e-03 -7.23116043e+00] [-3.52922071e-02 -3.57829914e-04 9.99376972e-01 -3.14671886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264000000001 meters Centerline goodness [0,1] 0.9998706534158277 Centerline is valid? [True, True] Translation: X:74.09, Y:-7.24, Z:-3.15 [[ 9.87840728e-01 1.51604264e-01 3.44506037e-02 7.40914016e+01] [-1.51517640e-01 9.88441259e-01 -5.12658007e-03 -7.24361902e+00] [-3.48296095e-02 -1.55629574e-04 9.99393253e-01 -3.14811212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-7.25, Z:-3.15 [[ 9.88520120e-01 1.47250997e-01 3.38395518e-02 7.41208198e+01] [-1.47164866e-01 9.89099158e-01 -5.03571584e-03 -7.25442339e+00] [-3.42121864e-02 -2.08668510e-06 9.99414592e-01 -3.15232259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters Centerline goodness [0,1] 0.9998707509370557 Centerline is valid? [True, True] Translation: X:74.15, Y:-7.26, Z:-3.15 [[ 9.88847053e-01 1.45084593e-01 3.36447138e-02 7.41525592e+01] [-1.44998013e-01 9.89419251e-01 -5.01211920e-03 -7.26271896e+00] [-3.40159088e-02 7.78026561e-05 9.99421288e-01 -3.15300765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.18, Y:-7.27, Z:-3.16 [[ 9.88962525e-01 1.44336060e-01 3.34697819e-02 7.41834790e+01] [-1.44249755e-01 9.89528721e-01 -4.99180892e-03 -7.27025417e+00] [-3.38398085e-02 1.08704133e-04 9.99427264e-01 -3.15667015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters Centerline goodness [0,1] 0.9997627878892436 Centerline is valid? [True, True] Translation: X:74.22, Y:-7.28, Z:-3.16 [[ 9.89099536e-01 1.43488673e-01 3.30621878e-02 7.42160332e+01] [-1.43403783e-01 9.89651949e-01 -4.93705062e-03 -7.27708420e+00] [-3.34284695e-02 1.41991679e-04 9.99441102e-01 -3.15784944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:-7.28, Z:-3.16 [[ 9.88981987e-01 1.44580072e-01 3.17998664e-02 7.42462616e+01] [-1.44501908e-01 9.89493098e-01 -4.75470129e-03 -7.28225271e+00] [-3.21531834e-02 1.07172552e-04 9.99482947e-01 -3.16277692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40264 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:74.28, Y:-7.29, Z:-3.16 [[ 9.88713207e-01 1.46450899e-01 3.15963233e-02 7.42779923e+01] [-1.46374537e-01 9.89217939e-01 -4.72898666e-03 -7.28533969e+00] [-3.19482142e-02 5.07143825e-05 9.99489524e-01 -3.16340137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43264 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:74.31, Y:-7.29, Z:-3.16 [[ 9.88477068e-01 1.47929695e-01 3.20919272e-02 7.43094597e+01] [-1.47851491e-01 9.88997879e-01 -4.80951025e-03 -7.28841295e+00] [-3.24503173e-02 9.25132542e-06 9.99473350e-01 -3.16370480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.34, Y:-7.29, Z:-3.16 [[ 9.88167143e-01 1.49847615e-01 3.27320884e-02 7.43414692e+01] [-1.49767217e-01 9.88709103e-01 -4.90825777e-03 -7.29160381e+00] [-3.30980045e-02 -5.20147398e-05 9.99452110e-01 -3.16495991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-7.29, Z:-3.17 [[ 9.87916741e-01 1.51488446e-01 3.27378111e-02 7.43725946e+01] [-1.51408727e-01 9.88459023e-01 -4.91496996e-03 -7.29486398e+00] [-3.31045460e-02 -1.01209195e-04 9.99451889e-01 -3.16610140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-7.30, Z:-3.17 [[ 9.87530782e-01 1.54235947e-01 3.15313574e-02 7.44033106e+01] [-1.54163212e-01 9.88034028e-01 -4.73960588e-03 -7.29736225e+00] [-3.18850716e-02 -1.80468628e-04 9.99491526e-01 -3.16999002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-7.29, Z:-3.17 [[ 9.87215514e-01 1.57288443e-01 2.58045536e-02 7.44357265e+01] [-1.56843235e-01 9.87450845e-01 -1.84669256e-02 -7.29280881e+00] [-2.83853622e-02 1.41835658e-02 9.99496422e-01 -3.17060816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.31, Z:-3.17 [[ 9.87143531e-01 1.56415441e-01 3.28916276e-02 7.44612273e+01] [-1.56805872e-01 9.87582492e-01 9.63016784e-03 -7.31257000e+00] [-3.09768886e-02 -1.46639582e-02 9.99412528e-01 -3.17494760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-7.31, Z:-3.18 [[ 9.87031210e-01 1.57479402e-01 3.11388671e-02 7.44921128e+01] [-1.57409865e-01 9.87522234e-01 -4.68743110e-03 -7.30955211e+00] [-3.14884974e-02 -2.74924055e-04 9.99504077e-01 -3.17588494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters Centerline goodness [0,1] 0.9998482911076917 Centerline is valid? [True, True] Translation: X:74.52, Y:-7.31, Z:-3.17 [[ 9.86887124e-01 1.58087208e-01 3.25920144e-02 7.45204478e+01] [-1.58011385e-01 9.87425106e-01 -4.90540750e-03 -7.31423731e+00] [-3.29576555e-02 -3.08825841e-04 9.99456701e-01 -3.17380687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-7.32, Z:-3.17 [[ 9.86633141e-01 1.59423289e-01 3.37529313e-02 7.45501034e+01] [-1.59342800e-01 9.87210251e-01 -5.07862425e-03 -7.31957069e+00] [-3.41308908e-02 -3.67547581e-04 9.99417304e-01 -3.17349693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-7.32, Z:-3.17 [[ 9.86539640e-01 1.59957405e-01 3.39583140e-02 7.45804724e+01] [-1.59876249e-01 9.87123841e-01 -5.10952709e-03 -7.32451930e+00] [-3.43383681e-02 -3.88376857e-04 9.99410189e-01 -3.17464919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.33, Z:-3.18 [[ 9.86398458e-01 1.60968218e-01 3.32763407e-02 7.46100560e+01] [-1.60890876e-01 9.86959503e-01 -5.00657680e-03 -7.33107056e+00] [-3.36483004e-02 -4.15379962e-04 9.99433649e-01 -3.17793472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.34, Z:-3.18 [[ 9.86280449e-01 1.61618885e-01 3.36186165e-02 7.46400575e+01] [-1.61540246e-01 9.86853151e-01 -5.06025862e-03 -7.33817500e+00] [-3.39944710e-02 -4.39925447e-04 9.99421924e-01 -3.17868529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:-7.34, Z:-3.18 [[ 9.86018067e-01 1.63183228e-01 3.37580330e-02 7.46693600e+01] [-1.63104849e-01 9.86595656e-01 -5.08131426e-03 -7.34409162e+00] [-3.41347140e-02 -4.95831223e-04 9.99417118e-01 -3.18150501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-7.35, Z:-3.18 [[ 9.85956599e-01 1.63578615e-01 3.36395903e-02 7.46991605e+01] [-1.63501032e-01 9.86530171e-01 -5.06299589e-03 -7.35226694e+00] [-3.40146687e-02 -5.08213544e-04 9.99421205e-01 -3.18274536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:-7.36, Z:-3.19 [[ 9.85937799e-01 1.63704541e-01 3.35779655e-02 7.47283853e+01] [-1.63627318e-01 9.86509281e-01 -5.05364884e-03 -7.36038332e+00] [-3.39522799e-02 -5.11689035e-04 9.99423324e-01 -3.18506493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.76, Y:-7.37, Z:-3.19 [[ 9.86021623e-01 1.63308413e-01 3.30412120e-02 7.47584586e+01] [-1.63233407e-01 9.86574945e-01 -4.97318229e-03 -7.36924827e+00] [-3.34097944e-02 -4.89764322e-04 9.99441617e-01 -3.18742287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-7.38, Z:-3.19 [[ 9.86131143e-01 1.62738854e-01 3.25796673e-02 7.47886145e+01] [-1.62665609e-01 9.86669068e-01 -4.90401119e-03 -7.37695047e+00] [-3.29434232e-02 -4.63593264e-04 9.99457111e-01 -3.18998194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-7.39, Z:-3.19 [[ 9.86240236e-01 1.62165406e-01 3.21337505e-02 7.48197531e+01] [-1.62093764e-01 9.86763493e-01 -4.83947285e-03 -7.38755093e+00] [-3.24932070e-02 -4.35797726e-04 9.99471861e-01 -3.19238706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-7.39, Z:-3.19 [[ 9.86042160e-01 1.63459883e-01 3.16500320e-02 7.48505126e+01] [-1.63246852e-01 9.86542179e-01 -9.21926429e-03 -7.39278593e+00] [-3.27310713e-02 3.92381519e-03 9.99456493e-01 -3.19414956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:-7.41, Z:-3.20 [[ 9.86339993e-01 1.61627763e-01 3.17786826e-02 7.48819534e+01] [-1.61693706e-01 9.86840866e-01 -5.00750097e-04 -7.41110952e+00] [-3.14414377e-02 -4.64450309e-03 9.99494805e-01 -3.19724554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.92, Y:-7.41, Z:-3.20 [[ 9.86208913e-01 1.63160797e-01 2.77585081e-02 7.49152865e+01] [-1.62745221e-01 9.86527816e-01 -1.66391375e-02 -7.40955460e+00] [-3.00993953e-02 1.18921012e-02 9.99476165e-01 -3.19983438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:-7.43, Z:-3.20 [[ 9.86304189e-01 1.61942291e-01 3.12848373e-02 7.49430571e+01] [-1.62256130e-01 9.86718232e-01 7.75102782e-03 -7.43043828e+00] [-2.96141001e-02 -1.27210279e-02 9.99480455e-01 -3.20369613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.97, Y:-7.43, Z:-3.21 [[ 9.85994375e-01 1.64219598e-01 2.91035554e-02 7.49749923e+01] [-1.64161230e-01 9.86423707e-01 -4.39999584e-03 -7.42967889e+00] [-2.94310025e-02 -4.39304306e-04 9.99566718e-01 -3.20756054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12264 meters Centerline goodness [0,1] 0.9999362448198916 Centerline is valid? [True, True] Translation: X:75.01, Y:-7.44, Z:-3.21 [[ 9.85760300e-01 1.65718964e-01 2.85281647e-02 7.50067966e+01] [-1.65663457e-01 9.86172907e-01 -4.31478143e-03 -7.43522030e+00] [-2.88487442e-02 -4.72734150e-04 9.99583677e-01 -3.21013445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-7.44, Z:-3.21 [[ 9.85175379e-01 1.69094821e-01 2.89208370e-02 7.50377303e+01] [-1.69039082e-01 9.85599620e-01 -4.37919289e-03 -7.44295936e+00] [-2.92448648e-02 -5.74478709e-04 9.99572112e-01 -3.21051246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:-7.45, Z:-3.21 [[ 9.84816376e-01 1.71084231e-01 2.94430349e-02 7.50694816e+01] [-1.71027206e-01 9.85256198e-01 -4.46304810e-03 -7.44815414e+00] [-2.97724897e-02 -6.40277136e-04 9.99556496e-01 -3.21029647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.10, Y:-7.45, Z:-3.21 [[ 9.84144775e-01 1.74787697e-01 3.01384007e-02 7.50990480e+01] [-1.74729466e-01 9.84605849e-01 -4.57549019e-03 -7.45179915e+00] [-3.04741850e-02 -7.63121912e-04 9.99535263e-01 -3.21096685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:-7.46, Z:-3.21 [[ 9.83852100e-01 1.76413878e-01 3.02190046e-02 7.51298962e+01] [-1.76356108e-01 9.84315741e-01 -4.58750295e-03 -7.45673812e+00] [-3.05543411e-02 -8.15881620e-04 9.99532774e-01 -3.21270294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27264000000001 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:75.16, Y:-7.46, Z:-3.22 [[ 9.83594849e-01 1.77932043e-01 2.96877191e-02 7.51598120e+01] [-1.77876962e-01 9.84042413e-01 -4.50733968e-03 -7.46059030e+00] [-3.00159749e-02 -8.47365197e-04 9.99549060e-01 -3.21545095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.19, Y:-7.47, Z:-3.22 [[ 9.83196821e-01 1.80127543e-01 2.96324169e-02 7.51904765e+01] [-1.80073615e-01 9.83642841e-01 -4.50056955e-03 -7.46650035e+00] [-2.99583912e-02 -9.11070745e-04 9.99550731e-01 -3.21742051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33264000000001 meters Centerline goodness [0,1] 0.9999359001752062 Centerline is valid? [True, True] Translation: X:75.22, Y:-7.47, Z:-3.22 [[ 9.83112505e-01 1.80555930e-01 2.98221254e-02 7.52210357e+01] [-1.80501480e-01 9.83564280e-01 -4.53023914e-03 -7.46916538e+00] [-3.01499388e-02 -9.29203008e-04 9.99544955e-01 -3.21983016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:75.25, Y:-7.48, Z:-3.22 [[ 9.83214366e-01 1.80022491e-01 2.96886162e-02 7.52513971e+01] [-1.79968320e-01 9.83662073e-01 -4.50879600e-03 -7.48169927e+00] [-3.00152505e-02 -9.09897379e-04 9.99549027e-01 -3.22131103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39264 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:75.28, Y:-7.49, Z:-3.22 [[ 9.83394260e-01 1.79021518e-01 2.97829866e-02 7.52813359e+01] [-1.78966368e-01 9.83844768e-01 -4.52890477e-03 -7.49033113e+00] [-3.01126069e-02 -8.76453997e-04 9.99546128e-01 -3.22306695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters Centerline goodness [0,1] 0.9999139895927407 Centerline is valid? [True, True] Translation: X:75.31, Y:-7.50, Z:-3.22 [[ 9.83642550e-01 1.77608639e-01 3.00417135e-02 7.53124809e+01] [-1.77551800e-01 9.84100843e-01 -4.57050761e-03 -7.50072380e+00] [-3.03758372e-02 -8.38214558e-04 9.99538196e-01 -3.22384176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-7.51, Z:-3.23 [[ 9.84035231e-01 1.75566746e-01 2.91716045e-02 7.53427332e+01] [-1.75512112e-01 9.84467246e-01 -4.44299617e-03 -7.50979935e+00] [-2.94985315e-02 -7.47905158e-04 9.99564544e-01 -3.22821688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:75.37, Y:-7.52, Z:-3.23 [[ 9.84099883e-01 1.75228838e-01 2.90219688e-02 7.53734902e+01] [-1.75174488e-01 9.84527461e-01 -4.42458084e-03 -7.51826357e+00] [-2.93482394e-02 -7.29679030e-04 9.99568981e-01 -3.23001339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51264 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:75.40, Y:-7.53, Z:-3.23 [[ 9.84241773e-01 1.74361931e-01 2.94287109e-02 7.54040268e+01] [-1.74305512e-01 9.84681377e-01 -4.49151642e-03 -7.53244287e+00] [-2.97610531e-02 -7.08848451e-04 9.99556790e-01 -3.22967280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:-7.54, Z:-3.23 [[ 9.84257858e-01 1.74260955e-01 2.94887996e-02 7.54343174e+01] [-1.74204103e-01 9.84699257e-01 -4.50597810e-03 -7.53728842e+00] [-2.98228151e-02 -7.02025540e-04 9.99554954e-01 -3.23209973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:-7.55, Z:-3.23 [[ 9.83832025e-01 1.76100099e-01 3.26083006e-02 7.54617438e+01] [-1.76209251e-01 9.84352614e-01 4.81834450e-04 -7.55136251e+00] [-3.20132148e-02 -6.21992838e-03 9.99468092e-01 -3.23360420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-7.55, Z:-3.24 [[ 9.84485660e-01 1.73395688e-01 2.68685715e-02 7.54967003e+01] [-1.73202225e-01 9.84841562e-01 -9.38541978e-03 -7.55225331e+00] [-2.80886773e-02 4.58611480e-03 9.99594915e-01 -3.23915603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-7.56, Z:-3.24 [[ 9.84552351e-01 1.72917367e-01 2.75000337e-02 7.55270446e+01] [-1.72867162e-01 9.84936147e-01 -4.21069356e-03 -7.56443030e+00] [-2.78138793e-02 -6.08204549e-04 9.99612934e-01 -3.23973402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.56, Y:-7.57, Z:-3.24 [[ 9.84713033e-01 1.72073165e-01 2.70382675e-02 7.55576284e+01] [-1.72024188e-01 9.85084007e-01 -4.14459425e-03 -7.57342407e+00] [-2.73481383e-02 -5.70000032e-04 9.99625807e-01 -3.24242913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-7.58, Z:-3.24 [[ 9.84839231e-01 1.71349676e-01 2.70366142e-02 7.55887763e+01] [-1.71300304e-01 9.85210125e-01 -4.14904080e-03 -7.58211552e+00] [-2.73476828e-02 -5.45242078e-04 9.99625833e-01 -3.24343615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:-7.59, Z:-3.24 [[ 9.84988556e-01 1.70485677e-01 2.70588115e-02 7.56204031e+01] [-1.70435771e-01 9.85360019e-01 -4.15711385e-03 -7.59044970e+00] [-2.73713994e-02 -5.17079821e-04 9.99625199e-01 -3.24496048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.65, Y:-7.60, Z:-3.25 [[ 9.85384991e-01 1.68302473e-01 2.62811115e-02 7.56499973e+01] [-1.68254498e-01 9.85735302e-01 -4.04212215e-03 -7.60178240e+00] [-2.65865186e-02 -4.38868735e-04 9.99646420e-01 -3.24766594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-7.61, Z:-3.25 [[ 9.85607997e-01 1.66998092e-01 2.62395400e-02 7.56809328e+01] [-1.66949702e-01 9.85957138e-01 -4.03968505e-03 -7.61152830e+00] [-2.65456815e-02 -3.99137492e-04 9.99647522e-01 -3.24867168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-7.63, Z:-3.25 [[ 9.85771946e-01 1.65198694e-01 3.10332480e-02 7.57089387e+01] [-1.65233784e-01 9.86253365e-01 -1.44810440e-03 -7.62722823e+00] [-3.08458702e-02 -3.70024030e-03 9.99517304e-01 -3.25163999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-7.64, Z:-3.25 [[ 9.86391181e-01 1.62309518e-01 2.62308792e-02 7.57411511e+01] [-1.62168643e-01 9.86735117e-01 -7.42569837e-03 -7.63551421e+00] [-2.70881912e-02 3.07081730e-03 9.99628331e-01 -3.25138348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87264 meters Centerline goodness [0,1] 0.999935137939981 Centerline is valid? [True, True] Translation: X:75.77, Y:-7.65, Z:-3.25 [[ 9.86593460e-01 1.60889014e-01 2.73508672e-02 7.57712103e+01] [-1.60833746e-01 9.86972477e-01 -4.22315544e-03 -7.64553476e+00] [-2.76740124e-02 -2.32404895e-04 9.99616974e-01 -3.25401048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-7.66, Z:-3.25 [[ 9.86802032e-01 1.59609807e-01 2.73213971e-02 7.58017645e+01] [-1.59554047e-01 9.87180162e-01 -4.22294012e-03 -7.65761148e+00] [-2.76451639e-02 -1.92033594e-04 9.99617781e-01 -3.25377401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-7.67, Z:-3.26 [[ 9.86796150e-01 1.59688409e-01 2.70734386e-02 7.58336339e+01] [-1.59633568e-01 9.87167451e-01 -4.18895237e-03 -7.66550821e+00] [-2.73949445e-02 -1.88187544e-04 9.99624670e-01 -3.25566975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264000000001 meters Centerline goodness [0,1] 0.9999350733670952 Centerline is valid? [True, True] Translation: X:75.86, Y:-7.67, Z:-3.26 [[ 9.86637415e-01 1.60836245e-01 2.60444494e-02 7.58635229e+01] [-1.60785752e-01 9.86981084e-01 -4.03512836e-03 -7.67437122e+00] [-2.63543737e-02 -2.06367750e-04 9.99652642e-01 -3.26036350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:-7.68, Z:-3.26 [[ 9.86570363e-01 1.61380755e-01 2.52025990e-02 7.58937002e+01] [-1.61333553e-01 9.86892197e-01 -3.90854990e-03 -7.68096351e+00] [-2.55030131e-02 -2.09965363e-04 9.99674723e-01 -3.26250451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-7.69, Z:-3.26 [[ 9.86366498e-01 1.62555693e-01 2.56276979e-02 7.59246287e+01] [-1.62507181e-01 9.86699341e-01 -3.97833981e-03 -7.68780112e+00] [-2.59335344e-02 -2.40583845e-04 9.99663640e-01 -3.26453184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-7.69, Z:-3.27 [[ 9.86336721e-01 1.62736383e-01 2.56270010e-02 7.59566888e+01] [-1.62687816e-01 9.86669555e-01 -3.98282261e-03 -7.69298161e+00] [-2.59335319e-02 -2.40796646e-04 9.99663640e-01 -3.26582868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-7.70, Z:-3.27 [[ 9.86187804e-01 1.63702320e-01 2.52024811e-02 7.59877534e+01] [-1.63655533e-01 9.86509749e-01 -3.92196280e-03 -7.69844706e+00] [-2.55045277e-02 -2.56733604e-04 9.99674674e-01 -3.26875664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-7.71, Z:-3.27 [[ 9.86082606e-01 1.64470373e-01 2.43020881e-02 7.60191945e+01] [-1.64427026e-01 9.86381988e-01 -3.78498015e-03 -7.70625491e+00] [-2.45936591e-02 -2.63616992e-04 9.99697495e-01 -3.26902084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.05, Y:-7.71, Z:-3.28 [[ 9.85756609e-01 1.66580240e-01 2.31285867e-02 7.60496670e+01] [-1.66541468e-01 9.86027857e-01 -3.60611049e-03 -7.71175068e+00] [-2.34061375e-02 -2.97121537e-04 9.99725995e-01 -3.27515288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.08, Y:-7.72, Z:-3.28 [[ 9.85613119e-01 1.67619172e-01 2.16931534e-02 7.60813995e+01] [-1.67585252e-01 9.85851776e-01 -3.38519182e-03 -7.71904946e+00] [-2.19536568e-02 -2.98963112e-04 9.99758945e-01 -3.27678838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-7.72, Z:-3.28 [[ 9.85189026e-01 1.70301595e-01 1.99987278e-02 7.61126010e+01] [-1.70273226e-01 9.85391932e-01 -3.12542053e-03 -7.72258518e+00] [-2.02388492e-02 -3.26117897e-04 9.99795120e-01 -3.28075888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23264 meters Centerline goodness [0,1] 0.9999572192513368 Centerline is valid? [True, True] Translation: X:76.14, Y:-7.73, Z:-3.28 [[ 9.84850623e-01 1.72184330e-01 2.05379587e-02 7.61438802e+01] [-1.72154813e-01 9.85064676e-01 -3.21000468e-03 -7.72521371e+00] [-2.07839302e-02 -3.74333336e-04 9.99783921e-01 -3.28337365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26264 meters Centerline goodness [0,1] 0.9998935672016689 Centerline is valid? [True, True] Translation: X:76.17, Y:-7.73, Z:-3.29 [[ 9.84342323e-01 1.75209838e-01 1.92796254e-02 7.61742538e+01] [-1.75184295e-01 9.84531030e-01 -3.01903572e-03 -7.72677430e+00] [-1.95103542e-02 -4.05722951e-04 9.99809573e-01 -3.28864460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29264 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:76.20, Y:-7.74, Z:-3.29 [[ 9.84143169e-01 1.76447450e-01 1.81251300e-02 7.62049481e+01] [-1.76425111e-01 9.84309978e-01 -2.83681240e-03 -7.73543482e+00] [-1.83412946e-02 -4.05898516e-04 9.99831702e-01 -3.28745469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32264 meters Centerline goodness [0,1] 0.9998929450808265 Centerline is valid? [True, True] Translation: X:76.24, Y:-7.74, Z:-3.29 [[ 9.83998512e-01 1.77260777e-01 1.80428891e-02 7.62360377e+01] [-1.77238777e-01 9.84163828e-01 -2.82396991e-03 -7.73517246e+00] [-1.82577380e-02 -4.19117416e-04 9.99833226e-01 -3.29399916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35264000000001 meters Centerline goodness [0,1] 0.99997830002387 Centerline is valid? [True, True] Translation: X:76.27, Y:-7.75, Z:-3.29 [[ 9.83991957e-01 1.77270433e-01 1.83035855e-02 7.62670132e+01] [-1.77247743e-01 9.84162088e-01 -2.86753151e-03 -7.74623270e+00] [-1.85220235e-02 -4.22641271e-04 9.99828363e-01 -3.29031396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264000000001 meters Centerline goodness [0,1] 0.9999783432593394 Centerline is valid? [True, True] Translation: X:76.30, Y:-7.75, Z:-3.29 [[ 9.84316676e-01 1.75342076e-01 1.93865257e-02 7.62963941e+01] [-1.75316109e-01 9.84507488e-01 -3.04421833e-03 -7.75406942e+00] [-1.96199593e-02 -4.02295390e-04 9.99807429e-01 -3.29005964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41264000000001 meters Centerline goodness [0,1] 0.9999144787479689 Centerline is valid? [True, True] Translation: X:76.33, Y:-7.76, Z:-3.29 [[ 9.84719894e-01 1.72954836e-01 2.03311251e-02 7.63261261e+01] [-1.72925768e-01 9.84929686e-01 -3.19258614e-03 -7.76218534e+00] [-2.05769019e-02 -3.71972337e-04 9.99788204e-01 -3.29144086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264000000001 meters Centerline goodness [0,1] 0.999956855638968 Centerline is valid? [True, True] Translation: X:76.36, Y:-7.77, Z:-3.29 [[ 9.84947673e-01 1.71625607e-01 2.05604634e-02 7.63570119e+01] [-1.71595637e-01 9.85162184e-01 -3.22632776e-03 -7.77253557e+00] [-2.08091115e-02 -3.50321788e-04 9.99783406e-01 -3.28984655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47264000000001 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:76.39, Y:-7.78, Z:-3.29 [[ 9.85163843e-01 1.70309630e-01 2.11384199e-02 7.63870576e+01] [-1.70277537e-01 9.85390543e-01 -3.32222784e-03 -7.78045328e+00] [-2.13954065e-02 -3.26459327e-04 9.99771039e-01 -3.29077477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:76.42, Y:-7.79, Z:-3.29 [[ 9.85450531e-01 1.68425664e-01 2.28045451e-02 7.64184039e+01] [-1.68387775e-01 9.85714310e-01 -3.58546699e-03 -7.78937131e+00] [-2.30826511e-02 -3.06706258e-04 9.99733513e-01 -3.28950321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.45, Y:-7.80, Z:-3.29 [[ 9.85529072e-01 1.67937727e-01 2.30080018e-02 7.64498305e+01] [-1.67898934e-01 9.85797562e-01 -3.62138659e-03 -7.79610304e+00] [-2.32893995e-02 -2.94037212e-04 9.99728722e-01 -3.29067732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters Centerline goodness [0,1] 0.9998926716180827 Centerline is valid? [True, True] Translation: X:76.48, Y:-7.81, Z:-3.29 [[ 9.85648634e-01 1.67177530e-01 2.34188892e-02 7.64798185e+01] [-1.67137023e-01 9.85926770e-01 -3.69036112e-03 -7.80519149e+00] [-2.37062553e-02 -2.76764039e-04 9.99718929e-01 -3.29421975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.51, Y:-7.81, Z:-3.29 [[ 9.85837062e-01 1.66225756e-01 2.22325144e-02 7.65119961e+01] [-1.66188950e-01 9.86087694e-01 -3.50594979e-03 -7.81228527e+00] [-2.25059880e-02 -2.38502986e-04 9.99746680e-01 -3.29379469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-7.82, Z:-3.30 [[ 9.85874273e-01 1.65960414e-01 2.25623498e-02 7.65430497e+01] [-1.65922322e-01 9.86132388e-01 -3.56308900e-03 -7.81777886e+00] [-2.28407956e-02 -2.30839683e-04 9.99739088e-01 -3.29559203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.57, Y:-7.83, Z:-3.30 [[ 9.86145992e-01 1.64569477e-01 2.08079027e-02 7.65736072e+01] [-1.64536716e-01 9.86365477e-01 -3.28852023e-03 -7.82853750e+00] [-2.10653869e-02 -1.80702935e-04 9.99778084e-01 -3.29812861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68264 meters Centerline goodness [0,1] 0.9999784119856655 Centerline is valid? [True, True] Translation: X:76.60, Y:-7.84, Z:-3.30 [[ 9.86238482e-01 1.64199968e-01 1.92879877e-02 7.66044435e+01] [-1.64171689e-01 9.86427061e-01 -3.05137170e-03 -7.83570089e+00] [-1.95272281e-02 -1.57161314e-04 9.99809313e-01 -3.30124427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71264000000001 meters Centerline goodness [0,1] 0.9999783634081959 Centerline is valid? [True, True] Translation: X:76.63, Y:-7.84, Z:-3.31 [[ 9.86415706e-01 1.63317122e-01 1.76513978e-02 7.66349494e+01] [-1.63293255e-01 9.86573617e-01 -2.79478998e-03 -7.84135619e+00] [-1.78708404e-02 -1.25529470e-04 9.99840296e-01 -3.30855399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:-7.85, Z:-3.31 [[ 9.86439883e-01 1.63228196e-01 1.71147191e-02 7.66669319e+01] [-1.63205708e-01 9.86588335e-01 -2.71194345e-03 -7.84879004e+00] [-1.73278478e-02 -1.18050668e-04 9.99849855e-01 -3.30571240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:-7.85, Z:-3.31 [[ 9.86374281e-01 1.63575762e-01 1.75712286e-02 7.66980420e+01] [-1.63552048e-01 9.86530767e-01 -2.78796017e-03 -7.85395021e+00] [-1.77906003e-02 -1.23838215e-04 9.99841727e-01 -3.30724421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.86, Z:-3.31 [[ 9.86192765e-01 1.64658421e-01 1.76475116e-02 7.67295404e+01] [-1.64634630e-01 9.86350640e-01 -2.80255466e-03 -7.85731027e+00] [-1.78680986e-02 -1.41532416e-04 9.99840343e-01 -3.30814056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83264000000001 meters Centerline goodness [0,1] 0.9998916059660077 Centerline is valid? [True, True] Translation: X:76.76, Y:-7.86, Z:-3.31 [[ 9.85984184e-01 1.65878910e-01 1.78710863e-02 7.67625978e+01] [-1.65854656e-01 9.86146115e-01 -2.84117865e-03 -7.86163834e+00] [-1.80947940e-02 -1.62645663e-04 9.99836263e-01 -3.31021337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.86, Z:-3.31 [[ 9.85962573e-01 1.66056371e-01 1.74093855e-02 7.67938047e+01] [-1.66033306e-01 9.86116249e-01 -2.77206153e-03 -7.86411463e+00] [-1.76279964e-02 -1.57388906e-04 9.99844602e-01 -3.31437901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.87, Z:-3.31 [[ 9.86031988e-01 1.65767301e-01 1.61901629e-02 7.68249624e+01] [-1.65747282e-01 9.86164886e-01 -2.57991972e-03 -7.87231217e+00] [-1.63938365e-02 -1.39592127e-04 9.99865602e-01 -3.31451332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-7.88, Z:-3.32 [[ 9.86096274e-01 1.65460156e-01 1.53972812e-02 7.68553033e+01] [-1.65441945e-01 9.86216468e-01 -2.45790355e-03 -7.87873347e+00] [-1.55917374e-02 -1.23626615e-04 9.99878434e-01 -3.31743808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-7.88, Z:-3.32 [[ 9.86150142e-01 1.65192609e-01 1.48087820e-02 7.68865767e+01] [-1.65175744e-01 9.86261319e-01 -2.36324757e-03 -7.88451964e+00] [-1.49957198e-02 -1.15534654e-04 9.99887551e-01 -3.31896178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters Centerline goodness [0,1] 0.9998917397423406 Centerline is valid? [True, True] Translation: X:76.92, Y:-7.89, Z:-3.32 [[ 9.86100793e-01 1.65534428e-01 1.42681236e-02 7.69176256e+01] [-1.65518770e-01 9.86204005e-01 -2.27959767e-03 -7.88784920e+00] [-1.44486326e-02 -1.13729202e-04 9.99895607e-01 -3.32455991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-7.89, Z:-3.33 [[ 9.86298829e-01 1.64394998e-01 1.37442382e-02 7.69491241e+01] [-1.64380338e-01 9.86394584e-01 -2.19734952e-03 -7.89381053e+00] [-1.39184754e-02 -9.20392625e-05 9.99903129e-01 -3.32681620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-7.90, Z:-3.33 [[ 9.86363484e-01 1.63980117e-01 1.40569569e-02 7.69806013e+01] [-1.63964695e-01 9.86463641e-01 -2.25051381e-03 -7.90149161e+00] [-1.42357164e-02 -8.50200018e-05 9.99898663e-01 -3.32673242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-7.91, Z:-3.32 [[ 9.86688374e-01 1.61970580e-01 1.45459553e-02 7.70118709e+01] [-1.61953809e-01 9.86795586e-01 -2.33140347e-03 -7.91184996e+00] [-1.47315033e-02 -5.54041739e-05 9.99891484e-01 -3.32465286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264000000001 meters Centerline goodness [0,1] 0.9998920366211781 Centerline is valid? [True, True] Translation: X:77.04, Y:-7.92, Z:-3.33 [[ 9.86771837e-01 1.61415514e-01 1.50457227e-02 7.70424196e+01] [-1.61397434e-01 9.86886534e-01 -2.41626098e-03 -7.91886747e+00] [-1.52384431e-02 -4.40427568e-05 9.99883887e-01 -3.33016138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-7.93, Z:-3.33 [[ 9.87235969e-01 1.58534247e-01 1.52326332e-02 7.70730717e+01] [-1.58515377e-01 9.87353479e-01 -2.44597825e-03 -7.93067381e+00] [-1.54277647e-02 1.51112941e-07 9.99880985e-01 -3.32572341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.94, Z:-3.33 [[ 9.87355859e-01 1.57817781e-01 1.48981869e-02 7.71032928e+01] [-1.57799606e-01 9.87468252e-01 -2.39511595e-03 -7.93867530e+00] [-1.50894784e-02 1.39037577e-05 9.99886147e-01 -3.32976455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.95, Z:-3.33 [[ 9.87440851e-01 1.57375406e-01 1.39121672e-02 7.71348654e+01] [-1.57359491e-01 9.87538850e-01 -2.23815631e-03 -7.94676711e+00] [-1.40910364e-02 2.08354103e-05 9.99900716e-01 -3.33080867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:-7.95, Z:-3.34 [[ 9.87356854e-01 1.57928915e-01 1.35978458e-02 7.71653333e+01] [-1.57913737e-01 9.87450484e-01 -2.18953535e-03 -7.95499586e+00] [-1.37729904e-02 1.45660815e-05 9.99905148e-01 -3.33648334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25264 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:77.20, Y:-7.96, Z:-3.33 [[ 9.87138483e-01 1.59272911e-01 1.37751327e-02 7.71979047e+01] [-1.59257432e-01 9.87234592e-01 -2.22051134e-03 -7.95942443e+00] [-1.39529549e-02 -1.84006291e-06 9.99902653e-01 -3.33401335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-7.96, Z:-3.33 [[ 9.86603808e-01 1.62488812e-01 1.45021100e-02 7.72296904e+01] [-1.62471947e-01 9.86710385e-01 -2.34149949e-03 -7.96231268e+00] [-1.46898500e-02 -4.60537377e-05 9.99892097e-01 -3.33225348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:-7.97, Z:-3.34 [[ 9.86320131e-01 1.64227523e-01 1.42098506e-02 7.72605983e+01] [-1.64211446e-01 9.86422484e-01 -2.29880893e-03 -7.96593054e+00] [-1.43944438e-02 -6.60585863e-05 9.99896392e-01 -3.33866734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:77.29, Y:-7.97, Z:-3.34 [[ 9.85859047e-01 1.67039302e-01 1.34093923e-02 7.72923692e+01] [-1.67025258e-01 9.85950233e-01 -2.16846936e-03 -7.96992753e+00] [-1.35832131e-02 -1.01902068e-04 9.99907739e-01 -3.33790331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37264 meters Centerline goodness [0,1] 0.9998704495400959 Centerline is valid? [True, True] Translation: X:77.32, Y:-7.98, Z:-3.34 [[ 9.85633276e-01 1.68340633e-01 1.37286773e-02 7.73247324e+01] [-1.68326014e-01 9.85728876e-01 -2.22181283e-03 -7.97528736e+00] [-1.39067750e-02 -1.21000863e-04 9.99903289e-01 -3.33846111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.36, Y:-7.98, Z:-3.34 [[ 9.85614376e-01 1.68461005e-01 1.36084884e-02 7.73564929e+01] [-1.68446587e-01 9.85708312e-01 -2.20707378e-03 -7.97888023e+00] [-1.37858060e-02 -1.16979774e-04 9.99904964e-01 -3.34150822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-7.99, Z:-3.34 [[ 9.85671614e-01 1.68184094e-01 1.28677715e-02 7.73877741e+01] [-1.68171179e-01 9.85755598e-01 -2.08697655e-03 -7.98751191e+00] [-1.30354741e-02 -1.06914754e-04 9.99915029e-01 -3.33974657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:-7.99, Z:-3.34 [[ 9.85726363e-01 1.67857836e-01 1.29338424e-02 7.74186661e+01] [-1.67844733e-01 9.85811207e-01 -2.09972459e-03 -7.99356675e+00] [-1.31027820e-02 -1.01123449e-04 9.99914150e-01 -3.34379058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:-8.00, Z:-3.34 [[ 9.85918887e-01 1.66690199e-01 1.33538986e-02 7.74498525e+01] [-1.66676080e-01 9.86009316e-01 -2.17120222e-03 -8.00218995e+00] [-1.35289866e-02 -8.51461964e-05 9.99908475e-01 -3.34361457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.48, Y:-8.01, Z:-3.34 [[ 9.86015553e-01 1.66118753e-01 1.33374816e-02 7.74823165e+01] [-1.66104596e-01 9.86105752e-01 -2.17001534e-03 -8.01102689e+00] [-1.35126475e-02 -7.57481218e-05 9.99908697e-01 -3.34288094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55264000000001 meters Centerline goodness [0,1] 0.9998702253752649 Centerline is valid? [True, True] Translation: X:77.51, Y:-8.02, Z:-3.35 [[ 9.86089985e-01 1.65721990e-01 1.27579006e-02 7.75126512e+01] [-1.65708961e-01 9.86172509e-01 -2.07898848e-03 -8.01891328e+00] [-1.29260249e-02 -6.40287407e-05 9.99916453e-01 -3.34753737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.54, Y:-8.03, Z:-3.35 [[ 9.86397301e-01 1.64032414e-01 1.06644930e-02 7.75432460e+01] [-1.64023205e-01 9.86454949e-01 -1.73846104e-03 -8.02738649e+00] [-1.08052059e-02 -3.44110442e-05 9.99941621e-01 -3.34798890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61264 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:77.57, Y:-8.03, Z:-3.36 [[ 9.86453501e-01 1.63729547e-01 1.01057770e-02 7.75731327e+01] [-1.63721227e-01 9.86505263e-01 -1.65071909e-03 -8.03316139e+00] [-1.02396737e-02 -2.61725870e-05 9.99947573e-01 -3.35676327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.60, Y:-8.04, Z:-3.35 [[ 9.86620597e-01 1.62801945e-01 8.67892714e-03 7.76036303e+01] [-1.62795769e-01 9.86658769e-01 -1.41810813e-03 -8.04393585e+00] [-8.79401033e-03 -1.37579321e-05 9.99961332e-01 -3.35297604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67264 meters Centerline goodness [0,1] 0.9998695793935442 Centerline is valid? [True, True] Translation: X:77.64, Y:-8.05, Z:-3.36 [[ 9.86582503e-01 1.63023517e-01 8.84858902e-03 7.76360866e+01] [-1.63017130e-01 9.86622183e-01 -1.44326969e-03 -8.05088039e+00] [-8.96550112e-03 -1.85669624e-05 9.99959809e-01 -3.35529318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters Centerline goodness [0,1] 0.9999783512296502 Centerline is valid? [True, True] Translation: X:77.67, Y:-8.06, Z:-3.36 [[ 9.86598880e-01 1.62889753e-01 9.46461222e-03 7.76665491e+01] [-1.62882404e-01 9.86644276e-01 -1.54742995e-03 -8.05669275e+00] [-9.59026595e-03 -1.49261274e-05 9.99954012e-01 -3.36132923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:-8.06, Z:-3.35 [[ 9.86598860e-01 1.62817741e-01 1.06335839e-02 7.76980523e+01] [-1.62808435e-01 9.86656163e-01 -1.74078498e-03 -8.06498057e+00] [-1.07751218e-02 -1.37806903e-05 9.99941947e-01 -3.35235437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76264 meters Centerline goodness [0,1] 0.999978288245256 Centerline is valid? [True, True] Translation: X:77.73, Y:-8.07, Z:-3.36 [[ 9.86589781e-01 1.62906889e-01 1.00970087e-02 7.77284300e+01] [-1.62898464e-01 9.86641447e-01 -1.65677230e-03 -8.07049720e+00] [-1.02320269e-02 -1.02325986e-05 9.99947651e-01 -3.35582889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.76, Y:-8.08, Z:-3.36 [[ 9.86499262e-01 1.63524240e-01 8.88984042e-03 7.77589394e+01] [-1.63517749e-01 9.86539316e-01 -1.45712504e-03 -8.07597176e+00] [-9.00845236e-03 -1.61939188e-05 9.99959423e-01 -3.35986433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-8.08, Z:-3.36 [[ 9.86389821e-01 1.64201755e-01 8.53839310e-03 7.77903035e+01] [-1.64195784e-01 9.86426775e-01 -1.40052884e-03 -8.08114131e+00] [-8.65246887e-03 -2.05007522e-05 9.99962566e-01 -3.35767167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-8.08, Z:-3.36 [[ 9.86264746e-01 1.64941122e-01 8.73362329e-03 7.78207375e+01] [-1.64934871e-01 9.86303415e-01 -1.43616092e-03 -8.08476328e+00] [-8.85088447e-03 -2.40441498e-05 9.99960830e-01 -3.36219808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264000000001 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:77.85, Y:-8.09, Z:-3.36 [[ 9.86181883e-01 1.65363726e-01 1.00065979e-02 7.78524806e+01] [-1.65355548e-01 9.86232649e-01 -1.64488215e-03 -8.08991601e+00] [-1.01408374e-02 -3.24935077e-05 9.99948580e-01 -3.35951384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:-8.10, Z:-3.36 [[ 9.86177090e-01 1.65341436e-01 1.08146582e-02 7.78845284e+01] [-1.65331856e-01 9.86236386e-01 -1.78013897e-03 -8.09581980e+00] [-1.09601402e-02 -3.24752432e-05 9.99939935e-01 -3.35809625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-8.10, Z:-3.36 [[ 9.86144588e-01 1.65535186e-01 1.08144740e-02 7.79165308e+01] [-1.65525606e-01 9.86203884e-01 -1.78125718e-03 -8.10129345e+00] [-1.09601370e-02 -3.34952384e-05 9.99939935e-01 -3.35939328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.95, Y:-8.11, Z:-3.36 [[ 9.86145572e-01 1.65532196e-01 1.07704653e-02 7.79486118e+01] [-1.65522670e-01 9.86204386e-01 -1.77612960e-03 -8.10679989e+00] [-1.09158867e-02 -3.12338319e-05 9.99940419e-01 -3.35973770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-8.11, Z:-3.36 [[ 9.86273435e-01 1.64848261e-01 9.47429661e-03 7.79801102e+01] [-1.64840842e-01 9.86318940e-01 -1.56403718e-03 -8.11283405e+00] [-9.60250700e-03 -1.91827049e-05 9.99953895e-01 -3.36252210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-8.12, Z:-3.37 [[ 9.86280944e-01 1.64833760e-01 8.92924772e-03 7.80102748e+01] [-1.64827156e-01 9.86321363e-01 -1.47565382e-03 -8.11913243e+00] [-9.05034535e-03 -1.63732601e-05 9.99959045e-01 -3.36807364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters Centerline goodness [0,1] 0.9999348236981034 Centerline is valid? [True, True] Translation: X:78.04, Y:-8.13, Z:-3.37 [[ 9.86218806e-01 1.65281248e-01 7.38750515e-03 7.80412414e+01] [-1.65276738e-01 9.86246475e-01 -1.22105667e-03 -8.12589245e+00] [-7.48771868e-03 -1.67537025e-05 9.99971967e-01 -3.37039550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-8.13, Z:-3.37 [[ 9.86136111e-01 1.65737569e-01 8.16263432e-03 7.80719491e+01] [-1.65732062e-01 9.86169893e-01 -1.35122538e-03 -8.12933157e+00] [-8.27369303e-03 -2.03180778e-05 9.99965772e-01 -3.37153023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-8.13, Z:-3.37 [[ 9.86054521e-01 1.66237718e-01 7.84236925e-03 7.81036787e+01] [-1.66232645e-01 9.86085707e-01 -1.29884541e-03 -8.13239179e+00] [-7.94916532e-03 -2.29253940e-05 9.99968405e-01 -3.37101417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-8.13, Z:-3.37 [[ 9.85825281e-01 1.67597531e-01 7.71895351e-03 7.81354445e+01] [-1.67592652e-01 9.85855500e-01 -1.27925207e-03 -8.13364137e+00] [-7.82417226e-03 -3.25208629e-05 9.99969390e-01 -3.37349612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:-8.14, Z:-3.38 [[ 9.85738323e-01 1.68119439e-01 7.47078968e-03 7.81663007e+01] [-1.68114853e-01 9.85766632e-01 -1.24224065e-03 -8.13863974e+00] [-7.57329998e-03 -3.14264907e-05 9.99971322e-01 -3.37876835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-8.14, Z:-3.37 [[ 9.85445120e-01 1.69860553e-01 6.73113073e-03 7.81981677e+01] [-1.69856887e-01 9.85468107e-01 -1.11676711e-03 -8.14296390e+00] [-6.82300934e-03 -4.28162157e-05 9.99976722e-01 -3.37314755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264000000001 meters Centerline goodness [0,1] 0.9998684700879058 Centerline is valid? [True, True] Translation: X:78.23, Y:-8.15, Z:-3.38 [[ 9.85277401e-01 1.70825332e-01 6.86649734e-03 7.82309741e+01] [-1.70821537e-01 9.85301326e-01 -1.13968595e-03 -8.14578670e+00] [-6.96025617e-03 -5.00388257e-05 9.99975776e-01 -3.37549491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27264000000001 meters Centerline goodness [0,1] 0.9999783895924277 Centerline is valid? [True, True] Translation: X:78.26, Y:-8.15, Z:-3.38 [[ 9.85100231e-01 1.71839279e-01 6.98553524e-03 7.82625830e+01] [-1.71835363e-01 9.85124997e-01 -1.16148238e-03 -8.14862199e+00] [-7.08121367e-03 -5.61854217e-05 9.99974926e-01 -3.37804129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264000000001 meters Centerline goodness [0,1] 0.999978369492332 Centerline is valid? [True, True] Translation: X:78.29, Y:-8.15, Z:-3.38 [[ 9.85012079e-01 1.72356325e-01 6.67091751e-03 7.82937142e+01] [-1.72352752e-01 9.85034667e-01 -1.11112922e-03 -8.15310059e+00] [-6.76259515e-03 -5.52752820e-05 9.99977132e-01 -3.38006304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:-8.17, Z:-3.38 [[ 9.84875775e-01 1.72675898e-01 1.42387636e-02 7.83235825e+01] [-1.72836992e-01 9.84889248e-01 1.09792671e-02 -8.16668203e+00] [-1.21277503e-02 -1.32741993e-02 9.99838344e-01 -3.37866251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:78.36, Y:-8.15, Z:-3.38 [[ 9.84910949e-01 1.73006360e-01 4.38431246e-03 7.83561723e+01] [-1.72929974e-01 9.84833269e-01 -1.40945891e-02 -8.15157599e+00] [-6.75627033e-03 1.31237361e-02 9.99891054e-01 -3.38466536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39264 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:78.39, Y:-8.17, Z:-3.38 [[ 9.84961624e-01 1.72649041e-01 6.55034880e-03 7.83872880e+01] [-1.72645604e-01 9.84983404e-01 -1.09084999e-03 -8.16618480e+00] [-6.64031906e-03 -5.64435482e-05 9.99977951e-01 -3.37993856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:-8.17, Z:-3.38 [[ 9.84897463e-01 1.72999886e-01 6.93007799e-03 7.84184941e+01] [-1.72996029e-01 9.84921842e-01 -1.15678665e-03 -8.17210754e+00] [-7.02570914e-03 -5.95597393e-05 9.99975318e-01 -3.38018131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45264 meters Centerline goodness [0,1] 0.9999353810364882 Centerline is valid? [True, True] Translation: X:78.45, Y:-8.18, Z:-3.38 [[ 9.84731059e-01 1.73931765e-01 7.24452384e-03 7.84496638e+01] [-1.73927566e-01 9.84757704e-01 -1.21045654e-03 -8.17662214e+00] [-7.34463751e-03 -6.80482509e-05 9.99973025e-01 -3.38103425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.48, Y:-8.18, Z:-3.38 [[ 9.84467289e-01 1.75400321e-01 7.67353805e-03 7.84831339e+01] [-1.75395643e-01 9.84497192e-01 -1.28370789e-03 -8.17815039e+00] [-7.77973943e-03 -8.21367128e-05 9.99969734e-01 -3.38174530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51264 meters Centerline goodness [0,1] 0.99993524993525 Centerline is valid? [True, True] Translation: X:78.52, Y:-8.18, Z:-3.38 [[ 9.84041146e-01 1.77782097e-01 7.51996321e-03 7.85156552e+01] [-1.77777659e-01 9.84069874e-01 -1.25992333e-03 -8.17981082e+00] [-7.62416106e-03 -9.70650595e-05 9.99970931e-01 -3.37914118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54264 meters Centerline goodness [0,1] 0.9999566075806556 Centerline is valid? [True, True] Translation: X:78.55, Y:-8.18, Z:-3.38 [[ 9.83731968e-01 1.79500776e-01 7.13350993e-03 7.85476367e+01] [-1.79496821e-01 9.83757826e-01 -1.19607743e-03 -8.18349277e+00] [-7.23234305e-03 -1.03822748e-04 9.99973841e-01 -3.37899715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57264 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:78.58, Y:-8.18, Z:-3.38 [[ 9.83473210e-01 1.80903319e-01 7.37789159e-03 7.85791848e+01] [-1.80899113e-01 9.83500877e-01 -1.23905704e-03 -8.18416361e+00] [-7.48031238e-03 -1.16074646e-04 9.99972015e-01 -3.38370360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264000000001 meters Centerline goodness [0,1] 0.9999565538515011 Centerline is valid? [True, True] Translation: X:78.61, Y:-8.18, Z:-3.38 [[ 9.83147009e-01 1.82655105e-01 7.68573504e-03 7.86115910e+01] [-1.82650585e-01 9.83177041e-01 -1.29191971e-03 -8.18373398e+00] [-7.79241397e-03 -1.33657002e-04 9.99969630e-01 -3.38104609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63264000000001 meters Centerline goodness [0,1] 0.9999565547952645 Centerline is valid? [True, True] Translation: X:78.64, Y:-8.19, Z:-3.39 [[ 9.83049707e-01 1.83154564e-01 8.22677494e-03 7.86429629e+01] [-1.83149366e-01 9.83084119e-01 -1.38726790e-03 -8.18592255e+00] [-8.34169625e-03 -1.42975311e-04 9.99965197e-01 -3.38506335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264000000001 meters Centerline goodness [0,1] 0.9999567015219415 Centerline is valid? [True, True] Translation: X:78.68, Y:-8.19, Z:-3.39 [[ 9.83046893e-01 1.83167959e-01 8.26471378e-03 7.86758664e+01] [-1.83162731e-01 9.83081623e-01 -1.39156683e-03 -8.19146778e+00] [-8.37977869e-03 -1.45812098e-04 9.99964878e-01 -3.38543316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69264000000001 meters Centerline goodness [0,1] 0.999762634327392 Centerline is valid? [True, True] Translation: X:78.71, Y:-8.20, Z:-3.38 [[ 9.83228738e-01 1.82189178e-01 8.26749574e-03 7.87079559e+01] [-1.82183893e-01 9.83263487e-01 -1.39428428e-03 -8.19605161e+00] [-8.38315020e-03 -1.35304187e-04 9.99964852e-01 -3.38378982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264000000001 meters Centerline goodness [0,1] 0.9999564108711287 Centerline is valid? [True, True] Translation: X:78.74, Y:-8.20, Z:-3.38 [[ 9.83360733e-01 1.81474671e-01 8.28328539e-03 7.87397299e+01] [-1.81469329e-01 9.83395611e-01 -1.39825108e-03 -8.20230690e+00] [-8.39949365e-03 -1.28177039e-04 9.99964715e-01 -3.38142497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75264 meters Centerline goodness [0,1] 0.9999783207232207 Centerline is valid? [True, True] Translation: X:78.77, Y:-8.21, Z:-3.39 [[ 9.83568661e-01 1.80313098e-01 8.93727852e-03 7.87703549e+01] [-1.80306809e-01 9.83609257e-01 -1.51123943e-03 -8.20586368e+00] [-9.06328615e-03 -1.25044427e-04 9.99958920e-01 -3.38599079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters Centerline goodness [0,1] 0.9999784849071623 Centerline is valid? [True, True] Translation: X:78.80, Y:-8.21, Z:-3.39 [[ 9.83761844e-01 1.79206689e-01 9.87910736e-03 7.88019062e+01] [-1.79198926e-01 9.83811439e-01 -1.67267746e-03 -8.21107495e+00] [-1.00189338e-02 -1.24809170e-04 9.99949801e-01 -3.38589665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81264 meters Centerline goodness [0,1] 0.9999782367407343 Centerline is valid? [True, True] Translation: X:78.83, Y:-8.21, Z:-3.39 [[ 9.84189424e-01 1.76904291e-01 8.72061786e-03 7.88341872e+01] [-1.76898146e-01 9.84228055e-01 -1.47712425e-03 -8.21477131e+00] [-8.84438637e-03 -8.88910670e-05 9.99960884e-01 -3.38600122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:78.87, Y:-8.22, Z:-3.40 [[ 9.84342230e-01 1.76039128e-01 8.97775049e-03 7.88653227e+01] [-1.76032560e-01 9.84383167e-01 -1.52286278e-03 -8.21734396e+00] [-9.10562990e-03 -8.13582577e-05 9.99958540e-01 -3.39508965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87264 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:78.90, Y:-8.22, Z:-3.39 [[ 9.84611500e-01 1.74502247e-01 9.44246731e-03 7.88975466e+01] [-1.74494895e-01 9.84656773e-01 -1.60336178e-03 -8.22253579e+00] [-9.57737963e-03 -6.89738958e-05 9.99954133e-01 -3.39086242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:-8.23, Z:-3.39 [[ 9.84673575e-01 1.74204751e-01 8.40562452e-03 7.89292555e+01] [-1.74198911e-01 9.84709450e-01 -1.42765560e-03 -8.22716264e+00] [-8.52580229e-03 -5.84758916e-05 9.99963653e-01 -3.38823722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-8.23, Z:-3.39 [[ 9.84670988e-01 1.74275414e-01 7.15019266e-03 7.89602559e+01] [-1.74271185e-01 9.84696947e-01 -1.21507778e-03 -8.22940733e+00] [-7.25253107e-03 -4.96207116e-05 9.99973699e-01 -3.39084152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-8.23, Z:-3.39 [[ 9.84574098e-01 1.74799356e-01 7.68309983e-03 7.89922262e+01] [-1.74794475e-01 9.84604074e-01 -1.30743749e-03 -8.22554332e+00] [-7.79335063e-03 -5.56943127e-05 9.99969630e-01 -3.39293215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:-8.23, Z:-3.39 [[ 9.84496540e-01 1.75205189e-01 8.34892471e-03 7.90251205e+01] [-1.75199425e-01 9.84531939e-01 -1.42247068e-03 -8.22628071e+00] [-8.46900727e-03 -6.23093526e-05 9.99964135e-01 -3.39410286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264000000001 meters Centerline goodness [0,1] 0.9998911671237648 Centerline is valid? [True, True] Translation: X:79.06, Y:-8.23, Z:-3.40 [[ 9.84648535e-01 1.74385725e-01 7.54203275e-03 7.90570315e+01] [-1.74380993e-01 9.84677417e-01 -1.28555298e-03 -8.22958819e+00] [-7.65065142e-03 -4.93693071e-05 9.99970732e-01 -3.39579809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05264000000001 meters Centerline goodness [0,1] 0.9999784580254626 Centerline is valid? [True, True] Translation: X:79.09, Y:-8.23, Z:-3.40 [[ 9.84722799e-01 1.73952575e-01 7.84290678e-03 7.90876629e+01] [-1.73947412e-01 9.84754030e-01 -1.34087699e-03 -8.23297932e+00] [-7.95658307e-03 -4.38611972e-05 9.99968345e-01 -3.39860807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264000000001 meters Centerline goodness [0,1] 0.9998492970785162 Centerline is valid? [True, True] Translation: X:79.12, Y:-8.24, Z:-3.40 [[ 9.85285350e-01 1.70725123e-01 8.10626595e-03 7.91201574e+01] [-1.70719490e-01 9.85318696e-01 -1.38689838e-03 -8.23675925e+00] [-8.22403379e-03 -1.74069358e-05 9.99966182e-01 -3.39901932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-8.24, Z:-3.40 [[ 9.85466345e-01 1.69692535e-01 7.77986926e-03 7.91526537e+01] [-1.69687331e-01 9.85497054e-01 -1.32901392e-03 -8.24079905e+00] [-7.89256198e-03 -1.04467620e-05 9.99968853e-01 -3.39543517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-8.24, Z:-3.40 [[ 9.85724300e-01 1.68156058e-01 8.43478324e-03 7.91835644e+01] [-1.68149845e-01 9.85760387e-01 -1.44545640e-03 -8.24462930e+00] [-8.55773744e-03 6.51400463e-06 9.99963382e-01 -3.39725981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17264 meters Centerline goodness [0,1] 0.9998911386893098 Centerline is valid? [True, True] Translation: X:79.22, Y:-8.25, Z:-3.40 [[ 9.86387523e-01 1.64206318e-01 8.71436199e-03 7.92162075e+01] [-1.64199550e-01 9.86426015e-01 -1.49131039e-03 -8.24963745e+00] [-8.84095596e-03 4.01156415e-05 9.99960917e-01 -3.39889057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-8.26, Z:-3.40 [[ 9.86590141e-01 1.62936425e-01 9.57153660e-03 7.92470866e+01] [-1.62928163e-01 9.86636568e-01 -1.64192012e-03 -8.25525450e+00] [-9.71115661e-03 6.04293216e-05 9.99952844e-01 -3.40169702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23264 meters Centerline goodness [0,1] 0.9998053759487923 Centerline is valid? [True, True] Translation: X:79.28, Y:-8.26, Z:-3.41 [[ 9.86918512e-01 1.60954321e-01 9.24974901e-03 7.92779524e+01] [-1.60946504e-01 9.86961854e-01 -1.58821388e-03 -8.26023679e+00] [-9.38477932e-03 7.87229169e-05 9.99955959e-01 -3.40630693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26264 meters Centerline goodness [0,1] 0.9999782943717306 Centerline is valid? [True, True] Translation: X:79.31, Y:-8.26, Z:-3.40 [[ 9.87059022e-01 1.60077308e-01 9.47321889e-03 7.93109298e+01] [-1.60069065e-01 9.87104476e-01 -1.62699881e-03 -8.26328487e+00] [-9.61150236e-03 8.95745641e-05 9.99953804e-01 -3.40231945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:-8.27, Z:-3.40 [[ 9.87460864e-01 1.57580234e-01 9.46101648e-03 7.93428773e+01] [-1.57571873e-01 9.87506180e-01 -1.62742248e-03 -8.26558079e+00] [-9.59926186e-03 1.16225916e-04 9.99953919e-01 -3.40089431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32264 meters Centerline goodness [0,1] 0.9999783211932015 Centerline is valid? [True, True] Translation: X:79.37, Y:-8.27, Z:-3.40 [[ 9.87592755e-01 1.56762673e-01 9.27443680e-03 7.93739271e+01] [-1.56754584e-01 9.87636294e-01 -1.59728350e-03 -8.26981378e+00] [-9.41016482e-03 1.23655134e-04 9.99955716e-01 -3.40344416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35264000000001 meters Centerline goodness [0,1] 0.9999569836968211 Centerline is valid? [True, True] Translation: X:79.40, Y:-8.27, Z:-3.41 [[ 9.87971680e-01 1.54358020e-01 9.24991779e-03 7.94043377e+01] [-1.54349853e-01 9.88014969e-01 -1.59468323e-03 -8.27493331e+00] [-9.38520939e-03 1.47778420e-04 9.99955947e-01 -3.40625956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264000000001 meters Centerline goodness [0,1] 0.9999783061437001 Centerline is valid? [True, True] Translation: X:79.44, Y:-8.28, Z:-3.41 [[ 9.88096535e-01 1.53544516e-01 9.45088709e-03 7.94358287e+01] [-1.53535940e-01 9.88141719e-01 -1.63073024e-03 -8.27971158e+00] [-9.58920550e-03 1.60268066e-04 9.99954010e-01 -3.40629949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41264000000001 meters Centerline goodness [0,1] 0.9997638065790604 Centerline is valid? [True, True] Translation: X:79.47, Y:-8.28, Z:-3.41 [[ 9.88221117e-01 1.52708859e-01 9.95124917e-03 7.94680114e+01] [-1.52699294e-01 9.88271204e-01 -1.71847102e-03 -8.28449105e+00] [-1.00969588e-02 1.78680629e-04 9.99949008e-01 -3.40765242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264000000001 meters Centerline goodness [0,1] 0.9999141262344354 Centerline is valid? [True, True] Translation: X:79.50, Y:-8.29, Z:-3.41 [[ 9.88238421e-01 1.52588856e-01 1.00729767e-02 7.95012258e+01] [-1.52579027e-01 9.88289738e-01 -1.74164217e-03 -8.28808025e+00] [-1.02207747e-02 1.84232723e-04 9.99947750e-01 -3.40779255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47264000000001 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:79.53, Y:-8.29, Z:-3.41 [[ 9.88207889e-01 1.52777492e-01 1.02081779e-02 7.95328810e+01] [-1.52767382e-01 9.88260595e-01 -1.76755571e-03 -8.29266328e+00] [-1.03583827e-02 1.87235890e-04 9.99946333e-01 -3.40980916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:79.57, Y:-8.29, Z:-3.41 [[ 9.88083111e-01 1.53552802e-01 1.06443479e-02 7.95655641e+01] [-1.53541826e-01 9.88140426e-01 -1.84567507e-03 -8.29415218e+00] [-1.08015191e-02 1.89327744e-04 9.99941644e-01 -3.40757069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53264 meters Centerline goodness [0,1] 0.9999570833869791 Centerline is valid? [True, True] Translation: X:79.60, Y:-8.29, Z:-3.41 [[ 9.87617312e-01 1.56473869e-01 1.13125528e-02 7.95960238e+01] [-1.56461582e-01 9.87682083e-01 -1.96864056e-03 -8.29413380e+00] [-1.14812465e-02 1.74283586e-04 9.99934073e-01 -3.41080864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters Centerline goodness [0,1] 0.9998914600790171 Centerline is valid? [True, True] Translation: X:79.63, Y:-8.29, Z:-3.41 [[ 9.87334800e-01 1.58284745e-01 1.07671692e-02 7.96285388e+01] [-1.58273772e-01 9.87393498e-01 -1.86911126e-03 -8.29290380e+00] [-1.09272846e-02 1.41278118e-04 9.99940285e-01 -3.40967399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59264 meters Centerline goodness [0,1] 0.9997386702672096 Centerline is valid? [True, True] Translation: X:79.66, Y:-8.29, Z:-3.41 [[ 9.86930590e-01 1.60735832e-01 1.14892794e-02 7.96616511e+01] [-1.60723437e-01 9.86997455e-01 -2.00018697e-03 -8.29287345e+00] [-1.16613912e-02 1.27449228e-04 9.99931996e-01 -3.41063913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62264 meters Centerline goodness [0,1] 0.9999784867585999 Centerline is valid? [True, True] Translation: X:79.69, Y:-8.29, Z:-3.41 [[ 9.86358594e-01 1.64120145e-01 1.27005010e-02 7.96930854e+01] [-1.64105252e-01 9.86440352e-01 -2.21313510e-03 -8.29236024e+00] [-1.28915068e-02 9.87259098e-05 9.99916896e-01 -3.41193086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.73, Y:-8.28, Z:-3.41 [[ 9.85375550e-01 1.69948439e-01 1.23512724e-02 7.97268725e+01] [-1.69934860e-01 9.85452956e-01 -2.14840776e-03 -8.28440212e+00] [-1.25367164e-02 1.80767388e-05 9.99921412e-01 -3.41055963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.76, Y:-8.28, Z:-3.41 [[ 9.84922419e-01 1.72565787e-01 1.22015392e-02 7.97583463e+01] [-1.72552683e-01 9.84997994e-01 -2.12663368e-03 -8.28496353e+00] [-1.23854759e-02 -1.08391344e-05 9.99923297e-01 -3.41476258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.79, Y:-8.28, Z:-3.41 [[ 9.84346231e-01 1.75875743e-01 1.14114228e-02 7.97901002e+01] [-1.75864469e-01 9.84412373e-01 -1.99187797e-03 -8.28378662e+00] [-1.15838688e-02 -4.61662311e-05 9.99932904e-01 -3.41342325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264000000001 meters Centerline goodness [0,1] 0.9998918848790191 Centerline is valid? [True, True] Translation: X:79.82, Y:-8.28, Z:-3.42 [[ 9.84185871e-01 1.76748641e-01 1.17511104e-02 7.98196356e+01] [-1.76736741e-01 9.84256021e-01 -2.05183108e-03 -8.28492153e+00] [-1.19287595e-02 -5.74697942e-05 9.99928848e-01 -3.41733847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.85, Y:-8.29, Z:-3.42 [[ 9.83975366e-01 1.77825644e-01 1.30582948e-02 7.98499213e+01] [-1.77811030e-01 9.84062007e-01 -2.28103083e-03 -8.28688172e+00] [-1.32557976e-02 -7.74306991e-05 9.99912135e-01 -3.41564942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:-8.29, Z:-3.42 [[ 9.83966508e-01 1.77819940e-01 1.37833352e-02 7.98794940e+01] [-1.77803656e-01 9.84063038e-01 -2.40779758e-03 -8.28598524e+00] [-1.39918252e-02 -8.15352244e-05 9.99902106e-01 -3.42025895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83264000000001 meters Centerline goodness [0,1] 0.9998705361959219 Centerline is valid? [True, True] Translation: X:79.91, Y:-8.29, Z:-3.42 [[ 9.84108337e-01 1.77133428e-01 1.24309707e-02 7.99092157e+01] [-1.77120140e-01 9.84186844e-01 -2.17066360e-03 -8.29104806e+00] [-1.26188949e-02 -6.56071093e-05 9.99920376e-01 -3.42014842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters Centerline goodness [0,1] 0.9998705361959219 Centerline is valid? [True, True] Translation: X:79.94, Y:-8.30, Z:-3.42 [[ 9.84112646e-01 1.77109498e-01 1.24308566e-02 7.99379426e+01] [-1.77096199e-01 9.84191151e-01 -2.17131709e-03 -8.29601810e+00] [-1.26188999e-02 -6.46368370e-05 9.99920376e-01 -3.42131180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-8.30, Z:-3.42 [[ 9.84214900e-01 1.76521972e-01 1.26895056e-02 7.99674889e+01] [-1.76508074e-01 9.84296698e-01 -2.21582523e-03 -8.30193397e+00] [-1.28813803e-02 -5.89519812e-05 9.99917030e-01 -3.42228018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-8.31, Z:-3.42 [[ 9.84341875e-01 1.75823635e-01 1.25348479e-02 7.99974432e+01] [-1.75810014e-01 9.84421682e-01 -2.18901638e-03 -8.30516169e+00] [-1.27244569e-02 -4.90113052e-05 9.99919040e-01 -3.42274524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:-8.31, Z:-3.42 [[ 9.84337361e-01 1.75835203e-01 1.27256085e-02 8.00273490e+01] [-1.75821170e-01 9.84419615e-01 -2.22198357e-03 -8.30817099e+00] [-1.29180416e-02 -5.02499288e-05 9.99916557e-01 -3.42395558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:-8.31, Z:-3.43 [[ 9.84334498e-01 1.75833807e-01 1.29641368e-02 8.00554422e+01] [-1.75819248e-01 9.84419864e-01 -2.26325309e-03 -8.31070373e+00] [-1.31601102e-02 -5.15466981e-05 9.99913401e-01 -3.42722681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.09, Y:-8.32, Z:-3.42 [[ 9.84372826e-01 1.75596349e-01 1.32688363e-02 8.00859478e+01] [-1.75581090e-01 9.84462249e-01 -2.31546498e-03 -8.31565132e+00] [-1.34692557e-02 -5.04759390e-05 9.99909284e-01 -3.42216183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:-8.32, Z:-3.42 [[ 9.84406832e-01 1.75217893e-01 1.55524729e-02 8.01155121e+01] [-1.75196877e-01 9.84529678e-01 -2.71428180e-03 -8.31854101e+00] [-1.57874619e-02 -5.27871316e-05 9.99875369e-01 -3.42383078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:-8.32, Z:-3.43 [[ 9.84413286e-01 1.75166073e-01 1.57266742e-02 8.01448290e+01] [-1.75144580e-01 9.84538899e-01 -2.74445364e-03 -8.32169992e+00] [-1.59642576e-02 -5.27651153e-05 9.99872562e-01 -3.42824551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264000000001 meters Centerline goodness [0,1] 0.9999782877738455 Centerline is valid? [True, True] Translation: X:80.18, Y:-8.33, Z:-3.42 [[ 9.84452945e-01 1.74983283e-01 1.52724936e-02 8.01752695e+01] [-1.74962999e-01 9.84571403e-01 -2.66471896e-03 -8.32641572e+00] [-1.55031417e-02 -4.88308496e-05 9.99879818e-01 -3.42484218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-8.33, Z:-3.43 [[ 9.84488439e-01 1.74767278e-01 1.54567862e-02 8.02046881e+01] [-1.74746470e-01 9.84609769e-01 -2.69717943e-03 -8.33047304e+00] [-1.56902814e-02 -4.56768563e-05 9.99876899e-01 -3.42907751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-8.34, Z:-3.43 [[ 9.84687304e-01 1.73519407e-01 1.67907377e-02 8.02336177e+01] [-1.73494670e-01 9.84830450e-01 -2.92995743e-03 -8.33575181e+00] [-1.70444343e-02 -2.80116239e-05 9.99854733e-01 -3.42894300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-8.34, Z:-3.43 [[ 9.84783784e-01 1.72987084e-01 1.66243291e-02 8.02630889e+01] [-1.72962776e-01 9.84924093e-01 -2.89996263e-03 -8.34217931e+00] [-1.68753583e-02 -1.95539334e-05 9.99857601e-01 -3.42936862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264000000001 meters Centerline goodness [0,1] 0.9999786183155509 Centerline is valid? [True, True] Translation: X:80.29, Y:-8.35, Z:-3.43 [[ 9.84968893e-01 1.71997618e-01 1.59091132e-02 8.02914923e+01] [-1.71975223e-01 9.85097365e-01 -2.77549478e-03 -8.34851019e+00] [-1.61494040e-02 -2.19726063e-06 9.99869590e-01 -3.43473914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25264 meters Centerline goodness [0,1] 0.9998064640990904 Centerline is valid? [True, True] Translation: X:80.32, Y:-8.35, Z:-3.43 [[ 9.85043613e-01 1.71608338e-01 1.54809069e-02 8.03220377e+01] [-1.71587092e-01 9.85165254e-01 -2.70030754e-03 -8.35321448e+00] [-1.57146469e-02 3.59689872e-06 9.99876517e-01 -3.43325140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters Centerline goodness [0,1] 0.9999353141575748 Centerline is valid? [True, True] Translation: X:80.35, Y:-8.36, Z:-3.43 [[ 9.84980530e-01 1.71893414e-01 1.63098228e-02 8.03524477e+01] [-1.71869871e-01 9.85115554e-01 -2.84489390e-03 -8.35817149e+00] [-1.65560787e-02 -1.00204692e-06 9.99862939e-01 -3.43345806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-8.36, Z:-3.43 [[ 9.84621849e-01 1.73854304e-01 1.71609012e-02 8.03832364e+01] [-1.73828536e-01 9.84771385e-01 -2.99334601e-03 -8.36149953e+00] [-1.74199706e-02 -3.57404630e-05 9.99848260e-01 -3.43224635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:80.41, Y:-8.36, Z:-3.43 [[ 9.84369451e-01 1.75220366e-01 1.77371924e-02 8.04123026e+01] [-1.75193056e-01 9.84529237e-01 -3.09414220e-03 -8.36369654e+00] [-1.80049413e-02 -6.16538854e-05 9.99837896e-01 -3.43444244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-8.37, Z:-3.43 [[ 9.84056620e-01 1.76852779e-01 1.88590265e-02 8.04419551e+01] [-1.76822204e-01 9.84237311e-01 -3.28982854e-03 -8.36526996e+00] [-1.91435728e-02 -9.73170774e-05 9.99816740e-01 -3.43140482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40264 meters Centerline goodness [0,1] 0.999869786015018 Centerline is valid? [True, True] Translation: X:80.47, Y:-8.36, Z:-3.43 [[ 9.83212373e-01 1.81420027e-01 1.94987978e-02 8.04723146e+01] [-1.81388249e-01 9.83405683e-01 -3.40099739e-03 -8.35786275e+00] [-1.97922376e-02 -1.92950063e-04 9.99804096e-01 -3.43460929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43264 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:80.50, Y:-8.36, Z:-3.43 [[ 9.82740464e-01 1.83933157e-01 1.97427239e-02 8.05017427e+01] [-1.83901090e-01 9.82938723e-01 -3.44328577e-03 -8.35755327e+00] [-2.00392223e-02 -2.46852189e-04 9.99799164e-01 -3.43491775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264000000001 meters Centerline goodness [0,1] 0.9999784371226497 Centerline is valid? [True, True] Translation: X:80.53, Y:-8.36, Z:-3.44 [[ 9.82301649e-01 1.86324255e-01 1.91505276e-02 8.05296928e+01] [-1.86294545e-01 9.82488264e-01 -3.33960765e-03 -8.35518361e+00] [-1.94374186e-02 -2.87136725e-04 9.99811034e-01 -3.43782313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49264000000001 meters Centerline goodness [0,1] 0.9999572841246449 Centerline is valid? [True, True] Translation: X:80.56, Y:-8.35, Z:-3.44 [[ 9.81488591e-01 1.90553674e-01 1.92209071e-02 8.05604646e+01] [-1.90524597e-01 9.81676707e-01 -3.34972872e-03 -8.34850865e+00] [-1.95070199e-02 -3.74335058e-04 9.99809650e-01 -3.43798520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264000000001 meters Centerline goodness [0,1] 0.9999358124010441 Centerline is valid? [True, True] Translation: X:80.59, Y:-8.35, Z:-3.44 [[ 9.81188253e-01 1.92072093e-01 1.94402455e-02 8.05895466e+01] [-1.92042656e-01 9.81380733e-01 -3.38746505e-03 -8.34713189e+00] [-1.97289199e-02 -4.09615456e-04 9.99805282e-01 -3.43895150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55264000000001 meters Centerline goodness [0,1] 0.999935757420018 Centerline is valid? [True, True] Translation: X:80.62, Y:-8.35, Z:-3.44 [[ 9.80984223e-01 1.93018876e-01 2.03388049e-02 8.06181952e+01] [-1.92986876e-01 9.81194941e-01 -3.54319605e-03 -8.34513833e+00] [-2.06402362e-02 -4.49302991e-04 9.99786867e-01 -3.44023896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264000000001 meters Centerline goodness [0,1] 0.9999784876841992 Centerline is valid? [True, True] Translation: X:80.65, Y:-8.35, Z:-3.44 [[ 9.80882035e-01 1.93470725e-01 2.09645578e-02 8.06461836e+01] [-1.93436852e-01 9.81105934e-01 -3.65106553e-03 -8.34629233e+00] [-2.12748263e-02 -4.74053481e-04 9.99773553e-01 -3.44073701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61264000000001 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:80.67, Y:-8.35, Z:-3.44 [[ 9.81016535e-01 1.92747828e-01 2.13268027e-02 8.06746632e+01] [-1.92712646e-01 9.81248213e-01 -3.71221275e-03 -8.34986898e+00] [-2.16424080e-02 -4.68202485e-04 9.99765666e-01 -3.43842897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:80.70, Y:-8.35, Z:-3.44 [[ 9.81259744e-01 1.91420382e-01 2.20806023e-02 8.07030561e+01] [-1.91382358e-01 9.81508039e-01 -3.84228643e-03 -8.35467134e+00] [-2.24077806e-02 -4.55556742e-04 9.99748810e-01 -3.43775837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67264 meters Centerline goodness [0,1] 0.9998927498927499 Centerline is valid? [True, True] Translation: X:80.73, Y:-8.36, Z:-3.44 [[ 9.81586607e-01 1.89731955e-01 2.21250609e-02 8.07305898e+01] [-1.89693370e-01 9.81835836e-01 -3.84912632e-03 -8.35562109e+00] [-2.24534799e-02 -4.18726505e-04 9.99747801e-01 -3.44122249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters Centerline goodness [0,1] 0.999935746412508 Centerline is valid? [True, True] Translation: X:80.76, Y:-8.36, Z:-3.44 [[ 9.82179733e-01 1.86588006e-01 2.25363584e-02 8.07591054e+01] [-1.86547183e-01 9.82438186e-01 -3.91900195e-03 -8.36088304e+00] [-2.28718179e-02 -3.54929883e-04 9.99738343e-01 -3.44110979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73264 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:80.79, Y:-8.37, Z:-3.44 [[ 9.82527331e-01 1.84751249e-01 2.25170849e-02 8.07871617e+01] [-1.84710038e-01 9.82785266e-01 -3.91457198e-03 -8.36718508e+00] [-2.28526814e-02 -3.12957646e-04 9.99738794e-01 -3.44197178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.82, Y:-8.37, Z:-3.44 [[ 9.82844371e-01 1.82977594e-01 2.31547389e-02 8.08153805e+01] [-1.82933550e-01 9.83117044e-01 -4.02426300e-03 -8.37369231e+00] [-2.35001685e-02 -2.80554363e-04 9.99723794e-01 -3.44103092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.84, Y:-8.38, Z:-3.44 [[ 9.83396658e-01 1.79984626e-01 2.31634938e-02 8.08438211e+01] [-1.79939747e-01 9.83669401e-01 -4.02462285e-03 -8.37881045e+00] [-2.35095903e-02 -2.10232540e-04 9.99723589e-01 -3.44189291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.87, Y:-8.38, Z:-3.45 [[ 9.83662135e-01 1.78534709e-01 2.31119296e-02 8.08713990e+01] [-1.78489650e-01 9.83933599e-01 -4.01474602e-03 -8.38264341e+00] [-2.34573756e-02 -1.76086590e-04 9.99724822e-01 -3.44519708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:-8.39, Z:-3.44 [[ 9.83910001e-01 1.77081470e-01 2.37331547e-02 8.08999410e+01] [-1.77033580e-01 9.84196185e-01 -4.12072917e-03 -8.38842582e+00] [-2.40877851e-02 -1.47138697e-04 9.99709836e-01 -3.44365153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:-8.39, Z:-3.44 [[ 9.84041571e-01 1.76283908e-01 2.42109404e-02 8.09274180e+01] [-1.76233855e-01 9.84339355e-01 -4.20261006e-03 -8.39188171e+00] [-2.45726340e-02 -1.31244359e-04 9.99698039e-01 -3.44455459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.96, Y:-8.40, Z:-3.44 [[ 9.84275520e-01 1.75043391e-01 2.36962286e-02 8.09555567e+01] [-1.74995123e-01 9.84560715e-01 -4.11164208e-03 -8.39592424e+00] [-2.40500916e-02 -9.97357978e-05 9.99710750e-01 -3.44445292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:-8.40, Z:-3.45 [[ 9.84330363e-01 1.74845757e-01 2.28625712e-02 8.09834977e+01] [-1.74800791e-01 9.84595832e-01 -3.96620796e-03 -8.39886938e+00] [-2.32038670e-02 -9.23366123e-05 9.99730750e-01 -3.44911584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:-8.40, Z:-3.45 [[ 9.84359860e-01 1.74654712e-01 2.30520540e-02 8.10121942e+01] [-1.74608991e-01 9.84629739e-01 -3.99711617e-03 -8.40317763e+00] [-2.33958531e-02 -9.04951805e-05 9.99726275e-01 -3.44767229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.04, Y:-8.41, Z:-3.45 [[ 9.84402203e-01 1.74399608e-01 2.31749642e-02 8.10400271e+01] [-1.74353351e-01 9.84674956e-01 -4.01743857e-03 -8.40675837e+00] [-2.35204465e-02 -8.58572762e-05 9.99723352e-01 -3.44946994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.07, Y:-8.41, Z:-3.45 [[ 9.84453924e-01 1.74114892e-01 2.31187327e-02 8.10684476e+01] [-1.74068820e-01 9.84725341e-01 -4.00602789e-03 -8.41082620e+00] [-2.34631110e-02 -8.05006291e-05 9.99724700e-01 -3.45119962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-8.41, Z:-3.45 [[ 9.84776931e-01 1.72212196e-01 2.36083609e-02 8.10962850e+01] [-1.72163629e-01 9.85059875e-01 -4.08983415e-03 -8.41455988e+00] [-2.39599684e-02 -3.69267629e-05 9.99712918e-01 -3.45120001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:-8.42, Z:-3.45 [[ 9.85035461e-01 1.70732275e-01 2.35718250e-02 8.11238582e+01] [-1.70683469e-01 9.85317457e-01 -4.08203281e-03 -8.41978594e+00] [-2.39226654e-02 -2.37379587e-06 9.99713812e-01 -3.45302188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-8.43, Z:-3.45 [[ 9.85394370e-01 1.68665994e-01 2.34460634e-02 8.11518862e+01] [-1.68617162e-01 9.85673262e-01 -4.05862204e-03 -8.42713939e+00] [-2.37947093e-02 4.59346382e-05 9.99716865e-01 -3.45360173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-8.44, Z:-3.45 [[ 9.85774925e-01 1.66460963e-01 2.32065496e-02 8.11792484e+01] [-1.66412540e-01 9.86048041e-01 -4.01601941e-03 -8.43558756e+00] [-2.35512833e-02 9.70303695e-05 9.99722625e-01 -3.45485290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:-8.44, Z:-3.46 [[ 9.86155010e-01 1.64217729e-01 2.30398111e-02 8.12059260e+01] [-1.64169409e-01 9.86424105e-01 -3.98622687e-03 -8.44445618e+00] [-2.33816342e-02 1.48605442e-04 9.99726601e-01 -3.45722837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:-8.46, Z:-3.46 [[ 9.86821521e-01 1.60168792e-01 2.30053042e-02 8.12340822e+01] [-1.60119562e-01 9.87089611e-01 -3.97824212e-03 -8.45605445e+00] [-2.33454870e-02 2.42215707e-04 9.99727428e-01 -3.45750281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:-8.46, Z:-3.46 [[ 9.87143154e-01 1.58173242e-01 2.30134390e-02 8.12630640e+01] [-1.58123448e-01 9.87411334e-01 -3.97907782e-03 -8.46454845e+00] [-2.33531141e-02 2.88955109e-04 9.99727237e-01 -3.45802381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:-8.47, Z:-3.46 [[ 9.87346330e-01 1.56872827e-01 2.31978470e-02 8.12921379e+01] [-1.56821897e-01 9.87618759e-01 -4.00997890e-03 -8.47299534e+00] [-2.35396856e-02 3.21307584e-04 9.99722852e-01 -3.45926031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264000000001 meters Centerline goodness [0,1] 0.9999568137159638 Centerline is valid? [True, True] Translation: X:81.32, Y:-8.48, Z:-3.46 [[ 9.87495027e-01 1.55927957e-01 2.32388400e-02 8.13211575e+01] [-1.55876589e-01 9.87768370e-01 -4.01686528e-03 -8.48292472e+00] [-2.35809327e-02 3.44243364e-04 9.99721872e-01 -3.46119458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-8.49, Z:-3.46 [[ 9.87472652e-01 1.55999180e-01 2.37069227e-02 8.13514472e+01] [-1.55945739e-01 9.87757123e-01 -4.09788614e-03 -8.49083724e+00] [-2.40559487e-02 3.49556895e-04 9.99710553e-01 -3.46129423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264000000001 meters Centerline goodness [0,1] 0.9999567090196757 Centerline is valid? [True, True] Translation: X:81.38, Y:-8.50, Z:-3.46 [[ 9.87304963e-01 1.57127862e-01 2.32324139e-02 8.13817508e+01] [-1.57076829e-01 9.87578217e-01 -4.01681968e-03 -8.49547379e+00] [-2.35749802e-02 3.16552082e-04 9.99722021e-01 -3.46325153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39264 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:81.41, Y:-8.50, Z:-3.46 [[ 9.87036764e-01 1.58688769e-01 2.40062623e-02 8.14114400e+01] [-1.58634746e-01 9.87328614e-01 -4.15042508e-03 -8.50081662e+00] [-2.43606955e-02 2.88394824e-04 9.99703193e-01 -3.46329944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:81.44, Y:-8.50, Z:-3.46 [[ 9.86685466e-01 1.60807736e-01 2.43446935e-02 8.14418383e+01] [-1.60752810e-01 9.86985722e-01 -4.20943376e-03 -8.50333955e+00] [-2.47047744e-02 2.39909209e-04 9.99694762e-01 -3.46326906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.47, Y:-8.51, Z:-3.46 [[ 9.85841443e-01 1.65756692e-01 2.53252352e-02 8.14709239e+01] [-1.65698875e-01 9.86166672e-01 -4.37932408e-03 -8.50699231e+00] [-2.57008051e-02 1.20956200e-04 9.99669672e-01 -3.46304229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.50, Y:-8.51, Z:-3.46 [[ 9.85432114e-01 1.68213411e-01 2.50558794e-02 8.15002803e+01] [-1.68157627e-01 9.85750600e-01 -4.33214441e-03 -8.50906577e+00] [-2.54275729e-02 5.56970140e-05 9.99676665e-01 -3.46219845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51264 meters Centerline goodness [0,1] 0.9998059299191374 Centerline is valid? [True, True] Translation: X:81.53, Y:-8.51, Z:-3.47 [[ 9.84617463e-01 1.73032517e-01 2.42528400e-02 8.15288866e+01] [-1.72981722e-01 9.84916110e-01 -4.19290584e-03 -8.51019447e+00] [-2.46125219e-02 -6.68897117e-05 9.99697064e-01 -3.46682525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.56, Y:-8.52, Z:-3.47 [[ 9.84322471e-01 1.74575254e-01 2.51545893e-02 8.15560602e+01] [-1.74521130e-01 9.84643828e-01 -4.34814879e-03 -8.51583869e+00] [-2.55273903e-02 -1.10026797e-04 9.99674117e-01 -3.46738814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-8.52, Z:-3.47 [[ 9.84079656e-01 1.75989284e-01 2.47992624e-02 8.15829420e+01] [-1.75937162e-01 9.84392072e-01 -4.28535586e-03 -8.52075814e+00] [-2.51663740e-02 -1.45980326e-04 9.99683266e-01 -3.46883505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.61, Y:-8.52, Z:-3.47 [[ 9.83901923e-01 1.77062012e-01 2.42084547e-02 8.16117358e+01] [-1.77012719e-01 9.84199682e-01 -4.18122972e-03 -8.52460023e+00] [-2.45662904e-02 -1.71284431e-04 9.99698188e-01 -3.47123806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-8.53, Z:-3.47 [[ 9.83511144e-01 1.79210486e-01 2.42782039e-02 8.16393577e+01] [-1.79161587e-01 9.83810729e-01 -4.19228874e-03 -8.52781354e+00] [-2.46364596e-02 -2.26558838e-04 9.99696451e-01 -3.47310960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:-8.54, Z:-3.47 [[ 9.83391345e-01 1.79886644e-01 2.41300273e-02 8.16675882e+01] [-1.79838582e-01 9.83687316e-01 -4.16514392e-03 -8.53610504e+00] [-2.44856556e-02 -2.43543422e-04 9.99700152e-01 -3.47168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.69, Y:-8.54, Z:-3.48 [[ 9.83306491e-01 1.80368216e-01 2.39927399e-02 8.16944229e+01] [-1.80320862e-01 9.83599127e-01 -4.14062098e-03 -8.54076593e+00] [-2.43460744e-02 -2.54892062e-04 9.99703558e-01 -3.47500701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-8.55, Z:-3.48 [[ 9.83238388e-01 1.80811616e-01 2.34399807e-02 8.17228599e+01] [-1.80766596e-01 9.83517713e-01 -4.04311843e-03 -8.54658894e+00] [-2.37846790e-02 -2.61816256e-04 9.99717070e-01 -3.47632479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:-8.55, Z:-3.48 [[ 9.83246976e-01 1.80764883e-01 2.34401729e-02 8.17507753e+01] [-1.80719876e-01 9.83526303e-01 -4.04200348e-03 -8.55131036e+00] [-2.37846789e-02 -2.61817443e-04 9.99717070e-01 -3.47745459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.78, Y:-8.56, Z:-3.48 [[ 9.83245125e-01 1.80822049e-01 2.30740425e-02 8.17788105e+01] [-1.80778479e-01 9.83515795e-01 -3.97776695e-03 -8.55828574e+00] [-2.34129532e-02 -2.60170345e-04 9.99725845e-01 -3.47968994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81264 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:81.81, Y:-8.57, Z:-3.48 [[ 9.83352516e-01 1.80253285e-01 2.29473909e-02 8.18057344e+01] [-1.80210059e-01 9.83620197e-01 -3.95502072e-03 -8.56546700e+00] [-2.32844226e-02 -2.46171079e-04 9.99728851e-01 -3.48177601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.83, Y:-8.58, Z:-3.48 [[ 9.83468445e-01 1.79446193e-01 2.42668969e-02 8.18339945e+01] [-1.79397659e-01 9.83767760e-01 -4.18029165e-03 -8.57569895e+00] [-2.46231282e-02 -2.42239563e-04 9.99696775e-01 -3.47827433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-8.59, Z:-3.48 [[ 9.83706093e-01 1.77782165e-01 2.67549035e-02 8.18629809e+01] [-1.77643890e-01 9.84066422e-01 -7.47834722e-03 -8.58612207e+00] [-2.76581189e-02 2.60365058e-03 9.99614050e-01 -3.47686609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-8.60, Z:-3.48 [[ 9.83869189e-01 1.76724691e-01 2.77453170e-02 8.18925611e+01] [-1.76712271e-01 9.84258226e-01 -2.91839829e-03 -8.59628438e+00] [-2.78243095e-02 -2.03161583e-03 9.99610764e-01 -3.47832050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93264 meters Centerline goodness [0,1] 0.9999137317488731 Centerline is valid? [True, True] Translation: X:81.92, Y:-8.60, Z:-3.48 [[ 9.84037150e-01 1.76500639e-01 2.27686454e-02 8.19241619e+01] [-1.76187828e-01 9.84240776e-01 -1.50978378e-02 -8.59593793e+00] [-2.50746073e-02 1.08452751e-02 9.99626752e-01 -3.48241454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-8.62, Z:-3.48 [[ 9.84482707e-01 1.73615348e-01 2.55246893e-02 8.19498660e+01] [-1.73864711e-01 9.84738009e-01 7.88133981e-03 -8.62243076e+00] [-2.37668101e-02 -1.21968855e-02 9.99643124e-01 -3.48262178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.98, Y:-8.63, Z:-3.48 [[ 9.84448485e-01 1.73498445e-01 2.75584933e-02 8.19818171e+01] [-1.73470397e-01 9.84833133e-01 -3.42354869e-03 -8.62519318e+00] [-2.77344977e-02 -1.41027544e-03 9.99614330e-01 -3.48332557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-8.63, Z:-3.49 [[ 9.84634830e-01 1.72995478e-01 2.38078873e-02 8.20110054e+01] [-1.72913526e-01 9.84921795e-01 -5.47451052e-03 -8.63118153e+00] [-2.43959726e-02 1.27368800e-03 9.99701563e-01 -3.48615717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05264000000001 meters Centerline goodness [0,1] 0.9999571816994584 Centerline is valid? [True, True] Translation: X:82.04, Y:-8.64, Z:-3.49 [[ 9.84744609e-01 1.72379658e-01 2.37341230e-02 8.20409780e+01] [-1.72330923e-01 9.85030584e-01 -4.09905260e-03 -8.63953465e+00] [-2.40854303e-02 -5.36033736e-05 9.99709903e-01 -3.48703526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:-8.65, Z:-3.48 [[ 9.84628675e-01 1.71916548e-01 3.08394810e-02 8.20718387e+01] [-1.71989707e-01 9.85098706e-01 -2.84452019e-04 -8.65337059e+00] [-3.04288348e-02 -5.02399368e-03 9.99524310e-01 -3.48438612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11264000000001 meters Centerline goodness [0,1] 0.9999567062083298 Centerline is valid? [True, True] Translation: X:82.11, Y:-8.66, Z:-3.49 [[ 9.84616895e-01 1.72316204e-01 2.89257076e-02 8.21057963e+01] [-1.72158793e-01 9.85037807e-01 -7.86565376e-03 -8.65626637e+00] [-2.98482952e-02 2.76484069e-03 9.99550616e-01 -3.48531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.13, Y:-8.66, Z:-3.49 [[ 9.84852886e-01 1.71516919e-01 2.54310893e-02 8.21338605e+01] [-1.71388158e-01 9.85177452e-01 -7.17543165e-03 -8.66352810e+00] [-2.62848437e-02 2.70815700e-03 9.99650825e-01 -3.48581632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17264 meters Centerline goodness [0,1] 0.9999782570881892 Centerline is valid? [True, True] Translation: X:82.17, Y:-8.67, Z:-3.49 [[ 9.84845586e-01 1.71740367e-01 2.41747198e-02 8.21650897e+01] [-1.71689447e-01 9.85142246e-01 -4.18194362e-03 -8.67261663e+00] [-2.45337463e-02 -3.19755350e-05 9.99699002e-01 -3.48928660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-8.69, Z:-3.49 [[ 9.84349085e-01 1.73284647e-01 3.20828475e-02 8.21962215e+01] [-1.73412690e-01 9.84848477e-01 1.23124689e-03 -8.68512262e+00] [-3.13833874e-02 -6.77554965e-03 9.99484455e-01 -3.49137029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-8.68, Z:-3.49 [[ 9.84352308e-01 1.74668393e-01 2.32698632e-02 8.22265776e+01] [-1.74455270e-01 9.84604661e-01 -1.09096853e-02 -8.68229223e+00] [-2.48171929e-02 6.67942360e-03 9.99669692e-01 -3.49197760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:-8.70, Z:-3.49 [[ 9.83947703e-01 1.75547391e-01 3.20941001e-02 8.22574015e+01] [-1.75729802e-01 9.84434071e-01 2.93207828e-03 -8.69717115e+00] [-3.10798069e-02 -8.52490153e-03 9.99480551e-01 -3.49424083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-8.70, Z:-3.49 [[ 9.83665327e-01 1.77425935e-01 3.03737173e-02 8.22904782e+01] [-1.77318184e-01 9.84133879e-01 -6.22658462e-03 -8.69846836e+00] [-3.09965618e-02 7.39063002e-04 9.99519218e-01 -3.49391766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:-8.70, Z:-3.50 [[ 9.83502313e-01 1.79332356e-01 2.37298498e-02 8.23199115e+01] [-1.79086857e-01 9.83758703e-01 -1.21125118e-02 -8.69814873e+00] [-2.55166116e-02 7.66297911e-03 9.99645028e-01 -3.49534209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:-8.71, Z:-3.50 [[ 9.83320751e-01 1.80276433e-01 2.40978823e-02 8.23502712e+01] [-1.80227980e-01 9.83615960e-01 -4.18561794e-03 -8.70723303e+00] [-2.44576299e-02 -2.27307670e-04 9.99700842e-01 -3.49820602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:-8.71, Z:-3.50 [[ 9.83063643e-01 1.81717104e-01 2.37648537e-02 8.23820504e+01] [-1.81670380e-01 9.83350816e-01 -4.12865187e-03 -8.71241339e+00] [-2.41194350e-02 -2.58642470e-04 9.99709051e-01 -3.49931260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41264000000001 meters Centerline goodness [0,1] 0.9999786361305759 Centerline is valid? [True, True] Translation: X:82.41, Y:-8.71, Z:-3.50 [[ 9.82376998e-01 1.85409638e-01 2.36368246e-02 8.24124180e+01] [-1.85364319e-01 9.82661259e-01 -4.11329885e-03 -8.71235575e+00] [-2.39896370e-02 -3.40613712e-04 9.99712149e-01 -3.50342967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:-8.73, Z:-3.50 [[ 9.81621783e-01 1.87863729e-01 3.35543535e-02 8.24414625e+01] [-1.88316173e-01 9.82048557e-01 1.08466939e-02 -8.72824618e+00] [-3.09143041e-02 -1.69661784e-02 9.99378034e-01 -3.50343825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:-8.71, Z:-3.51 [[ 9.81421228e-01 1.90875568e-01 1.94651232e-02 8.24760226e+01] [-1.90488920e-01 9.81483453e-01 -2.01048060e-02 -8.70728666e+00] [-2.29422126e-02 1.60233931e-02 9.99608376e-01 -3.50719062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters Centerline goodness [0,1] 0.9999360300232424 Centerline is valid? [True, True] Translation: X:82.50, Y:-8.72, Z:-3.51 [[ 9.80906328e-01 1.93222924e-01 2.20834098e-02 8.25044294e+01] [-1.93185307e-01 9.81154757e-01 -3.84453815e-03 -8.71653644e+00] [-2.24100954e-02 -4.95058493e-04 9.99748740e-01 -3.50871183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:-8.73, Z:-3.51 [[ 9.80081851e-01 1.96034329e-01 3.17821807e-02 8.25346737e+01] [-1.96386185e-01 9.80491286e-01 8.32494393e-03 -8.72739486e+00] [-2.95301764e-02 -1.44007077e-02 9.99460148e-01 -3.51001898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:82.56, Y:-8.72, Z:-3.51 [[ 9.78827497e-01 2.02411686e-01 3.04342069e-02 8.25636464e+01] [-2.02358187e-01 9.79299518e-01 -4.85992608e-03 -8.71721054e+00] [-3.07879100e-02 -1.40158167e-03 9.99524957e-01 -3.50925481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59264 meters Centerline goodness [0,1] 0.9999138283892371 Centerline is valid? [True, True] Translation: X:82.60, Y:-8.71, Z:-3.51 [[ 9.78967960e-01 2.02923969e-01 2.10617251e-02 8.25956134e+01] [-2.02549242e-01 9.79094687e-01 -1.86386127e-02 -8.70825132e+00] [-2.44036444e-02 1.39805682e-02 9.99604425e-01 -3.50844948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62264 meters Centerline goodness [0,1] 0.9998080081916505 Centerline is valid? [True, True] Translation: X:82.62, Y:-8.71, Z:-3.51 [[ 9.78810852e-01 2.03276414e-01 2.46579727e-02 8.26222964e+01] [-2.03232634e-01 9.79121059e-01 -4.29517155e-03 -8.71498662e+00] [-2.50162474e-02 -8.07144222e-04 9.99686719e-01 -3.51010347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65264 meters Centerline goodness [0,1] 0.9998487173391541 Centerline is valid? [True, True] Translation: X:82.65, Y:-8.72, Z:-3.51 [[ 9.78801984e-01 2.03350150e-01 2.44006694e-02 8.26503344e+01] [-2.03307344e-01 9.79105752e-01 -4.24867387e-03 -8.72057406e+00] [-2.47548042e-02 -8.02224872e-04 9.99693231e-01 -3.50934396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68264 meters Centerline goodness [0,1] 0.9999135508969095 Centerline is valid? [True, True] Translation: X:82.68, Y:-8.72, Z:-3.51 [[ 9.79212086e-01 2.01394144e-01 2.41679418e-02 8.26788834e+01] [-2.01351584e-01 9.79510000e-01 -4.20696244e-03 -8.72313219e+00] [-2.45199983e-02 -7.46744900e-04 9.99699061e-01 -3.51194714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71264000000001 meters Centerline goodness [0,1] 0.999935339253384 Centerline is valid? [True, True] Translation: X:82.71, Y:-8.73, Z:-3.51 [[ 9.79573898e-01 1.99599641e-01 2.43918380e-02 8.27062362e+01] [-1.99555758e-01 9.79877278e-01 -4.24490482e-03 -8.72732223e+00] [-2.47482893e-02 -7.09333757e-04 9.99693463e-01 -3.51342703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264000000001 meters Centerline goodness [0,1] 0.9999134686107386 Centerline is valid? [True, True] Translation: X:82.73, Y:-8.73, Z:-3.52 [[ 9.80057912e-01 1.97281124e-01 2.38043628e-02 8.27343234e+01] [-1.97238689e-01 9.80346751e-01 -4.14085999e-03 -8.73448453e+00] [-2.41534432e-02 -6.36858714e-04 9.99708060e-01 -3.51518001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77264000000001 meters Centerline goodness [0,1] 0.9998291693358958 Centerline is valid? [True, True] Translation: X:82.76, Y:-8.74, Z:-3.52 [[ 9.81121555e-01 1.92028077e-01 2.29283934e-02 8.27614870e+01] [-1.91987292e-01 9.81389310e-01 -3.98768544e-03 -8.74337586e+00] [-2.32674278e-02 -4.89556031e-04 9.99729157e-01 -3.52019187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264000000001 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:82.79, Y:-8.75, Z:-3.52 [[ 9.81695621e-01 1.88994098e-01 2.35571491e-02 8.27893141e+01] [-1.88950194e-01 9.81978129e-01 -4.09610662e-03 -8.75102793e+00] [-2.39067452e-02 -4.29997957e-04 9.99714100e-01 -3.51942362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83264000000001 meters Centerline goodness [0,1] 0.999978450597996 Centerline is valid? [True, True] Translation: X:82.82, Y:-8.76, Z:-3.52 [[ 9.82210358e-01 1.86306008e-01 2.35134904e-02 8.28184281e+01] [-1.86261526e-01 9.82491699e-01 -4.08726279e-03 -8.75919492e+00] [-2.38632907e-02 -3.65106750e-04 9.99715164e-01 -3.51935566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:-8.77, Z:-3.52 [[ 9.82673559e-01 1.83800071e-01 2.38790658e-02 8.28460024e+01] [-1.83753457e-01 9.82963600e-01 -4.15070839e-03 -8.76615211e+00] [-2.42351530e-02 -3.09069511e-04 9.99706238e-01 -3.52022443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.87, Y:-8.77, Z:-3.52 [[ 9.83063888e-01 1.81677056e-01 2.40590767e-02 8.28744316e+01] [-1.81629116e-01 9.83358216e-01 -4.18140992e-03 -8.77392888e+00] [-2.44183570e-02 -2.59235738e-04 9.99701794e-01 -3.52098355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters Centerline goodness [0,1] 0.9999570750971176 Centerline is valid? [True, True] Translation: X:82.90, Y:-8.78, Z:-3.52 [[ 9.83654407e-01 1.78468707e-01 2.39358996e-02 8.29041420e+01] [-1.78420330e-01 9.83945572e-01 -4.15903244e-03 -8.78277020e+00] [-2.42938795e-02 -1.79600516e-04 9.99704844e-01 -3.51918400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-8.79, Z:-3.52 [[ 9.83848489e-01 1.77273971e-01 2.48211613e-02 8.29340534e+01] [-1.77221573e-01 9.84161529e-01 -4.31265603e-03 -8.78776922e+00] [-2.51925537e-02 -1.55845137e-04 9.99682605e-01 -3.52064440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98264 meters Centerline goodness [0,1] 0.9999569225467391 Centerline is valid? [True, True] Translation: X:82.96, Y:-8.79, Z:-3.53 [[ 9.84100718e-01 1.76019752e-01 2.37239128e-02 8.29630391e+01] [-1.75971504e-01 9.84386628e-01 -4.12270270e-03 -8.79344293e+00] [-2.40791797e-02 -1.17577927e-04 9.99710048e-01 -3.52511943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-8.80, Z:-3.52 [[ 9.84389436e-01 1.74371087e-01 2.39198961e-02 8.29931629e+01] [-1.74321574e-01 9.84680008e-01 -4.15584607e-03 -8.80183082e+00] [-2.42781029e-02 -7.87829693e-05 9.99705240e-01 -3.52302288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04264 meters Centerline goodness [0,1] 0.9997221212833721 Centerline is valid? [True, True] Translation: X:83.02, Y:-8.81, Z:-3.53 [[ 9.84535150e-01 1.73688735e-01 2.28639778e-02 8.30230954e+01] [-1.73643296e-01 9.84800599e-01 -3.97315686e-03 -8.80684580e+00] [-2.32065516e-02 -5.84638684e-05 9.99730690e-01 -3.52815977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-8.81, Z:-3.53 [[ 9.84652282e-01 1.72951664e-01 2.34009730e-02 8.30542464e+01] [-1.72903855e-01 9.84930312e-01 -4.06657043e-03 -8.81296960e+00] [-2.37516477e-02 -4.19605768e-05 9.99717889e-01 -3.52670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-8.82, Z:-3.53 [[ 9.84864306e-01 1.71690694e-01 2.37613872e-02 8.30842477e+01] [-1.71641013e-01 9.85150905e-01 -4.13003281e-03 -8.81834525e+00] [-2.41176403e-02 -1.09066648e-05 9.99709127e-01 -3.52719394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-8.82, Z:-3.53 [[ 9.84911904e-01 1.71333607e-01 2.43585029e-02 8.31146215e+01] [-1.71281286e-01 9.85213071e-01 -4.23393751e-03 -8.82420772e+00] [-2.47237313e-02 -2.10024283e-06 9.99694322e-01 -3.52715117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-8.83, Z:-3.53 [[ 9.84876248e-01 1.71548277e-01 2.42891906e-02 8.31453144e+01] [-1.71496357e-01 9.85175715e-01 -4.22029736e-03 -8.83013509e+00] [-2.46531054e-02 -9.03707418e-06 9.99696066e-01 -3.52946972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19264000000001 meters Centerline goodness [0,1] 0.9998917678637141 Centerline is valid? [True, True] Translation: X:83.18, Y:-8.84, Z:-3.53 [[ 9.84925199e-01 1.71487090e-01 2.26832542e-02 8.31763106e+01] [-1.71441662e-01 9.85186367e-01 -3.94696786e-03 -8.83566108e+00] [-2.30240868e-02 -1.38668847e-06 9.99734911e-01 -3.53224999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-8.84, Z:-3.53 [[ 9.84751575e-01 1.72336714e-01 2.37569578e-02 8.32069229e+01] [-1.72287109e-01 9.85038099e-01 -4.13465115e-03 -8.83917773e+00] [-2.41140607e-02 -2.14133505e-05 9.99709214e-01 -3.53246452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25264 meters Centerline goodness [0,1] 0.9998269297334718 Centerline is valid? [True, True] Translation: X:83.24, Y:-8.84, Z:-3.54 [[ 9.84638230e-01 1.73137723e-01 2.26027578e-02 8.32376385e+01] [-1.73093032e-01 9.84897623e-01 -3.93381250e-03 -8.84266935e+00] [-2.29424938e-02 -3.89977081e-05 9.99736786e-01 -3.53598712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters Centerline goodness [0,1] 0.9998712943498219 Centerline is valid? [True, True] Translation: X:83.27, Y:-8.85, Z:-3.54 [[ 9.84471956e-01 1.74081413e-01 2.25970914e-02 8.32679330e+01] [-1.74036970e-01 9.84731262e-01 -3.93383426e-03 -8.84615248e+00] [-2.29368698e-02 -5.99798150e-05 9.99736914e-01 -3.53705279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31264 meters Centerline goodness [0,1] 0.9999347896967721 Centerline is valid? [True, True] Translation: X:83.30, Y:-8.85, Z:-3.54 [[ 9.83981721e-01 1.76941380e-01 2.17191320e-02 8.32988466e+01] [-1.76901020e-01 9.84221384e-01 -3.78099393e-03 -8.84662066e+00] [-2.20454484e-02 -1.21707689e-04 9.99756962e-01 -3.53765973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:-8.85, Z:-3.54 [[ 9.83723265e-01 1.78303813e-01 2.22775202e-02 8.33277597e+01] [-1.78261685e-01 9.83975470e-01 -3.87889440e-03 -8.84838612e+00] [-2.26121551e-02 -1.55469617e-04 9.99744300e-01 -3.53976147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.36, Y:-8.85, Z:-3.54 [[ 9.83450998e-01 1.79772286e-01 2.24957609e-02 8.33578720e+01] [-1.79729738e-01 9.83708233e-01 -3.91577113e-03 -8.85057900e+00] [-2.28332124e-02 -1.92188188e-04 9.99739270e-01 -3.54007970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:-8.85, Z:-3.54 [[ 9.83228025e-01 1.80955129e-01 2.27572559e-02 8.33863378e+01] [-1.80911911e-01 9.83491328e-01 -3.96092003e-03 -8.85118142e+00] [-2.30983126e-02 -2.22571064e-04 9.99733174e-01 -3.54255934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.42, Y:-8.85, Z:-3.54 [[ 9.82948089e-01 1.82563963e-01 2.19875671e-02 8.34152712e+01] [-1.82524032e-01 9.83193946e-01 -3.82643782e-03 -8.85167519e+00] [-2.23166125e-02 -2.52069663e-04 9.99750922e-01 -3.54188988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.44, Y:-8.85, Z:-3.54 [[ 9.82913815e-01 1.82804734e-01 2.15141929e-02 8.34431173e+01] [-1.82766580e-01 9.83149208e-01 -3.74323870e-03 -8.85419981e+00] [-2.18359435e-02 -2.52794441e-04 9.99761535e-01 -3.54421681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49264000000001 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:83.47, Y:-8.86, Z:-3.55 [[ 9.82912999e-01 1.82744101e-01 2.20597030e-02 8.34710820e+01] [-1.82704006e-01 9.83160478e-01 -3.83666783e-03 -8.85587894e+00] [-2.23893566e-02 -2.59285430e-04 9.99749293e-01 -3.54760727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-8.86, Z:-3.55 [[ 9.82994269e-01 1.82290246e-01 2.21930714e-02 8.34992762e+01] [-1.82249586e-01 9.83244732e-01 -3.85821663e-03 -8.86153594e+00] [-2.25245358e-02 -2.52073227e-04 9.99746259e-01 -3.54573788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.53, Y:-8.87, Z:-3.55 [[ 9.83446326e-01 1.79848660e-01 2.20858060e-02 8.35264616e+01] [-1.79807795e-01 9.83694272e-01 -3.83868897e-03 -8.86634362e+00] [-2.24160639e-02 -1.96055520e-04 9.99748709e-01 -3.54936803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:-8.88, Z:-3.55 [[ 9.83918908e-01 1.77247558e-01 2.20654863e-02 8.35552251e+01] [-1.77206161e-01 9.84166289e-01 -3.83308928e-03 -8.87625593e+00] [-2.23955134e-02 -1.38691087e-04 9.99749179e-01 -3.54789192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61264000000001 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:83.58, Y:-8.89, Z:-3.55 [[ 9.84864376e-01 1.71765405e-01 2.32122000e-02 8.35834501e+01] [-1.71718094e-01 9.85137881e-01 -4.03120176e-03 -8.88880186e+00] [-2.35596385e-02 -1.57677483e-05 9.99722433e-01 -3.54846669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters Centerline goodness [0,1] 0.9998915801114556 Centerline is valid? [True, True] Translation: X:83.61, Y:-8.89, Z:-3.55 [[ 9.84864376e-01 1.71765405e-01 2.32122000e-02 8.36129874e+01] [-1.71718094e-01 9.85137881e-01 -4.03120176e-03 -8.89393153e+00] [-2.35596385e-02 -1.57677482e-05 9.99722433e-01 -3.54969236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.64, Y:-8.90, Z:-3.55 [[ 9.85326991e-01 1.68974008e-01 2.40521245e-02 8.36414738e+01] [-1.68922375e-01 9.85620506e-01 -4.17727059e-03 -8.90251539e+00] [-2.44121172e-02 5.30354725e-05 9.99701978e-01 -3.54958628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:-8.91, Z:-3.55 [[ 9.85814468e-01 1.66145421e-01 2.37809388e-02 8.36718199e+01] [-1.66094144e-01 9.86101255e-01 -4.12926447e-03 -8.91141319e+00] [-2.41364720e-02 1.20813977e-04 9.99708666e-01 -3.54926805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73264 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:83.70, Y:-8.93, Z:-3.55 [[ 9.86699039e-01 1.60704561e-01 2.44755177e-02 8.37009835e+01] [-1.60648607e-01 9.87002521e-01 -4.24834773e-03 -8.92606363e+00] [-2.48401266e-02 2.59882789e-04 9.99691403e-01 -3.55094352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76264 meters Centerline goodness [0,1] 0.999934997399896 Centerline is valid? [True, True] Translation: X:83.73, Y:-8.93, Z:-3.55 [[ 9.87048331e-01 1.58608700e-01 2.40597594e-02 8.37325877e+01] [-1.58553923e-01 9.87341473e-01 -4.17968020e-03 -8.93465318e+00] [-2.44181319e-02 3.10777121e-04 9.99701785e-01 -3.55102742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79264 meters Centerline goodness [0,1] 0.9999783965953034 Centerline is valid? [True, True] Translation: X:83.76, Y:-8.95, Z:-3.55 [[ 9.87388570e-01 1.56500726e-01 2.39025926e-02 8.37616412e+01] [-1.56445880e-01 9.87677775e-01 -4.15918792e-03 -8.94623857e+00] [-2.42589754e-02 3.67272488e-04 9.99705640e-01 -3.55345844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82264 meters Centerline goodness [0,1] 0.9997847379184157 Centerline is valid? [True, True] Translation: X:83.79, Y:-8.96, Z:-3.55 [[ 9.87736383e-01 1.54330984e-01 2.36386530e-02 8.37914199e+01] [-1.54276762e-01 9.88019117e-01 -4.11155800e-03 -8.95939968e+00] [-2.39899818e-02 4.14240586e-04 9.99712113e-01 -3.55458639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85264000000001 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:83.82, Y:-8.97, Z:-3.55 [[ 9.87788608e-01 1.53934476e-01 2.40383833e-02 8.38235218e+01] [-1.53878203e-01 9.88080963e-01 -4.18450404e-03 -8.96649816e+00] [-2.43960084e-02 4.34422179e-04 9.99702279e-01 -3.55333676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264000000001 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:83.85, Y:-8.97, Z:-3.56 [[ 9.87654038e-01 1.54753302e-01 2.43087894e-02 8.38541291e+01] [-1.54695869e-01 9.87953053e-01 -4.23704420e-03 -8.97468151e+00] [-2.46716393e-02 4.24264508e-04 9.99695519e-01 -3.55717557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91264000000001 meters Centerline goodness [0,1] 0.9999140671994501 Centerline is valid? [True, True] Translation: X:83.89, Y:-8.98, Z:-3.56 [[ 9.87476858e-01 1.56018468e-01 2.34028325e-02 8.38872301e+01] [-1.55965510e-01 9.87754065e-01 -4.08259748e-03 -8.97810345e+00] [-2.37532035e-02 3.81435840e-04 9.99717780e-01 -3.55825331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264000000001 meters Centerline goodness [0,1] 0.9999568928355893 Centerline is valid? [True, True] Translation: X:83.92, Y:-8.98, Z:-3.56 [[ 9.87320263e-01 1.57065150e-01 2.30051714e-02 8.39187425e+01] [-1.57014144e-01 9.87588180e-01 -4.01819745e-03 -8.98490907e+00] [-2.33507541e-02 3.55110473e-04 9.99727271e-01 -3.56003404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.95, Y:-8.99, Z:-3.56 [[ 9.86954319e-01 1.59296292e-01 2.33637219e-02 8.39504524e+01] [-1.59244209e-01 9.87230771e-01 -4.08501790e-03 -8.99095724e+00] [-2.37161134e-02 3.11188634e-04 9.99718685e-01 -3.55958151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:-9.00, Z:-3.56 [[ 9.86731027e-01 1.60592608e-01 2.39143122e-02 8.39819164e+01] [-1.60538316e-01 9.87020734e-01 -4.18566083e-03 -8.99664756e+00] [-2.42761082e-02 2.90957999e-04 9.99705250e-01 -3.55931907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:-9.00, Z:-3.56 [[ 9.86561639e-01 1.61602603e-01 2.40983546e-02 8.40118499e+01] [-1.61547659e-01 9.86855878e-01 -4.22250142e-03 -9.00461313e+00] [-2.44639702e-02 2.72725143e-04 9.99700675e-01 -3.56134707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-9.02, Z:-3.56 [[ 9.86456918e-01 1.62280166e-01 2.38305927e-02 8.40418221e+01] [-1.62226548e-01 9.86744689e-01 -4.17911683e-03 -9.01606992e+00] [-2.41928985e-02 2.56563916e-04 9.99707276e-01 -3.56491690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09264 meters Centerline goodness [0,1] 0.9999347996174911 Centerline is valid? [True, True] Translation: X:84.07, Y:-9.02, Z:-3.57 [[ 9.86429433e-01 1.62536061e-01 2.32164458e-02 8.40728012e+01] [-1.62485134e-01 9.86702573e-01 -4.07602912e-03 -9.02259026e+00] [-2.35702285e-02 2.48387790e-04 9.99722153e-01 -3.56599437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12264 meters Centerline goodness [0,1] 0.9998046026921407 Centerline is valid? [True, True] Translation: X:84.10, Y:-9.03, Z:-3.57 [[ 9.86355510e-01 1.62932725e-01 2.35740238e-02 8.41045402e+01] [-1.62880240e-01 9.86637150e-01 -4.14260458e-03 -9.03047317e+00] [-2.39339735e-02 2.46338214e-04 9.99713511e-01 -3.56716322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15264 meters Centerline goodness [0,1] 0.9998261549828328 Centerline is valid? [True, True] Translation: X:84.14, Y:-9.04, Z:-3.57 [[ 9.86166888e-01 1.63992423e-01 2.41112957e-02 8.41350168e+01] [-1.63937725e-01 9.86461572e-01 -4.24147425e-03 -9.04202844e+00] [-2.44804363e-02 2.30050482e-04 9.99700283e-01 -3.56693146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-9.05, Z:-3.57 [[ 9.86098464e-01 1.64348618e-01 2.44816641e-02 8.41650905e+01] [-1.64292194e-01 9.86402291e-01 -4.31231448e-03 -9.05117339e+00] [-2.48574925e-02 2.30220366e-04 9.99690978e-01 -3.56759931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21264000000001 meters Centerline goodness [0,1] 0.9998925747679615 Centerline is valid? [True, True] Translation: X:84.20, Y:-9.06, Z:-3.57 [[ 9.85885863e-01 1.65761272e-01 2.35003531e-02 8.41958225e+01] [-1.65709641e-01 9.86165891e-01 -4.14123289e-03 -9.05814408e+00] [-2.38617027e-02 1.88547889e-04 9.99715251e-01 -3.57208106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:-9.05, Z:-3.57 [[ 9.85187863e-01 1.70400865e-01 1.91942651e-02 8.42274297e+01] [-1.70050397e-01 9.85259373e-01 -1.86233714e-02 -9.05368520e+00] [-2.20847682e-02 1.50835271e-02 9.99642311e-01 -3.56974876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.26, Y:-9.07, Z:-3.57 [[ 9.84825133e-01 1.72132498e-01 2.21327701e-02 8.42571967e+01] [-1.72138375e-01 9.85071391e-01 -1.65370172e-03 -9.06827147e+00] [-2.20870144e-02 -2.18129206e-03 9.99753673e-01 -3.57232404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:-9.08, Z:-3.58 [[ 9.84422152e-01 1.73908939e-01 2.58593753e-02 8.42888437e+01] [-1.74225547e-01 9.84649539e-01 1.05234910e-02 -9.07931374e+00] [-2.36322928e-02 -1.48649215e-02 9.99610198e-01 -3.57582181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-9.07, Z:-3.58 [[ 9.83889081e-01 1.77285207e-01 2.30701289e-02 8.43219738e+01] [-1.77238417e-01 9.84159514e-01 -4.07366231e-03 -9.07416812e+00] [-2.34268869e-02 -8.08812638e-05 9.99725550e-01 -3.57863208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264000000001 meters Centerline goodness [0,1] 0.9999133035675581 Centerline is valid? [True, True] Translation: X:84.35, Y:-9.08, Z:-3.58 [[ 9.83092368e-01 1.81666661e-01 2.29482167e-02 8.43544299e+01] [-1.81621462e-01 9.83360154e-01 -4.05616568e-03 -9.07729859e+00] [-2.33032320e-02 -1.80303154e-04 9.99728427e-01 -3.58065669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-9.08, Z:-3.58 [[ 9.82823475e-01 1.82921047e-01 2.44521432e-02 8.43852244e+01] [-1.82869992e-01 9.83127582e-01 -4.32704286e-03 -9.08269880e+00] [-2.48310837e-02 -2.18843939e-04 9.99691637e-01 -3.58009155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-9.08, Z:-3.58 [[ 9.82508059e-01 1.84904001e-01 2.21003258e-02 8.44147883e+01] [-1.84647887e-01 9.82716978e-01 -1.31339238e-02 -9.08352978e+00] [-2.41468805e-02 8.82340753e-03 9.99669483e-01 -3.57911121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45264 meters Centerline goodness [0,1] 0.9998915589485555 Centerline is valid? [True, True] Translation: X:84.45, Y:-9.10, Z:-3.58 [[ 9.82273518e-01 1.85526139e-01 2.68102025e-02 8.44463085e+01] [-1.85712755e-01 9.82593192e-01 4.62510609e-03 -9.09856062e+00] [-2.54854444e-02 -9.52211579e-03 9.99629842e-01 -3.58078514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48264 meters Centerline goodness [0,1] 0.999956912338152 Centerline is valid? [True, True] Translation: X:84.48, Y:-9.10, Z:-3.58 [[ 9.82089403e-01 1.86692856e-01 2.54201305e-02 8.44791916e+01] [-1.86638693e-01 9.82418280e-01 -4.50790769e-03 -9.09947783e+00] [-2.58147950e-02 -3.17211550e-04 9.99666692e-01 -3.58159779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:-9.11, Z:-3.58 [[ 9.82008635e-01 1.87216834e-01 2.46758373e-02 8.45103628e+01] [-1.87165834e-01 9.82318562e-01 -4.38104482e-03 -9.10581755e+00] [-2.50597384e-02 -3.16249830e-04 9.99685905e-01 -3.58421465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54264 meters Centerline goodness [0,1] 0.9998924546158479 Centerline is valid? [True, True] Translation: X:84.54, Y:-9.11, Z:-3.59 [[ 9.82043337e-01 1.87061100e-01 2.44750673e-02 8.45430253e+01] [-1.87010782e-01 9.82348233e-01 -4.34926015e-03 -9.11294070e+00] [-2.48566165e-02 -3.05939529e-04 9.99690980e-01 -3.58711770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:-9.12, Z:-3.59 [[ 9.82027933e-01 1.87202545e-01 2.40071858e-02 8.45725760e+01] [-1.87017321e-01 9.82308116e-01 -9.76150523e-03 -9.11515516e+00] [-2.54098320e-02 5.09631124e-03 9.99664128e-01 -3.58655790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264000000001 meters Centerline goodness [0,1] 0.9999783741701088 Centerline is valid? [True, True] Translation: X:84.60, Y:-9.13, Z:-3.59 [[ 9.82074086e-01 1.86592088e-01 2.67185798e-02 8.46047680e+01] [-1.86682126e-01 9.82419964e-01 8.93963163e-04 -9.12752427e+00] [-2.60820597e-02 -5.86581932e-03 9.99642595e-01 -3.58775171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63264000000001 meters Centerline goodness [0,1] 0.9999571376524292 Centerline is valid? [True, True] Translation: X:84.64, Y:-9.13, Z:-3.59 [[ 9.82086166e-01 1.86687302e-01 2.55854326e-02 8.46371116e+01] [-1.86631882e-01 9.82419341e-01 -4.55834560e-03 -9.13152219e+00] [-2.59866091e-02 -2.98369279e-04 9.99662247e-01 -3.58983132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:-9.14, Z:-3.59 [[ 9.82394572e-01 1.85087838e-01 2.53652600e-02 8.46673346e+01] [-1.85032689e-01 9.82721950e-01 -4.52474531e-03 -9.14143511e+00] [-2.57644731e-02 -2.48317047e-04 9.99668010e-01 -3.59144108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.70, Y:-9.15, Z:-3.59 [[ 9.82560561e-01 1.84210371e-01 2.53235864e-02 8.46976674e+01] [-1.84154981e-01 9.82886815e-01 -4.52240312e-03 -9.14825705e+00] [-2.57232927e-02 -2.19929609e-04 9.99669077e-01 -3.59308137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:-9.15, Z:-3.59 [[ 9.82651957e-01 1.83722478e-01 2.53215840e-02 8.47302336e+01] [-1.83666910e-01 9.82978132e-01 -4.52300798e-03 -9.15480450e+00] [-2.57215416e-02 -2.06194444e-04 9.99669125e-01 -3.59435867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-9.16, Z:-3.60 [[ 9.82774960e-01 1.83092705e-01 2.51085634e-02 8.47620472e+01] [-1.83037734e-01 9.83095635e-01 -4.48999046e-03 -9.16092989e+00] [-2.55062036e-02 -1.83164360e-04 9.99674647e-01 -3.59656974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters Centerline goodness [0,1] 0.9999784306112764 Centerline is valid? [True, True] Translation: X:84.79, Y:-9.17, Z:-3.60 [[ 9.82697833e-01 1.83502420e-01 2.51362543e-02 8.47942996e+01] [-1.83447349e-01 9.83019240e-01 -4.49934075e-03 -9.16643160e+00] [-2.55350615e-02 -1.89686807e-04 9.99673909e-01 -3.59751770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-9.17, Z:-3.60 [[ 9.82410003e-01 1.85022649e-01 2.52429412e-02 8.48256122e+01] [-1.84967469e-01 9.82734231e-01 -4.52398717e-03 -9.16939041e+00] [-2.56441425e-02 -2.24712702e-04 9.99671110e-01 -3.59916863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters Centerline goodness [0,1] 0.9999783970620004 Centerline is valid? [True, True] Translation: X:84.86, Y:-9.17, Z:-3.60 [[ 9.82453626e-01 1.84725020e-01 2.57204135e-02 8.48578006e+01] [-1.84621647e-01 9.82789104e-01 -6.35800936e-03 -9.17278752e+00] [-2.64522256e-02 1.49790424e-03 9.99648956e-01 -3.59923415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:-9.18, Z:-3.60 [[ 9.81912236e-01 1.87621255e-01 2.54288270e-02 8.48897810e+01] [-1.87611702e-01 9.82239333e-01 -2.78232147e-03 -9.17805876e+00] [-2.54992167e-02 -2.03875002e-03 9.99672763e-01 -3.60055762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90264 meters Centerline goodness [0,1] 0.9998700454840805 Centerline is valid? [True, True] Translation: X:84.92, Y:-9.18, Z:-3.60 [[ 9.81377731e-01 1.90620523e-01 2.36973743e-02 8.49221575e+01] [-1.90573299e-01 9.81663741e-01 -4.25634449e-03 -9.17587158e+00] [-2.40741997e-02 -3.39005105e-04 9.99710117e-01 -3.60280906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93264 meters Centerline goodness [0,1] 0.9998065015479877 Centerline is valid? [True, True] Translation: X:84.95, Y:-9.18, Z:-3.61 [[ 9.81112203e-01 1.92022478e-01 2.33711986e-02 8.49532082e+01] [-1.91976851e-01 9.81390460e-01 -4.20159750e-03 -9.17672368e+00] [-2.37430725e-02 -3.64490539e-04 9.99718027e-01 -3.60624425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:-9.18, Z:-3.61 [[ 9.80948125e-01 1.92797364e-01 2.38736641e-02 8.49825975e+01] [-1.92749811e-01 9.81238518e-01 -4.29905077e-03 -9.17892582e+00] [-2.42546044e-02 -3.84498438e-04 9.99705740e-01 -3.60663240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:-9.19, Z:-3.61 [[ 9.80923259e-01 1.92889202e-01 2.41519483e-02 8.50136884e+01] [-1.92840584e-01 9.81220466e-01 -4.34823646e-03 -9.18543438e+00] [-2.45371139e-02 -3.92189548e-04 9.99698843e-01 -3.60563005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:-9.19, Z:-3.61 [[ 9.81228218e-01 1.91333038e-01 2.41423288e-02 8.50438500e+01] [-1.91284029e-01 9.81525111e-01 -4.34482840e-03 -9.19173358e+00] [-2.45276112e-02 -3.54773678e-04 9.99699090e-01 -3.60883685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05264000000001 meters Centerline goodness [0,1] 0.9998482022813029 Centerline is valid? [True, True] Translation: X:85.07, Y:-9.20, Z:-3.61 [[ 9.81537068e-01 1.89849898e-01 2.32808908e-02 8.50744729e+01] [-1.89803828e-01 9.81813080e-01 -4.19315735e-03 -9.20039423e+00] [-2.36535536e-02 -3.03062817e-04 9.99720170e-01 -3.61143899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264000000001 meters Centerline goodness [0,1] 0.9999784357276864 Centerline is valid? [True, True] Translation: X:85.11, Y:-9.21, Z:-3.61 [[ 9.81818403e-01 1.88360942e-01 2.35112586e-02 8.51051168e+01] [-1.88313423e-01 9.82099834e-01 -4.23907803e-03 -9.20759599e+00] [-2.38888799e-02 -2.65480776e-04 9.99714585e-01 -3.61261930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-9.22, Z:-3.61 [[ 9.82562116e-01 1.83820551e-01 2.79587914e-02 8.51337929e+01] [-1.83863435e-01 9.82951236e-01 -1.05124707e-03 -9.21839809e+00] [-2.76753694e-02 -4.10768388e-03 9.99608524e-01 -3.61311875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-9.22, Z:-3.61 [[ 9.82549445e-01 1.84495813e-01 2.36195655e-02 8.51672897e+01] [-1.84349970e-01 9.82826218e-01 -8.22884762e-03 -9.22180432e+00] [-2.47321162e-02 3.73098346e-03 9.99687152e-01 -3.61291456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-9.23, Z:-3.62 [[ 9.82729062e-01 1.83456575e-01 2.42337863e-02 8.51977637e+01] [-1.83404376e-01 9.83027805e-01 -4.37833236e-03 -9.23134390e+00] [-2.46257196e-02 -1.41868017e-04 9.99696731e-01 -3.61535460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters Centerline goodness [0,1] 0.9998499882133596 Centerline is valid? [True, True] Translation: X:85.23, Y:-9.24, Z:-3.62 [[ 9.82947193e-01 1.82190851e-01 2.49260738e-02 8.52285359e+01] [-1.82135091e-01 9.83263181e-01 -4.50846618e-03 -9.24049176e+00] [-2.53302919e-02 -1.08328546e-04 9.99679131e-01 -3.61554652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:-9.25, Z:-3.61 [[ 9.82906517e-01 1.82302538e-01 2.57014250e-02 8.52606183e+01] [-1.82243128e-01 9.83242479e-01 -4.65506160e-03 -9.24712384e+00] [-2.61193624e-02 -1.08417686e-04 9.99658825e-01 -3.61356682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26264 meters Centerline goodness [0,1] 0.9999353378596831 Centerline is valid? [True, True] Translation: X:85.29, Y:-9.25, Z:-3.62 [[ 9.82861023e-01 1.82593381e-01 2.53745162e-02 8.52919320e+01] [-1.82535554e-01 9.83188509e-01 -4.59645181e-03 -9.25195738e+00] [-2.57872144e-02 -1.14078043e-04 9.99667448e-01 -3.61684195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.32, Y:-9.26, Z:-3.62 [[ 9.82735426e-01 1.83247903e-01 2.55203546e-02 8.53249856e+01] [-1.83189575e-01 9.83066727e-01 -4.62498464e-03 -9.25753531e+00] [-2.59357302e-02 -1.29926671e-04 9.99663604e-01 -3.61701775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32264 meters Centerline goodness [0,1] 0.9998698566253823 Centerline is valid? [True, True] Translation: X:85.36, Y:-9.26, Z:-3.62 [[ 9.82449643e-01 1.84942284e-01 2.42703793e-02 8.53573065e+01] [-1.84889931e-01 9.82749371e-01 -4.40316543e-03 -9.26134785e+00] [-2.46660314e-02 -1.61460463e-04 9.99695734e-01 -3.62049811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35264000000001 meters Centerline goodness [0,1] 0.9998076635394183 Centerline is valid? [True, True] Translation: X:85.39, Y:-9.26, Z:-3.62 [[ 9.82220084e-01 1.86172019e-01 2.41595811e-02 8.53879161e+01] [-1.86120403e-01 9.82517147e-01 -4.38760069e-03 -9.26493204e+00] [-2.45540512e-02 -1.87001468e-04 9.99698486e-01 -3.62380309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264000000001 meters Centerline goodness [0,1] 0.9997828258697824 Centerline is valid? [True, True] Translation: X:85.42, Y:-9.27, Z:-3.62 [[ 9.81958125e-01 1.87532921e-01 2.42825768e-02 8.54210642e+01] [-1.87481109e-01 9.82258294e-01 -4.41336544e-03 -9.26886230e+00] [-2.46794138e-02 -2.18784384e-04 9.99695393e-01 -3.62401459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-9.27, Z:-3.62 [[ 9.81548912e-01 1.89532111e-01 2.52846275e-02 8.54525535e+01] [-1.89476440e-01 9.81874485e-01 -4.60161057e-03 -9.26885529e+00] [-2.56984835e-02 -2.74135361e-04 9.99669702e-01 -3.62497024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264000000001 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:85.49, Y:-9.29, Z:-3.63 [[ 9.82195149e-01 1.84732849e-01 3.41535412e-02 8.54878446e+01] [-1.85252380e-01 9.82608869e-01 1.27030293e-02 -9.28643104e+00] [-3.12129057e-02 -1.88038785e-02 9.99335864e-01 -3.62512312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-9.27, Z:-3.63 [[ 9.81289259e-01 1.91467601e-01 2.02866273e-02 8.55151510e+01] [-1.90993568e-01 9.81317234e-01 -2.31935843e-02 -9.26635287e+00] [-2.43484370e-02 1.88849998e-02 9.99525142e-01 -3.63100915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:85.54, Y:-9.28, Z:-3.63 [[ 9.81021070e-01 1.92462896e-01 2.35731601e-02 8.55448789e+01] [-1.92415178e-01 9.81304199e-01 -4.29746982e-03 -9.27972943e+00] [-2.39595444e-02 -3.19925344e-04 9.99712878e-01 -3.63041037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53264 meters Centerline goodness [0,1] 0.9999784584895093 Centerline is valid? [True, True] Translation: X:85.57, Y:-9.29, Z:-3.63 [[ 9.81021066e-01 1.92462937e-01 2.35729785e-02 8.55743742e+01] [-1.92415195e-01 9.81304191e-01 -4.29846568e-03 -9.28510719e+00] [-2.39595579e-02 -3.18913863e-04 9.99712878e-01 -3.63165152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-9.29, Z:-3.63 [[ 9.80802409e-01 1.93565985e-01 2.36398799e-02 8.56051143e+01] [-1.93518291e-01 9.81087198e-01 -4.31066497e-03 -9.28757867e+00] [-2.40271817e-02 -3.46838577e-04 9.99711245e-01 -3.63286353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59264 meters Centerline goodness [0,1] 0.9999786916684423 Centerline is valid? [True, True] Translation: X:85.64, Y:-9.29, Z:-3.64 [[ 9.80565732e-01 1.94748501e-01 2.37458553e-02 8.56350924e+01] [-1.94700720e-01 9.80853138e-01 -4.33020135e-03 -9.28713215e+00] [-2.41344969e-02 -3.77288073e-04 9.99708649e-01 -3.63684669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62264 meters Centerline goodness [0,1] 0.9999785320194929 Centerline is valid? [True, True] Translation: X:85.67, Y:-9.29, Z:-3.63 [[ 9.79918992e-01 1.97873872e-01 2.45906371e-02 8.56654864e+01] [-1.97823617e-01 9.80227376e-01 -4.48412635e-03 -9.28834297e+00] [-2.49917071e-02 -4.70528195e-04 9.99687548e-01 -3.63361338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65264 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:85.69, Y:-9.29, Z:-3.64 [[ 9.79687718e-01 1.99018829e-01 2.45658614e-02 8.56942842e+01] [-1.98969045e-01 9.79995539e-01 -4.47919300e-03 -9.28851801e+00] [-2.49658784e-02 -4.99635620e-04 9.99688179e-01 -3.63563096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-9.29, Z:-3.64 [[ 9.79616843e-01 1.99359119e-01 2.46329602e-02 8.57225317e+01] [-1.99309188e-01 9.79926365e-01 -4.49070619e-03 -9.29287601e+00] [-2.50337504e-02 -5.10403875e-04 9.99686476e-01 -3.63647289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71264000000001 meters Centerline goodness [0,1] 0.9999575281376089 Centerline is valid? [True, True] Translation: X:85.75, Y:-9.29, Z:-3.64 [[ 9.79686434e-01 1.99070572e-01 2.41950288e-02 8.57500264e+01] [-1.99022336e-01 9.79985032e-01 -4.40990481e-03 -9.29458349e+00] [-2.45886484e-02 -4.95027249e-04 9.99697531e-01 -3.64026583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264000000001 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:85.78, Y:-9.31, Z:-3.64 [[ 9.80628567e-01 1.92790873e-01 3.46308210e-02 8.57842722e+01] [-1.93366848e-01 9.81025180e-01 1.41017039e-02 -9.31464967e+00] [-3.12550276e-02 -2.05249864e-02 9.99300680e-01 -3.63879480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77264000000001 meters Centerline goodness [0,1] 0.9999783760406531 Centerline is valid? [True, True] Translation: X:85.81, Y:-9.29, Z:-3.64 [[ 9.80148282e-01 1.97158415e-01 2.09261772e-02 8.58113024e+01] [-1.96632239e-01 9.80163830e-01 -2.47917103e-02 -9.29468972e+00] [-2.53989763e-02 2.01847912e-02 9.99473595e-01 -3.64165402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:-9.31, Z:-3.64 [[ 9.80665547e-01 1.93983949e-01 2.57936708e-02 8.58367795e+01] [-1.93927362e-01 9.81004625e-01 -4.70146730e-03 -9.31470335e+00] [-2.62157195e-02 -3.91531537e-04 9.99656232e-01 -3.64116171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:-9.33, Z:-3.64 [[ 9.81573232e-01 1.89136232e-01 2.72300643e-02 8.58652558e+01] [-1.89071348e-01 9.81950818e-01 -4.96155368e-03 -9.32640167e+00] [-2.76769935e-02 -2.78296682e-04 9.99616880e-01 -3.64033679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:-9.34, Z:-3.64 [[ 9.81998024e-01 1.86896340e-01 2.73795220e-02 8.58959586e+01] [-1.86829922e-01 9.82379616e-01 -4.98694049e-03 -9.33684322e+00] [-2.78291252e-02 -2.18148257e-04 9.99612671e-01 -3.63941503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-9.34, Z:-3.64 [[ 9.82466575e-01 1.84466223e-01 2.70488828e-02 8.59255982e+01] [-1.84400344e-01 9.82838843e-01 -4.93161421e-03 -9.34488535e+00] [-2.74944089e-02 -1.42677173e-04 9.99621947e-01 -3.64464060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters Centerline goodness [0,1] 0.9998272436727995 Centerline is valid? [True, True] Translation: X:85.96, Y:-9.36, Z:-3.65 [[ 9.83432279e-01 1.79424907e-01 2.58390362e-02 8.59567088e+01] [-1.79362960e-01 9.83771672e-01 -4.71444509e-03 -9.35869928e+00] [-2.62656007e-02 1.77146189e-06 9.99655000e-01 -3.64737505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:-9.37, Z:-3.65 [[ 9.83692514e-01 1.77941355e-01 2.61899168e-02 8.59872388e+01] [-1.77877043e-01 9.84041093e-01 -4.78389454e-03 -9.36810325e+00] [-2.66232070e-02 4.72962886e-05 9.99645538e-01 -3.64797403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:-9.38, Z:-3.65 [[ 9.83895844e-01 1.76839007e-01 2.60179523e-02 8.60194806e+01] [-1.76775032e-01 9.84239787e-01 -4.75700957e-03 -9.37673237e+00] [-2.64491287e-02 8.10775951e-05 9.99650157e-01 -3.64887944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:-9.38, Z:-3.65 [[ 9.83975519e-01 1.76531584e-01 2.50754440e-02 8.60504592e+01] [-1.76471904e-01 9.84294972e-01 -4.59083409e-03 -9.38307891e+00] [-2.54920606e-02 9.21570134e-05 9.99675020e-01 -3.65036031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04264 meters Centerline goodness [0,1] 0.9999783685565338 Centerline is valid? [True, True] Translation: X:86.08, Y:-9.39, Z:-3.65 [[ 9.83780900e-01 1.77737222e-01 2.41789267e-02 8.60822155e+01] [-1.77682073e-01 9.84077983e-01 -4.42770966e-03 -9.38692479e+00] [-2.45809183e-02 5.97343794e-05 9.99697842e-01 -3.65255384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-9.39, Z:-3.66 [[ 9.83427118e-01 1.79608915e-01 2.47334235e-02 8.61131807e+01] [-1.79551678e-01 9.83738094e-01 -4.53402692e-03 -9.39046156e+00] [-2.51455626e-02 1.79573197e-05 9.99683800e-01 -3.65619973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264000000001 meters Centerline goodness [0,1] 0.9999787654216126 Centerline is valid? [True, True] Translation: X:86.14, Y:-9.39, Z:-3.65 [[ 9.82561028e-01 1.84109643e-01 2.60281804e-02 8.61441819e+01] [-1.84047638e-01 9.82905708e-01 -4.77875921e-03 -9.38710899e+00] [-2.64630627e-02 -9.50025674e-05 9.99649787e-01 -3.65430415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.17, Y:-9.39, Z:-3.66 [[ 9.82106569e-01 1.86546197e-01 2.58302664e-02 8.61744027e+01] [-1.86485990e-01 9.82446177e-01 -4.74182763e-03 -9.38729933e+00] [-2.62614164e-02 -1.60002735e-04 9.99655097e-01 -3.65558880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:-9.39, Z:-3.65 [[ 9.81697794e-01 1.88782057e-01 2.51152634e-02 8.62044426e+01] [-1.88725887e-01 9.82018986e-01 -4.60984422e-03 -9.38998338e+00] [-2.55339213e-02 -2.14426451e-04 9.99673933e-01 -3.65499924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:-9.39, Z:-3.66 [[ 9.81056417e-01 1.92033131e-01 2.55261378e-02 8.62336085e+01] [-1.91976206e-01 9.81388396e-01 -4.68530407e-03 -9.38730125e+00] [-2.59507891e-02 -3.03863476e-04 9.99663175e-01 -3.65931976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:-9.39, Z:-3.66 [[ 9.80882003e-01 1.92950086e-01 2.53132308e-02 8.62628242e+01] [-1.92894440e-01 9.81208519e-01 -4.64512475e-03 -9.39209576e+00] [-2.57338349e-02 -3.26462211e-04 9.99668777e-01 -3.65770647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25264 meters Centerline goodness [0,1] 0.999957206436152 Centerline is valid? [True, True] Translation: X:86.29, Y:-9.40, Z:-3.66 [[ 9.80872307e-01 1.93110285e-01 2.44527024e-02 8.62923500e+01] [-1.93058427e-01 9.81177005e-01 -4.48645275e-03 -9.39594254e+00] [-2.48588095e-02 -3.20163008e-04 9.99690921e-01 -3.66108122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:-9.40, Z:-3.66 [[ 9.80949917e-01 1.92738311e-01 2.42735168e-02 8.63209338e+01] [-1.92687099e-01 9.81250146e-01 -4.45349630e-03 -9.40233937e+00] [-2.46767512e-02 -3.08536684e-04 9.99695435e-01 -3.66079299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:-9.41, Z:-3.66 [[ 9.81157015e-01 1.91521261e-01 2.55052734e-02 8.63498370e+01] [-1.91464326e-01 9.81488421e-01 -4.67878043e-03 -9.40635340e+00] [-2.59292165e-02 -2.92731728e-04 9.99663738e-01 -3.66236162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.38, Y:-9.41, Z:-3.66 [[ 9.81337943e-01 1.90621335e-01 2.52853233e-02 8.63786660e+01] [-1.90565096e-01 9.81663606e-01 -4.63779134e-03 -9.41292419e+00] [-2.57057436e-02 -2.67259442e-04 9.99669517e-01 -3.66325644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:-9.42, Z:-3.66 [[ 9.81537613e-01 1.89629349e-01 2.49924700e-02 8.64065555e+01] [-1.89574099e-01 9.81855719e-01 -4.58346247e-03 -9.41917354e+00] [-2.54081586e-02 -2.39084174e-04 9.99677132e-01 -3.66496372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.44, Y:-9.43, Z:-3.66 [[ 9.81854168e-01 1.87819894e-01 2.61931181e-02 8.64358398e+01] [-1.87758590e-01 9.82203465e-01 -4.80265543e-03 -9.42736206e+00] [-2.66290056e-02 -2.02475664e-04 9.99645365e-01 -3.66310033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:-9.43, Z:-3.66 [[ 9.82007972e-01 1.86926559e-01 2.68105128e-02 8.64656223e+01] [-1.86861998e-01 9.82373874e-01 -4.91585821e-03 -9.43325159e+00] [-2.72568518e-02 -1.82454023e-04 9.99628446e-01 -3.66321530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:-9.44, Z:-3.66 [[ 9.82201581e-01 1.85922744e-01 2.66980714e-02 8.64955437e+01] [-1.85858352e-01 9.82564354e-01 -4.89524145e-03 -9.43897354e+00] [-2.71427100e-02 -1.53945656e-04 9.99631557e-01 -3.66403232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:-9.45, Z:-3.67 [[ 9.82638467e-01 1.83661574e-01 2.62691749e-02 8.65249249e+01] [-1.83598431e-01 9.82989531e-01 -4.81642454e-03 -9.44619813e+00] [-2.67069160e-02 -9.01752747e-05 9.99643303e-01 -3.66677040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:-9.45, Z:-3.67 [[ 9.82914232e-01 1.82314697e-01 2.53172802e-02 8.65559811e+01] [-1.82255660e-01 9.83240229e-01 -4.63962264e-03 -9.45470892e+00] [-2.57388397e-02 -5.38664721e-05 9.99668700e-01 -3.66756456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55264000000001 meters Centerline goodness [0,1] 0.999914374397945 Centerline is valid? [True, True] Translation: X:86.59, Y:-9.46, Z:-3.67 [[ 9.83268444e-01 1.80545523e-01 2.42173853e-02 8.65855108e+01] [-1.80490863e-01 9.83566629e-01 -4.44232217e-03 -9.46362275e+00] [-2.46214534e-02 -3.02155260e-06 9.99696846e-01 -3.67354331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:-9.47, Z:-3.67 [[ 9.83523104e-01 1.79100988e-01 2.45995999e-02 8.66162291e+01] [-1.79044038e-01 9.83830694e-01 -4.51639571e-03 -9.47316395e+00] [-2.50107324e-02 3.75678188e-05 9.99687182e-01 -3.67222539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-9.49, Z:-3.67 [[ 9.84080741e-01 1.75747543e-01 2.64177247e-02 8.66452511e+01] [-1.75680507e-01 9.84435261e-01 -4.85562928e-03 -9.48522674e+00] [-2.68599046e-02 1.37251982e-04 9.99639198e-01 -3.67249945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.68, Y:-9.49, Z:-3.67 [[ 9.84317792e-01 1.74467248e-01 2.60703645e-02 8.66761990e+01] [-1.74401406e-01 9.84662962e-01 -4.79587349e-03 -9.49317310e+00] [-2.65072452e-02 1.73955374e-04 9.99648606e-01 -3.67232803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:-9.50, Z:-3.67 [[ 9.84642719e-01 1.72710965e-01 2.54880002e-02 8.67062822e+01] [-1.72647329e-01 9.84972524e-01 -4.69320105e-03 -9.50389509e+00] [-2.59155472e-02 2.20691097e-04 9.99664111e-01 -3.67455040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.74, Y:-9.51, Z:-3.68 [[ 9.84618597e-01 1.72815653e-01 2.57093251e-02 8.67372065e+01] [-1.72750841e-01 9.84954161e-01 -4.73778637e-03 -9.51080671e+00] [-2.61412704e-02 2.23605029e-04 9.99658234e-01 -3.67651597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:-9.52, Z:-3.68 [[ 9.84600247e-01 1.72969503e-01 2.53752783e-02 8.67699462e+01] [-1.72906306e-01 9.84927156e-01 -4.68048382e-03 -9.51630390e+00] [-2.58023817e-02 2.20859885e-04 9.99667039e-01 -3.67670954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-9.52, Z:-3.68 [[ 9.84485881e-01 1.73660360e-01 2.50923975e-02 8.68008001e+01] [-1.73598633e-01 9.84805583e-01 -4.63445298e-03 -9.52289154e+00] [-2.55159540e-02 2.06547624e-04 9.99674394e-01 -3.67985419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.83, Y:-9.53, Z:-3.68 [[ 9.84085097e-01 1.75846120e-01 2.55864021e-02 8.68321368e+01] [-1.75782608e-01 9.84417654e-01 -4.72826965e-03 -9.52736794e+00] [-2.60191538e-02 1.55375205e-04 9.99661432e-01 -3.68096731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.86, Y:-9.53, Z:-3.68 [[ 9.83747359e-01 1.77666973e-01 2.59919191e-02 8.68638526e+01] [-1.77601945e-01 9.84090663e-01 -4.80782587e-03 -9.53068420e+00] [-2.64325968e-02 1.13470606e-04 9.99650591e-01 -3.68159985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.90, Y:-9.53, Z:-3.68 [[ 9.83404775e-01 1.79557136e-01 2.59669678e-02 8.68961816e+01] [-1.79492775e-01 9.83747544e-01 -4.80759534e-03 -9.53403089e+00] [-2.64081789e-02 6.69290853e-05 9.99651241e-01 -3.68159786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:-9.53, Z:-3.68 [[ 9.82645214e-01 1.83681212e-01 2.58765372e-02 8.69273458e+01] [-1.83618546e-01 9.82985865e-01 -4.79777584e-03 -9.53377042e+00] [-2.63175316e-02 -3.69006724e-05 9.99653633e-01 -3.68358953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:-9.54, Z:-3.69 [[ 9.82228178e-01 1.85926836e-01 2.56713575e-02 8.69592293e+01] [-1.85865923e-01 9.82563587e-01 -4.75986125e-03 -9.53590723e+00] [-2.61087270e-02 -9.61607027e-05 9.99659104e-01 -3.68503059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:-9.54, Z:-3.69 [[ 9.81465942e-01 1.90150582e-01 2.38193469e-02 8.69910240e+01] [-1.89976044e-01 9.81743643e-01 -9.40865053e-03 -9.53594690e+00] [-2.51735528e-02 4.70916476e-03 9.99672004e-01 -3.68552633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.02, Y:-9.54, Z:-3.69 [[ 9.81346672e-01 1.90492315e-01 2.59111342e-02 8.70197519e+01] [-1.90560652e-01 9.81675409e-01 1.71367378e-04 -9.54118793e+00] [-2.54036791e-02 -5.10581344e-03 9.99664236e-01 -3.68900013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:-9.54, Z:-3.69 [[ 9.80695886e-01 1.93931195e-01 2.50253859e-02 8.70493882e+01] [-1.93875762e-01 9.81015089e-01 -4.64592105e-03 -9.53605166e+00] [-2.54512702e-02 -2.95580105e-04 9.99676020e-01 -3.69053934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-9.54, Z:-3.69 [[ 9.80555250e-01 1.94665976e-01 2.48306173e-02 8.70776563e+01] [-1.94611674e-01 9.80869543e-01 -4.60834252e-03 -9.53800980e+00] [-2.52526838e-02 -3.13593552e-04 9.99681051e-01 -3.69368785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-9.54, Z:-3.69 [[ 9.80547100e-01 1.94741526e-01 2.45585475e-02 8.71072919e+01] [-1.94688459e-01 9.80854546e-01 -4.55677313e-03 -9.54363626e+00] [-2.49757559e-02 -3.13135079e-04 9.99688008e-01 -3.69374186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-9.55, Z:-3.70 [[ 9.80693883e-01 1.94012723e-01 2.44657240e-02 8.71351880e+01] [-1.93959845e-01 9.80998969e-01 -4.53891575e-03 -9.54761795e+00] [-2.48814574e-02 -2.94081129e-04 9.99690365e-01 -3.69699263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12264 meters Centerline goodness [0,1] 0.9998931920620341 Centerline is valid? [True, True] Translation: X:87.16, Y:-9.55, Z:-3.70 [[ 9.81340397e-01 1.90783540e-01 2.39304623e-02 8.71624180e+01] [-1.90731998e-01 9.81632109e-01 -4.43926574e-03 -9.55492556e+00] [-2.43378490e-02 -2.07874086e-04 9.99703769e-01 -3.70225049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:-9.56, Z:-3.70 [[ 9.81687762e-01 1.88824595e-01 2.51874842e-02 8.71908804e+01] [-1.88766881e-01 9.82010817e-01 -4.67127676e-03 -9.56383764e+00] [-2.56164339e-02 -1.68827601e-04 9.99671831e-01 -3.69938980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:-9.57, Z:-3.70 [[ 9.82087840e-01 1.86657380e-01 2.57390244e-02 8.72203314e+01] [-1.86596392e-01 9.82425065e-01 -4.77256525e-03 -9.57259934e+00] [-2.61774973e-02 -1.15730808e-04 9.99657304e-01 -3.69841596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.25, Y:-9.58, Z:-3.70 [[ 9.82477688e-01 1.84545633e-01 2.60864374e-02 8.72498547e+01] [-1.84482243e-01 9.82823944e-01 -4.83698304e-03 -9.58119374e+00] [-2.65310194e-02 -6.02565675e-05 9.99647989e-01 -3.69906152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264000000001 meters Centerline goodness [0,1] 0.9998497015502211 Centerline is valid? [True, True] Translation: X:87.28, Y:-9.60, Z:-3.70 [[ 9.83052494e-01 1.81377528e-01 2.66455566e-02 8.72798132e+01] [-1.81436675e-01 9.83402610e-01 -2.01114612e-04 -9.59588636e+00] [-2.62397875e-02 -4.63677496e-03 9.99644924e-01 -3.70053320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:-9.60, Z:-3.70 [[ 9.83698782e-01 1.78071752e-01 2.50431074e-02 8.73120760e+01] [-1.77888793e-01 9.84005976e-01 -9.37099670e-03 -9.59935603e+00] [-2.63112772e-02 4.76334988e-03 9.99642450e-01 -3.70275291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:-9.61, Z:-3.70 [[ 9.84043063e-01 1.76081649e-01 2.55832370e-02 8.73429504e+01] [-1.76017716e-01 9.84375550e-01 -4.74758177e-03 -9.61061333e+00] [-2.60194751e-02 1.68721973e-04 9.99661422e-01 -3.70326643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:-9.62, Z:-3.71 [[ 9.84484287e-01 1.73677726e-01 2.50346943e-02 8.73722118e+01] [-1.73615613e-01 9.84802515e-01 -4.65027003e-03 -9.62235608e+00] [-2.54618783e-02 2.31703975e-04 9.99675767e-01 -3.70861064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:-9.63, Z:-3.71 [[ 9.84580422e-01 1.73133518e-01 2.50235310e-02 8.74044432e+01] [-1.73071194e-01 9.84898331e-01 -4.65176582e-03 -9.62822638e+00] [-2.54510105e-02 2.49185162e-04 9.99676040e-01 -3.70701642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:-9.63, Z:-3.70 [[ 9.84180682e-01 1.75371216e-01 2.51658985e-02 8.74339888e+01] [-1.75256274e-01 9.84499915e-01 -6.71974477e-03 -9.63148027e+00] [-2.59542747e-02 2.20296140e-03 9.99660704e-01 -3.70419750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:-9.64, Z:-3.71 [[ 9.84567851e-01 1.73065187e-01 2.59728161e-02 8.74669745e+01] [-1.73054138e-01 9.84908641e-01 -2.68963955e-03 -9.64117071e+00] [-2.60463340e-02 -1.84657068e-03 9.99659031e-01 -3.70672079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.50, Y:-9.65, Z:-3.71 [[ 9.84529070e-01 1.73343283e-01 2.55854761e-02 8.74991013e+01] [-1.73277904e-01 9.84861431e-01 -4.76752727e-03 -9.64608577e+00] [-2.60245674e-02 2.60371520e-04 9.99661270e-01 -3.70815997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48264 meters Centerline goodness [0,1] 0.9999572146753664 Centerline is valid? [True, True] Translation: X:87.53, Y:-9.65, Z:-3.71 [[ 9.84383119e-01 1.74283135e-01 2.48045220e-02 8.75313605e+01] [-1.74221866e-01 9.84695554e-01 -4.62675330e-03 -9.65204802e+00] [-2.52312676e-02 2.33007748e-04 9.99681614e-01 -3.71127593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51264 meters Centerline goodness [0,1] 0.9999146320641967 Centerline is valid? [True, True] Translation: X:87.56, Y:-9.66, Z:-3.71 [[ 9.84280940e-01 1.74877628e-01 2.46748274e-02 8.75621822e+01] [-1.74817030e-01 9.84590151e-01 -4.60872135e-03 -9.65882158e+00] [-2.51005543e-02 2.22696531e-04 9.99684907e-01 -3.71406182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:-9.66, Z:-3.71 [[ 9.84072841e-01 1.75903130e-01 2.56657825e-02 8.75939995e+01] [-1.75837844e-01 9.84407459e-01 -4.79653406e-03 -9.66438403e+00] [-2.61093131e-02 2.07123038e-04 9.99659072e-01 -3.71296738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:-9.67, Z:-3.71 [[ 9.83863571e-01 1.77042168e-01 2.58562109e-02 8.76244909e+01] [-1.76976155e-01 9.84203250e-01 -4.83772301e-03 -9.67016794e+00] [-2.63042478e-02 1.83726664e-04 9.99653967e-01 -3.71494005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264000000001 meters Centerline goodness [0,1] 0.9999785453765286 Centerline is valid? [True, True] Translation: X:87.66, Y:-9.67, Z:-3.71 [[ 9.83418350e-01 1.79462795e-01 2.61046762e-02 8.76563592e+01] [-1.79396321e-01 9.83764754e-01 -4.88565003e-03 -9.67387144e+00] [-2.65576528e-02 1.21555018e-04 9.99647276e-01 -3.71389353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63264000000001 meters Centerline goodness [0,1] 0.9998915965657792 Centerline is valid? [True, True] Translation: X:87.69, Y:-9.68, Z:-3.71 [[ 9.83118542e-01 1.81095385e-01 2.61226582e-02 8.76887516e+01] [-1.81029273e-01 9.83465533e-01 -4.89364664e-03 -9.67761708e+00] [-2.65769508e-02 8.20689243e-05 9.99646767e-01 -3.71437640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.72, Y:-9.68, Z:-3.72 [[ 9.82691356e-01 1.83318493e-01 2.66838857e-02 8.77198288e+01] [-1.83250188e-01 9.83053574e-01 -5.00393311e-03 -9.68014449e+00] [-2.71490027e-02 2.74947402e-05 9.99631398e-01 -3.71628330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69264000000001 meters Centerline goodness [0,1] 0.9999362597203927 Centerline is valid? [True, True] Translation: X:87.75, Y:-9.68, Z:-3.72 [[ 9.81817682e-01 1.88112914e-01 2.54474001e-02 8.77500852e+01] [-1.88052238e-01 9.82147404e-01 -4.77840468e-03 -9.67890156e+00] [-2.58919776e-02 -9.39183225e-05 9.99664742e-01 -3.72170361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264000000001 meters Centerline goodness [0,1] 0.999827879257299 Centerline is valid? [True, True] Translation: X:87.78, Y:-9.68, Z:-3.72 [[ 9.81403860e-01 1.90364178e-01 2.46565150e-02 8.77795164e+01] [-1.90307909e-01 9.81713531e-01 -4.63055794e-03 -9.68204003e+00] [-2.50871268e-02 -1.47882368e-04 9.99685258e-01 -3.72320872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:-9.69, Z:-3.72 [[ 9.81009124e-01 1.92368718e-01 2.48067598e-02 8.78086988e+01] [-1.92312417e-01 9.81322697e-01 -4.65818087e-03 -9.68551418e+00] [-2.52395247e-02 -2.00929985e-04 9.99681412e-01 -3.72140093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:-9.69, Z:-3.72 [[ 9.80344326e-01 1.95763923e-01 2.45252872e-02 8.78374667e+01] [-1.95709964e-01 9.80651011e-01 -4.60491523e-03 -9.68519384e+00] [-2.49522240e-02 -2.85440547e-04 9.99688604e-01 -3.72441923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81264 meters Centerline goodness [0,1] 0.9997632677656781 Centerline is valid? [True, True] Translation: X:87.87, Y:-9.69, Z:-3.73 [[ 9.80080599e-01 1.97137711e-01 2.40570665e-02 8.78665446e+01] [-1.97086232e-01 9.80375756e-01 -4.51591504e-03 -9.68881810e+00] [-2.44752219e-02 -3.15355877e-04 9.99700387e-01 -3.72651173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.89, Y:-9.68, Z:-3.73 [[ 9.79285290e-01 2.01411368e-01 2.08274233e-02 8.78944003e+01] [-2.01084658e-01 9.79430396e-01 -1.67648037e-02 -9.68349926e+00] [-2.37756335e-02 1.22294504e-02 9.99642516e-01 -3.72616256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87264 meters Centerline goodness [0,1] 0.9998711478578332 Centerline is valid? [True, True] Translation: X:87.92, Y:-9.69, Z:-3.73 [[ 9.79404173e-01 2.00268531e-01 2.56901039e-02 8.79240054e+01] [-2.00534391e-01 9.79652337e-01 8.20100906e-03 -9.69482613e+00] [-2.35249663e-02 -1.31838518e-02 9.99636315e-01 -3.73145308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90264 meters Centerline goodness [0,1] 0.9998718633208756 Centerline is valid? [True, True] Translation: X:87.95, Y:-9.69, Z:-3.73 [[ 9.79188306e-01 2.01528559e-01 2.40104247e-02 8.79537464e+01] [-2.01478575e-01 9.79482547e-01 -4.50812572e-03 -9.69144464e+00] [-2.44263081e-02 -4.23282161e-04 9.99701544e-01 -3.73079547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93264 meters Centerline goodness [0,1] 0.9998494979682225 Centerline is valid? [True, True] Translation: X:87.98, Y:-9.70, Z:-3.73 [[ 9.79137924e-01 2.01703257e-01 2.45910772e-02 8.79824791e+01] [-2.01650912e-01 9.79446580e-01 -4.61589720e-03 -9.69743580e+00] [-2.50166880e-02 -4.39213148e-04 9.99686937e-01 -3.73026143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264000000001 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:88.01, Y:-9.70, Z:-3.73 [[ 9.79178689e-01 2.01510703e-01 2.45465159e-02 8.80112149e+01] [-2.01458518e-01 9.79486216e-01 -4.60630177e-03 -9.70150182e+00] [-2.49711931e-02 -4.34712176e-04 9.99688077e-01 -3.72944331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99264000000001 meters Centerline goodness [0,1] 0.9998712225274725 Centerline is valid? [True, True] Translation: X:88.04, Y:-9.71, Z:-3.73 [[ 9.79237411e-01 2.01235412e-01 2.44622342e-02 8.80399863e+01] [-2.01183530e-01 9.79542815e-01 -4.58924831e-03 -9.70514212e+00] [-2.48853251e-02 -4.27434991e-04 9.99690221e-01 -3.73230899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.07, Y:-9.71, Z:-3.73 [[ 9.79224536e-01 2.01199173e-01 2.52626185e-02 8.80676344e+01] [-2.01143857e-01 9.79550253e-01 -4.73825466e-03 -9.70757553e+00] [-2.56993373e-02 -4.41605316e-04 9.99669620e-01 -3.73235210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.10, Y:-9.71, Z:-3.73 [[ 9.79226295e-01 2.01139739e-01 2.56645505e-02 8.80963252e+01] [-2.01082676e-01 9.79562455e-01 -4.81180631e-03 -9.71293924e+00] [-2.61078755e-02 -4.48849234e-04 9.99659031e-01 -3.73161375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264000000001 meters Centerline goodness [0,1] 0.9999570021928882 Centerline is valid? [True, True] Translation: X:88.12, Y:-9.73, Z:-3.73 [[ 9.78860931e-01 2.01580961e-01 3.45889184e-02 8.81206727e+01] [-2.02060099e-01 9.79312132e-01 1.09299903e-02 -9.72745336e+00] [-3.16700695e-02 -1.76879808e-02 9.99341854e-01 -3.73135308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11264000000001 meters Centerline goodness [0,1] 0.9998930664271355 Centerline is valid? [True, True] Translation: X:88.16, Y:-9.71, Z:-3.74 [[ 9.79278842e-01 2.01306305e-01 2.21070177e-02 8.81570965e+01] [-2.00847721e-01 9.79390262e-01 -2.13285836e-02 -9.70788406e+00] [-2.59449762e-02 1.64464865e-02 9.99528074e-01 -3.73683897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.18, Y:-9.73, Z:-3.73 [[ 9.78929225e-01 2.01415705e-01 3.36048591e-02 8.81766181e+01] [-2.01777375e-01 9.79401085e-01 7.70749474e-03 -9.73423336e+00] [-3.13602250e-02 -1.43257921e-02 9.99405477e-01 -3.73460455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-9.72, Z:-3.74 [[ 9.79959883e-01 1.98013772e-01 2.16604089e-02 8.82130756e+01] [-1.97653201e-01 9.80112116e-01 -1.77045955e-02 -9.72237368e+00] [-2.47353830e-02 1.30685441e-02 9.99608610e-01 -3.73881540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:-9.74, Z:-3.74 [[ 9.80268120e-01 1.96159161e-01 2.44130443e-02 8.82397972e+01] [-1.96106108e-01 9.80572022e-01 -4.57215025e-03 -9.73520909e+00] [-2.48356173e-02 -3.05613957e-04 9.99691502e-01 -3.73962929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:-9.74, Z:-3.74 [[ 9.80535405e-01 1.94758099e-01 2.48918293e-02 8.82683111e+01] [-1.94702525e-01 9.80851266e-01 -4.66052152e-03 -9.74069384e+00] [-2.53228566e-02 -2.76695657e-04 9.99679287e-01 -3.74014205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:-9.75, Z:-3.74 [[ 9.80808673e-01 1.93439677e-01 2.44016042e-02 8.82964641e+01] [-1.93385893e-01 9.81112142e-01 -4.56752959e-03 -9.74640092e+00] [-2.48242516e-02 -2.39053370e-04 9.99691802e-01 -3.74163859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:-9.75, Z:-3.74 [[ 9.81368318e-01 1.90604569e-01 2.42099538e-02 8.83246372e+01] [-1.90550803e-01 9.81666884e-01 -4.53001700e-03 -9.75469711e+00] [-2.46295518e-02 -1.67610979e-04 9.99696633e-01 -3.74379087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.35, Y:-9.76, Z:-3.75 [[ 9.81628018e-01 1.89233140e-01 2.44387558e-02 8.83513470e+01] [-1.89177929e-01 9.81932177e-01 -4.57281781e-03 -9.76059058e+00] [-2.48625294e-02 -1.34467115e-04 9.99690870e-01 -3.74590772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:-9.77, Z:-3.75 [[ 9.81821206e-01 1.88279990e-01 2.40367220e-02 8.83796874e+01] [-1.88226337e-01 9.82115387e-01 -4.49587265e-03 -9.76599555e+00] [-2.44533174e-02 -1.10201033e-04 9.99700967e-01 -3.74642428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:-9.77, Z:-3.75 [[ 9.81940365e-01 1.87715579e-01 2.35792604e-02 8.84068780e+01] [-1.87663809e-01 9.82223423e-01 -4.40937483e-03 -9.76926611e+00] [-2.39878102e-02 -9.52306784e-05 9.99712247e-01 -3.74918605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.44, Y:-9.77, Z:-3.75 [[ 9.81969009e-01 1.87673920e-01 2.27016596e-02 8.84356084e+01] [-1.87625951e-01 9.82231384e-01 -4.24395433e-03 -9.76965500e+00] [-2.30947620e-02 -9.19888380e-05 9.99733276e-01 -3.75107868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.46, Y:-9.77, Z:-3.75 [[ 9.82000355e-01 1.87587476e-01 2.20508779e-02 8.84638203e+01] [-1.87542230e-01 9.82247897e-01 -4.12077623e-03 -9.77369769e+00] [-2.24324345e-02 -8.88670994e-05 9.99748357e-01 -3.75182456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:-9.78, Z:-3.75 [[ 9.82039029e-01 1.87380560e-01 2.20878068e-02 8.84916959e+01] [-1.87335131e-01 9.82287391e-01 -4.12676975e-03 -9.77806718e+00] [-2.24698505e-02 -8.51732199e-05 9.99747517e-01 -3.75364552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:-9.79, Z:-3.76 [[ 9.81777268e-01 1.86559088e-01 3.61815204e-02 8.85150629e+01] [-1.87153645e-01 9.82234025e-01 1.37780319e-02 -9.79470150e+00] [-3.29683033e-02 -2.02984619e-02 9.99250251e-01 -3.75528936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:-9.78, Z:-3.75 [[ 9.82235261e-01 1.86656424e-01 1.93202314e-02 8.85518342e+01] [-1.86183913e-01 9.82223879e-01 -2.39123670e-02 -9.77607986e+00] [-2.34401896e-02 1.98904537e-02 9.99527352e-01 -3.75421315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters Centerline goodness [0,1] 0.9998712805440543 Centerline is valid? [True, True] Translation: X:88.58, Y:-9.79, Z:-3.76 [[ 9.82466504e-01 1.85069968e-01 2.25538150e-02 8.85778874e+01] [-1.85022024e-01 9.82725346e-01 -4.21247396e-03 -9.79232678e+00] [-2.29438080e-02 -3.43379245e-05 9.99736756e-01 -3.75648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59264 meters Centerline goodness [0,1] 0.9998916552904722 Centerline is valid? [True, True] Translation: X:88.61, Y:-9.80, Z:-3.76 [[ 9.82725974e-01 1.83757000e-01 2.19778357e-02 8.86060229e+01] [-1.83711169e-01 9.82971701e-01 -4.10383906e-03 -9.79807563e+00] [-2.23576997e-02 -4.62466380e-06 9.99750035e-01 -3.75860807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62264 meters Centerline goodness [0,1] 0.9999788350829665 Centerline is valid? [True, True] Translation: X:88.63, Y:-9.80, Z:-3.76 [[ 9.83154878e-01 1.81372756e-01 2.25922280e-02 8.86335967e+01] [-1.81323725e-01 9.83414420e-01 -4.21735017e-03 -9.80459527e+00] [-2.29824352e-02 4.98014722e-05 9.99735868e-01 -3.76031987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:-9.81, Z:-3.76 [[ 9.83300140e-01 1.80541821e-01 2.29234727e-02 8.86621296e+01] [-1.80491144e-01 9.83567306e-01 -4.27796484e-03 -9.80992811e+00] [-2.33191299e-02 6.90396166e-05 9.99728070e-01 -3.76020006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.69, Y:-9.81, Z:-3.76 [[ 9.83547549e-01 1.79287883e-01 2.21376293e-02 8.86928329e+01] [-1.78924781e-01 9.83708280e-01 -1.74339358e-02 -9.80843199e+00] [-2.49026627e-02 1.31861344e-02 9.99602913e-01 -3.75919756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71264000000001 meters Centerline goodness [0,1] 0.9997850294509653 Centerline is valid? [True, True] Translation: X:88.72, Y:-9.83, Z:-3.76 [[ 9.83572052e-01 1.78794012e-01 2.48740734e-02 8.87180173e+01] [-1.79023304e-01 9.83817746e-01 7.30062676e-03 -9.82912519e+00] [-2.31662465e-02 -1.16337312e-02 9.99663934e-01 -3.76122707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.75, Y:-9.83, Z:-3.76 [[ 9.83745554e-01 1.78129171e-01 2.26866256e-02 8.87468041e+01] [-1.78078987e-01 9.84007106e-01 -4.22970207e-03 -9.83027464e+00] [-2.30772341e-02 1.20939290e-04 9.99733678e-01 -3.76153259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77264000000001 meters Centerline goodness [0,1] 0.9999787392367386 Centerline is valid? [True, True] Translation: X:88.77, Y:-9.84, Z:-3.76 [[ 9.83872115e-01 1.77394424e-01 2.29538790e-02 8.87743796e+01] [-1.77342877e-01 9.84139827e-01 -4.27842158e-03 -9.83709742e+00] [-2.33487946e-02 1.38712756e-04 9.99727370e-01 -3.76387064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264000000001 meters Centerline goodness [0,1] 0.9999786247141056 Centerline is valid? [True, True] Translation: X:88.80, Y:-9.84, Z:-3.76 [[ 9.83996225e-01 1.76752024e-01 2.25865445e-02 8.88034532e+01] [-1.76701957e-01 9.84255403e-01 -4.20941196e-03 -9.84345419e+00] [-2.29749505e-02 1.50958866e-04 9.99736030e-01 -3.76489307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.83, Y:-9.85, Z:-3.76 [[ 9.84175189e-01 1.75745292e-01 2.26448526e-02 8.88329906e+01] [-1.75694712e-01 9.84435657e-01 -4.21973406e-03 -9.84896543e+00] [-2.30339988e-02 1.74376693e-04 9.99734667e-01 -3.76380102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.86, Y:-9.86, Z:-3.77 [[ 9.84440859e-01 1.74139341e-01 2.34879556e-02 8.88606703e+01] [-1.74084477e-01 9.84720997e-01 -4.37642082e-03 -9.85762790e+00] [-2.38911901e-02 2.19439001e-04 9.99714541e-01 -3.76518926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89264 meters Centerline goodness [0,1] 0.9998925978433647 Centerline is valid? [True, True] Translation: X:88.89, Y:-9.86, Z:-3.77 [[ 9.84804623e-01 1.72332301e-01 2.14809739e-02 8.88944138e+01] [-1.71981344e-01 9.84949173e-01 -1.72494367e-02 -9.85793501e+00] [-2.41303026e-02 1.32929983e-02 9.99620440e-01 -3.76586335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters Centerline goodness [0,1] 0.9998276679160742 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.88, Z:-3.77 [[ 9.84824293e-01 1.71787518e-01 2.47014352e-02 8.89175989e+01] [-1.72041324e-01 9.85052803e-01 8.52981235e-03 -9.88149193e+00] [-2.28669027e-02 -1.26500340e-02 9.99658482e-01 -3.76807025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95264 meters Centerline goodness [0,1] 0.9998933810986012 Centerline is valid? [True, True] Translation: X:88.95, Y:-9.88, Z:-3.77 [[ 9.85320083e-01 1.69100094e-01 2.34412574e-02 8.89513780e+01] [-1.68881598e-01 9.85574726e-01 -1.10210922e-02 -9.88097326e+00] [-2.49667785e-02 6.90050651e-03 9.99664465e-01 -3.77130206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-9.90, Z:-3.77 [[ 9.85241331e-01 1.69597549e-01 2.31558172e-02 8.89756404e+01] [-1.69692770e-01 9.85494565e-01 2.19677222e-03 -9.89730918e+00] [-2.24473648e-02 -6.09372556e-03 9.99729455e-01 -3.76993377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01264 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:89.01, Y:-9.90, Z:-3.77 [[ 9.85436171e-01 1.68568609e-01 2.23646562e-02 8.90101343e+01] [-1.68234458e-01 9.85615882e-01 -1.60779762e-02 -9.89542580e+00] [-2.47532025e-02 1.20813135e-02 9.99620588e-01 -3.76885223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04264 meters Centerline goodness [0,1] 0.9998286717779586 Centerline is valid? [True, True] Translation: X:89.03, Y:-9.92, Z:-3.77 [[ 9.85212819e-01 1.69506944e-01 2.49619244e-02 8.90328172e+01] [-1.69730762e-01 9.85464727e-01 7.12320356e-03 -9.91909376e+00] [-2.33916636e-02 -1.12546779e-02 9.99663024e-01 -3.77284722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07264 meters Centerline goodness [0,1] 0.9998060929891843 Centerline is valid? [True, True] Translation: X:89.07, Y:-9.91, Z:-3.77 [[ 9.85305235e-01 1.69008104e-01 2.46952466e-02 8.90683812e+01] [-1.68797837e-01 9.85596040e-01 -1.03795601e-02 -9.91413498e+00] [-2.60937671e-02 6.05853065e-03 9.99641140e-01 -3.77401732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264000000001 meters Centerline goodness [0,1] 0.9998938451412921 Centerline is valid? [True, True] Translation: X:89.09, Y:-9.93, Z:-3.78 [[ 9.84942324e-01 1.71331997e-01 2.31076901e-02 8.90936696e+01] [-1.71406749e-01 9.85199518e-01 1.27930550e-03 -9.92806859e+00] [-2.25464992e-02 -5.22085618e-03 9.99732163e-01 -3.77693419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-9.93, Z:-3.78 [[ 9.84459424e-01 1.74343107e-01 2.10742226e-02 8.91239470e+01] [-1.74298876e-01 9.84684946e-01 -3.93187104e-03 -9.93033223e+00] [-2.14369644e-02 1.97554183e-04 9.99770182e-01 -3.77723525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.16, Y:-9.93, Z:-3.78 [[ 9.84258075e-01 1.75323308e-01 2.23109734e-02 8.91578795e+01] [-1.75072571e-01 9.84472971e-01 -1.27500742e-02 -9.93033202e+00] [-2.41999355e-02 8.64332401e-03 9.99669774e-01 -3.77767606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:-9.94, Z:-3.78 [[ 9.83750262e-01 1.78168229e-01 2.21699148e-02 8.91854542e+01] [-1.78287162e-01 9.83972300e-01 3.49304380e-03 -9.94285226e+00] [-2.11922326e-02 -7.38889394e-03 9.99748115e-01 -3.77822450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:-9.94, Z:-3.78 [[ 9.83259381e-01 1.81043298e-01 2.05988660e-02 8.92151384e+01] [-1.81002529e-01 9.83475125e-01 -3.84224296e-03 -9.94174102e+00] [-2.09540847e-02 4.94746020e-05 9.99780438e-01 -3.78244849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:-9.94, Z:-3.78 [[ 9.82297625e-01 1.86237416e-01 2.01742651e-02 8.92441460e+01] [-1.86199415e-01 9.82504769e-01 -3.76254097e-03 -9.94187703e+00] [-2.05220375e-02 -6.05012839e-05 9.99789399e-01 -3.78274505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters Centerline goodness [0,1] 0.9998718715298539 Centerline is valid? [True, True] Translation: X:89.27, Y:-9.94, Z:-3.79 [[ 9.81813178e-01 1.88759659e-01 2.03144074e-02 8.92718652e+01] [-1.88721684e-01 9.82023308e-01 -3.78788947e-03 -9.94356525e+00] [-2.06642223e-02 -1.14769373e-04 9.99786466e-01 -3.78558826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31264 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:89.30, Y:-9.95, Z:-3.79 [[ 9.81392842e-01 1.90891548e-01 2.07003889e-02 8.93008462e+01] [-1.90852623e-01 9.81611120e-01 -3.85825947e-03 -9.94590766e+00] [-2.10562411e-02 -1.64255295e-04 9.99778279e-01 -3.78567358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters Centerline goodness [0,1] 0.9998920645885502 Centerline is valid? [True, True] Translation: X:89.33, Y:-9.95, Z:-3.79 [[ 9.81401949e-01 1.90844704e-01 2.07005726e-02 8.93286965e+01] [-1.90805790e-01 9.81620228e-01 -3.85727391e-03 -9.95100310e+00] [-2.10562410e-02 -1.64252971e-04 9.99778279e-01 -3.78683338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.36, Y:-9.95, Z:-3.78 [[ 9.80775861e-01 1.93949789e-01 2.14986124e-02 8.93577229e+01] [-1.93908586e-01 9.81011428e-01 -4.00487847e-03 -9.95463067e+00] [-2.18671298e-02 -2.40877407e-04 9.99760857e-01 -3.78343571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40264 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:89.39, Y:-9.96, Z:-3.79 [[ 9.80571032e-01 1.94858412e-01 2.25975805e-02 8.93857699e+01] [-1.94813152e-01 9.80831343e-01 -4.20861428e-03 -9.95759502e+00] [-2.29844992e-02 -2.75460640e-04 9.99735784e-01 -3.78557834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43264 meters Centerline goodness [0,1] 0.9998931920620341 Centerline is valid? [True, True] Translation: X:89.42, Y:-9.97, Z:-3.78 [[ 9.80573236e-01 1.93750167e-01 3.06104736e-02 8.94163963e+01] [-1.93876078e-01 9.81025327e-01 1.17188375e-03 -9.96780236e+00] [-2.98025973e-02 -7.08375641e-03 9.99530703e-01 -3.78474186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.45, Y:-9.96, Z:-3.79 [[ 9.80443099e-01 1.95638418e-01 2.13761083e-02 8.94450230e+01] [-1.95438805e-01 9.80653313e-01 -1.10794379e-02 -9.96469225e+00] [-2.31301151e-02 6.68503734e-03 9.99710112e-01 -3.78630185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49264000000001 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:89.47, Y:-9.98, Z:-3.79 [[ 9.80577368e-01 1.94897273e-01 2.19790433e-02 8.94725974e+01] [-1.94854466e-01 9.80823624e-01 -4.09349164e-03 -9.97526151e+00] [-2.23553753e-02 -2.68729487e-04 9.99750051e-01 -3.78796309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:-9.98, Z:-3.79 [[ 9.80663735e-01 1.94482552e-01 2.17985184e-02 8.94993565e+01] [-1.94440360e-01 9.80905944e-01 -4.05903707e-03 -9.98129492e+00] [-2.21717082e-02 -2.57961323e-04 9.99754144e-01 -3.78929270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55264000000001 meters Centerline goodness [0,1] 0.9999144439928989 Centerline is valid? [True, True] Translation: X:89.53, Y:-9.99, Z:-3.79 [[ 9.80830714e-01 1.93651192e-01 2.16869982e-02 8.95275638e+01] [-1.93609262e-01 9.81070415e-01 -4.03671589e-03 -9.98855194e+00] [-2.20581871e-02 -2.39468789e-04 9.99756660e-01 -3.79064098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:-10.00, Z:-3.79 [[ 9.81152630e-01 1.92128581e-01 2.06427734e-02 8.95550011e+01] [-1.92090274e-01 9.81369742e-01 -3.84144513e-03 -9.99649026e+00] [-2.09962446e-02 -1.96232009e-04 9.99779535e-01 -3.79218267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:-10.00, Z:-3.79 [[ 9.81360608e-01 1.91088320e-01 2.04110242e-02 8.95830091e+01] [-1.91050665e-01 9.81572832e-01 -3.79732329e-03 -1.00026683e+01] [-2.07605309e-02 -1.72996239e-04 9.99784462e-01 -3.79418158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.01, Z:-3.80 [[ 9.81560311e-01 1.90054329e-01 2.04623671e-02 8.96102535e+01] [-1.90016275e-01 9.81773563e-01 -3.80609670e-03 -1.00078387e+01] [-2.08127762e-02 -1.52269319e-04 9.99783379e-01 -3.79896658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:-10.02, Z:-3.80 [[ 9.81737843e-01 1.89085300e-01 2.09178553e-02 8.96380361e+01] [-1.89045347e-01 9.81960656e-01 -3.88923638e-03 -1.00160475e+01] [-2.12759083e-02 -1.36212678e-04 9.99773633e-01 -3.79679443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:89.67, Y:-10.03, Z:-3.80 [[ 9.82055471e-01 1.87451860e-01 2.07087351e-02 8.96666962e+01] [-1.87412369e-01 9.82273786e-01 -3.84889494e-03 -1.00255539e+01] [-2.10631302e-02 -1.01244779e-04 9.99778143e-01 -3.79616060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73264 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:89.70, Y:-10.03, Z:-3.80 [[ 9.82118944e-01 1.87198317e-01 1.99792525e-02 8.96953491e+01] [-1.87161517e-01 9.82322137e-01 -3.71285120e-03 -1.00322505e+01] [-2.03211015e-02 -9.28856911e-05 9.99793501e-01 -3.79722904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.72, Y:-10.04, Z:-3.80 [[ 9.82097463e-01 1.87300377e-01 2.00784007e-02 8.97232070e+01] [-1.87263243e-01 9.82302682e-01 -3.73075769e-03 -1.00372231e+01] [-2.04218392e-02 -9.59787610e-05 9.99791448e-01 -3.80026392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:-10.04, Z:-3.80 [[ 9.81992070e-01 1.87883510e-01 1.97828391e-02 8.97523574e+01] [-1.87847579e-01 9.82191313e-01 -3.67585173e-03 -1.00400124e+01] [-2.01211646e-02 -1.06501182e-04 9.99797543e-01 -3.80137103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-10.04, Z:-3.80 [[ 9.81892306e-01 1.88389091e-01 1.99260932e-02 8.97809327e+01] [-1.88352761e-01 9.82094464e-01 -3.70150907e-03 -1.00441434e+01] [-2.02666298e-02 -1.18651390e-04 9.99794604e-01 -3.80046920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:-10.05, Z:-3.80 [[ 9.81812654e-01 1.88746108e-01 2.04650788e-02 8.98085313e+01] [-1.88707881e-01 9.82025911e-01 -3.80078491e-03 -1.00482772e+01] [-2.08146210e-02 -1.30262924e-04 9.99783344e-01 -3.80196062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:-10.05, Z:-3.80 [[ 9.81701533e-01 1.89238147e-01 2.12372993e-02 8.98367729e+01] [-1.89197132e-01 9.81931210e-01 -3.94253093e-03 -1.00534963e+01] [-2.15996442e-02 -1.47647450e-04 9.99766690e-01 -3.80069096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.87, Y:-10.06, Z:-3.80 [[ 9.81575458e-01 1.89887915e-01 2.12650005e-02 8.98663449e+01] [-1.89846979e-01 9.81805761e-01 -3.94612330e-03 -1.00578087e+01] [-2.16274211e-02 -1.63678318e-04 9.99766087e-01 -3.80095863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264000000001 meters Centerline goodness [0,1] 0.9998500171408982 Centerline is valid? [True, True] Translation: X:89.89, Y:-10.06, Z:-3.81 [[ 9.81605014e-01 1.89810646e-01 2.05795053e-02 8.98944914e+01] [-1.89772294e-01 9.81820704e-01 -3.81867184e-03 -1.00621556e+01] [-2.09302089e-02 -1.56992505e-04 9.99780927e-01 -3.80520108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:-10.07, Z:-3.80 [[ 9.81693025e-01 1.89299458e-01 2.10836547e-02 8.99229024e+01] [-1.89259099e-01 9.81919392e-01 -3.91161783e-03 -1.00680348e+01] [-2.14429166e-02 -1.50265546e-04 9.99770063e-01 -3.80405574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264000000001 meters Centerline goodness [0,1] 0.9998708232862556 Centerline is valid? [True, True] Translation: X:89.95, Y:-10.07, Z:-3.81 [[ 9.81794564e-01 1.88852488e-01 2.03512188e-02 8.99519714e+01] [-1.88814819e-01 9.82005458e-01 -3.77427458e-03 -1.00738292e+01] [-2.06977891e-02 -1.37049438e-04 9.99785768e-01 -3.80557941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.98, Y:-10.08, Z:-3.81 [[ 9.82113322e-01 1.87205885e-01 2.01836571e-02 8.99801892e+01] [-1.87168491e-01 9.82320694e-01 -3.74294889e-03 -1.00806159e+01] [-2.05275261e-02 -1.01744656e-04 9.99789283e-01 -3.80925045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:-10.09, Z:-3.81 [[ 9.82298401e-01 1.86183301e-01 2.06308175e-02 9.00083484e+01] [-1.86144024e-01 9.82515024e-01 -3.82503711e-03 -1.00880193e+01] [-2.09822461e-02 -8.29755476e-05 9.99779845e-01 -3.81137768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-10.10, Z:-3.81 [[ 9.82597166e-01 1.84575288e-01 2.08511806e-02 9.00370082e+01] [-1.84534837e-01 9.82818376e-01 -3.86438614e-03 -1.00987670e+01] [-2.12061937e-02 -5.06343459e-05 9.99775122e-01 -3.80931560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:-10.10, Z:-3.81 [[ 9.82709668e-01 1.83980907e-01 2.08022499e-02 9.00655095e+01] [-1.83940507e-01 9.82929817e-01 -3.85556655e-03 -1.01046298e+01] [-2.11565023e-02 -3.74738679e-05 9.99776175e-01 -3.81260917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:-10.12, Z:-3.81 [[ 9.82510023e-01 1.83225349e-01 3.32043033e-02 9.00938461e+01] [-1.83787598e-01 9.82855610e-01 1.47298627e-02 -1.01236590e+01] [-2.99361515e-02 -2.05747768e-02 9.99340035e-01 -3.80993760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.13, Y:-10.11, Z:-3.81 [[ 9.82766432e-01 1.83997434e-01 1.77506049e-02 9.01269018e+01] [-1.83548301e-01 9.82710603e-01 -2.42876794e-02 -1.01064390e+01] [-2.19125784e-02 2.06110227e-02 9.99547410e-01 -3.81428739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:-10.13, Z:-3.81 [[ 9.82913664e-01 1.82797754e-01 2.15803078e-02 9.01544182e+01] [-1.82753950e-01 9.83150538e-01 -4.00160719e-03 -1.01263098e+01] [-2.19481760e-02 -1.06521037e-05 9.99759110e-01 -3.81305002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:-10.13, Z:-3.82 [[ 9.82928313e-01 1.82751710e-01 2.13012526e-02 9.01831536e+01] [-1.82709016e-01 9.83159098e-01 -3.95010403e-03 -1.01341892e+01] [-2.16644086e-02 -9.26181067e-06 9.99765299e-01 -3.81620356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:-10.14, Z:-3.82 [[ 9.82829410e-01 1.83322699e-01 2.09556447e-02 9.02128895e+01] [-1.83281520e-01 9.83052790e-01 -3.88551023e-03 -1.01393103e+01] [-2.13128072e-02 -2.19886745e-05 9.99772856e-01 -3.81781016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264000000001 meters Centerline goodness [0,1] 0.9999566301637212 Centerline is valid? [True, True] Translation: X:90.24, Y:-10.14, Z:-3.82 [[ 9.82650554e-01 1.84366627e-01 2.01701702e-02 9.02433049e+01] [-1.84328696e-01 9.82857541e-01 -3.73987076e-03 -1.01438158e+01] [-2.05139112e-02 -4.29551077e-05 9.99789567e-01 -3.81818902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33264000000001 meters Centerline goodness [0,1] 0.9999786183155509 Centerline is valid? [True, True] Translation: X:90.27, Y:-10.15, Z:-3.82 [[ 9.82082158e-01 1.87350591e-01 2.03565760e-02 9.02717678e+01] [-1.87312580e-01 9.82293105e-01 -3.77520374e-03 -1.01461643e+01] [-2.07034109e-02 -1.05482534e-04 9.99785656e-01 -3.82054605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-10.15, Z:-3.82 [[ 9.81807755e-01 1.88780174e-01 2.03857513e-02 9.03008590e+01] [-1.88742384e-01 9.82019362e-01 -3.77956219e-03 -1.01500409e+01] [-2.07327089e-02 -1.36851842e-04 9.99785045e-01 -3.82132493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39264 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:90.33, Y:-10.15, Z:-3.82 [[ 9.81558369e-01 1.90060124e-01 2.05016547e-02 9.03305324e+01] [-1.90022193e-01 9.81772439e-01 -3.80053877e-03 -1.01541140e+01] [-2.08502904e-02 -1.65318737e-04 9.99782595e-01 -3.82055329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.36, Y:-10.16, Z:-3.82 [[ 9.81277585e-01 1.91396038e-01 2.14908851e-02 9.03595550e+01] [-1.91354687e-01 9.81512871e-01 -3.98354940e-03 -1.01559893e+01] [-2.18560159e-02 -2.03413872e-04 9.99761108e-01 -3.82413711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45264 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:90.39, Y:-10.16, Z:-3.82 [[ 9.80831292e-01 1.93543267e-01 2.26048747e-02 9.03887383e+01] [-1.93498105e-01 9.81091705e-01 -4.18924439e-03 -1.01573808e+01] [-2.29882551e-02 -2.65058437e-04 9.99735700e-01 -3.82289681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48264 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:90.42, Y:-10.16, Z:-3.82 [[ 9.80729595e-01 1.94110389e-01 2.21499203e-02 9.04181290e+01] [-1.94067204e-01 9.80979654e-01 -4.10345590e-03 -1.01624528e+01] [-2.25251446e-02 -2.74192481e-04 9.99746239e-01 -3.82340973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.45, Y:-10.17, Z:-3.83 [[ 9.80646632e-01 1.94596568e-01 2.15490128e-02 9.04460483e+01] [-1.94555818e-01 9.80883326e-01 -3.99184955e-03 -1.01661387e+01] [-2.19138675e-02 -2.77892003e-04 9.99759824e-01 -3.82835305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.47, Y:-10.17, Z:-3.83 [[ 9.80609402e-01 1.94896094e-01 2.05113009e-02 9.04736670e+01] [-1.94859251e-01 9.80823857e-01 -3.79915323e-03 -1.01726603e+01] [-2.08584134e-02 -2.71331354e-04 9.99782403e-01 -3.83101598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:-10.18, Z:-3.83 [[ 9.80581707e-01 1.94948949e-01 2.13171984e-02 9.05010528e+01] [-1.94909185e-01 9.80813350e-01 -3.94750564e-03 -1.01763084e+01] [-2.16777548e-02 -2.84065951e-04 9.99764970e-01 -3.83105026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.53, Y:-10.18, Z:-3.83 [[ 9.80568807e-01 1.94929310e-01 2.20766602e-02 9.05285585e+01] [-1.94886691e-01 9.80817250e-01 -4.08666447e-03 -1.01798498e+01] [-2.24497798e-02 -2.95191544e-04 9.99747928e-01 -3.83143206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63264000000001 meters Centerline goodness [0,1] 0.9998921623603503 Centerline is valid? [True, True] Translation: X:90.56, Y:-10.19, Z:-3.83 [[ 9.80656018e-01 1.94576911e-01 2.12979107e-02 9.05578338e+01] [-1.94537204e-01 9.80887225e-01 -3.94057946e-03 -1.01863855e+01] [-2.16575943e-02 -2.78883039e-04 9.99765408e-01 -3.83100934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.59, Y:-10.19, Z:-3.83 [[ 9.80585129e-01 1.94859507e-01 2.19676183e-02 9.05856885e+01] [-1.94817343e-01 9.80831120e-01 -4.06412519e-03 -1.01912593e+01] [-2.23384571e-02 -2.94452296e-04 9.99750422e-01 -3.83184456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.61, Y:-10.20, Z:-3.83 [[ 9.80586569e-01 1.94843413e-01 2.20459613e-02 9.06142815e+01] [-1.94800957e-01 9.80834317e-01 -4.07799942e-03 -1.01962331e+01] [-2.24180067e-02 -2.95742900e-04 9.99748641e-01 -3.83349336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264000000001 meters Centerline goodness [0,1] 0.9998714570345137 Centerline is valid? [True, True] Translation: X:90.64, Y:-10.20, Z:-3.84 [[ 9.80673803e-01 1.94505954e-01 2.11264478e-02 9.06429476e+01] [-1.94466909e-01 9.80901298e-01 -3.90692155e-03 -1.02008344e+01] [-2.14828796e-02 -2.76979395e-04 9.99769178e-01 -3.83592202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75264000000001 meters Centerline goodness [0,1] 0.999850007499625 Centerline is valid? [True, True] Translation: X:90.67, Y:-10.21, Z:-3.84 [[ 9.80704969e-01 1.94352105e-01 2.10955681e-02 9.06714049e+01] [-1.94313161e-01 9.80931794e-01 -3.90015537e-03 -1.02053719e+01] [-2.14513169e-02 -2.74244780e-04 9.99769856e-01 -3.83820113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:-10.21, Z:-3.84 [[ 9.80628824e-01 1.94552004e-01 2.27294205e-02 9.06989326e+01] [-1.94506872e-01 9.80892159e-01 -4.20114663e-03 -1.02086360e+01] [-2.31124518e-02 -3.01263006e-04 9.99732826e-01 -3.83779050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.73, Y:-10.21, Z:-3.84 [[ 9.80694431e-01 1.94223226e-01 2.27106083e-02 9.07269041e+01] [-1.94178118e-01 9.80957314e-01 -4.19603880e-03 -1.02140837e+01] [-2.30931055e-02 -2.94871313e-04 9.99733275e-01 -3.83918691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters Centerline goodness [0,1] 0.9998492289135866 Centerline is valid? [True, True] Translation: X:90.75, Y:-10.22, Z:-3.84 [[ 9.80861789e-01 1.93462604e-01 2.19629819e-02 9.07545586e+01] [-1.93420245e-01 9.81107613e-01 -4.05710204e-03 -1.02196866e+01] [-2.23329463e-02 -2.68628993e-04 9.99750553e-01 -3.84199193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:-10.23, Z:-3.84 [[ 9.80967533e-01 1.92872107e-01 2.24287846e-02 9.07825303e+01] [-1.92827816e-01 9.81223869e-01 -4.14147378e-03 -1.02265322e+01] [-2.28064335e-02 -2.62242218e-04 9.99739865e-01 -3.84323537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.81, Y:-10.23, Z:-3.84 [[ 9.81128727e-01 1.92117322e-01 2.18484563e-02 9.08111801e+01] [-1.92075139e-01 9.81371936e-01 -4.03285048e-03 -1.02329270e+01] [-2.22162423e-02 -2.39799833e-04 9.99753160e-01 -3.84427588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.84, Y:-10.24, Z:-3.85 [[ 9.81265250e-01 1.91457292e-01 2.15084934e-02 9.08400564e+01] [-1.91416264e-01 9.81500920e-01 -3.96958405e-03 -1.02386922e+01] [-2.18706118e-02 -2.21860566e-04 9.99760785e-01 -3.84549481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264000000001 meters Centerline goodness [0,1] 0.9999786146575137 Centerline is valid? [True, True] Translation: X:90.87, Y:-10.24, Z:-3.85 [[ 9.81271042e-01 1.91354289e-01 2.21512534e-02 9.08692195e+01] [-1.91310760e-01 9.81521006e-01 -4.08760904e-03 -1.02406580e+01] [-2.25241020e-02 -2.26720741e-04 9.99746275e-01 -3.84891159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99264000000001 meters Centerline goodness [0,1] 0.9998930069331508 Centerline is valid? [True, True] Translation: X:90.90, Y:-10.25, Z:-3.85 [[ 9.81255484e-01 1.91422083e-01 2.22544717e-02 9.08977364e+01] [-1.91378168e-01 9.81507786e-01 -4.10652501e-03 -1.02457119e+01] [-2.26290168e-02 -2.29469825e-04 9.99743905e-01 -3.84799415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.93, Y:-10.25, Z:-3.85 [[ 9.81111062e-01 1.92099824e-01 2.27758976e-02 9.09255670e+01] [-1.92054031e-01 9.81375359e-01 -4.20176849e-03 -1.02485931e+01] [-2.31588637e-02 -2.51801402e-04 9.99731766e-01 -3.84993209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.95, Y:-10.26, Z:-3.85 [[ 9.81024349e-01 1.92513905e-01 2.30135464e-02 9.09549547e+01] [-1.92467315e-01 9.81294209e-01 -4.24350970e-03 -1.02551772e+01] [-2.33999945e-02 -2.66369142e-04 9.99726147e-01 -3.84813680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264000000001 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:90.98, Y:-10.26, Z:-3.85 [[ 9.80951381e-01 1.92916545e-01 2.27507132e-02 9.09832729e+01] [-1.92871129e-01 9.81215130e-01 -4.19469488e-03 -1.02602122e+01] [-2.31325700e-02 -2.73164006e-04 9.99732369e-01 -3.85170317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11264000000001 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:91.01, Y:-10.27, Z:-3.85 [[ 9.81069127e-01 1.92350871e-01 2.24613124e-02 9.10120940e+01] [-1.92306479e-01 9.81326182e-01 -4.14027824e-03 -1.02664829e+01] [-2.28382600e-02 -2.57556743e-04 9.99739140e-01 -3.85180572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:-10.27, Z:-3.85 [[ 9.81141140e-01 1.91931934e-01 2.28953393e-02 9.10413711e+01] [-1.91885710e-01 9.81408207e-01 -4.21968818e-03 -1.02718007e+01] [-2.32795668e-02 -2.53178754e-04 9.99728962e-01 -3.85173062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.07, Y:-10.28, Z:-3.85 [[ 9.81441806e-01 1.90305984e-01 2.35714460e-02 9.10698575e+01] [-1.90256530e-01 9.81724800e-01 -4.34387569e-03 -1.02766450e+01] [-2.39673387e-02 -2.21360332e-04 9.99712718e-01 -3.85387880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.10, Y:-10.28, Z:-3.86 [[ 9.81616043e-01 1.89386904e-01 2.37180310e-02 9.10981488e+01] [-1.89336588e-01 9.81902521e-01 -4.36994520e-03 -1.02818784e+01] [-2.41164048e-02 -2.01082727e-04 9.99709137e-01 -3.85793931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.13, Y:-10.29, Z:-3.85 [[ 9.81801021e-01 1.88401424e-01 2.39093685e-02 9.11266796e+01] [-1.88350026e-01 9.82092089e-01 -4.40411014e-03 -1.02917043e+01] [-2.43109423e-02 -1.79370361e-04 9.99704429e-01 -3.85446207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:-10.30, Z:-3.86 [[ 9.81885129e-01 1.87920713e-01 2.42363385e-02 9.11554343e+01] [-1.87867769e-01 9.82184187e-01 -4.46371013e-03 -1.02991297e+01] [-2.46433721e-02 -1.70376251e-04 9.99696291e-01 -3.85530114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:-10.30, Z:-3.86 [[ 9.81889729e-01 1.87896658e-01 2.42364475e-02 9.11841058e+01] [-1.87843721e-01 9.82188789e-01 -4.46311868e-03 -1.03043637e+01] [-2.46433721e-02 -1.70374090e-04 9.99696291e-01 -3.85649697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32264 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:91.21, Y:-10.31, Z:-3.86 [[ 9.81828178e-01 1.88305310e-01 2.35486432e-02 9.12126026e+01] [-1.88255472e-01 9.82110523e-01 -4.33567951e-03 -1.03100756e+01] [-2.39438018e-02 -1.76268644e-04 9.99713291e-01 -3.85910405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:-10.31, Z:-3.86 [[ 9.81555717e-01 1.89718884e-01 2.35609785e-02 9.12426697e+01] [-1.89669402e-01 9.81838429e-01 -4.33785965e-03 -1.03125347e+01] [-2.39560480e-02 -2.10945769e-04 9.99712990e-01 -3.86007121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.27, Y:-10.31, Z:-3.86 [[ 9.81362982e-01 1.90724715e-01 2.34687192e-02 9.12719620e+01] [-1.90675922e-01 9.81643534e-01 -4.32029371e-03 -1.03146671e+01] [-2.38619033e-02 -2.35143346e-04 9.99715237e-01 -3.86128969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-10.32, Z:-3.86 [[ 9.81001187e-01 1.92578774e-01 2.34539348e-02 9.13007888e+01] [-1.92530577e-01 9.81281477e-01 -4.31740435e-03 -1.03155828e+01] [-2.38463522e-02 -2.80220803e-04 9.99715596e-01 -3.86363913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-10.32, Z:-3.87 [[ 9.80975929e-01 1.92731747e-01 2.32529651e-02 9.13291284e+01] [-1.92684442e-01 9.81251443e-01 -4.27927203e-03 -1.03206172e+01] [-2.36417572e-02 -2.82621755e-04 9.99720455e-01 -3.86572564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47264000000001 meters Centerline goodness [0,1] 0.9998924407348448 Centerline is valid? [True, True] Translation: X:91.36, Y:-10.33, Z:-3.87 [[ 9.81069324e-01 1.92327156e-01 2.26549386e-02 9.13580805e+01] [-1.92282179e-01 9.81330828e-01 -4.16772545e-03 -1.03280085e+01] [-2.30335564e-02 -2.67313361e-04 9.99734657e-01 -3.86636771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-10.33, Z:-3.87 [[ 9.81073960e-01 1.92264143e-01 2.29866236e-02 9.13857555e+01] [-1.92217831e-01 9.81343175e-01 -4.22835806e-03 -1.03342440e+01] [-2.33707278e-02 -2.70106936e-04 9.99726831e-01 -3.86695097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53264 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:91.41, Y:-10.34, Z:-3.87 [[ 9.81194322e-01 1.91736470e-01 2.22447608e-02 9.14148878e+01] [-1.91692987e-01 9.81446414e-01 -4.09086025e-03 -1.03405448e+01] [-2.26164079e-02 -2.50235806e-04 9.99744185e-01 -3.86982642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-10.35, Z:-3.87 [[ 9.81336077e-01 1.91021122e-01 2.21457720e-02 9.14431500e+01] [-1.90977851e-01 9.81585899e-01 -4.07232814e-03 -1.03472906e+01] [-2.25158782e-02 -2.33029410e-04 9.99746458e-01 -3.87068397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59264 meters Centerline goodness [0,1] 0.9998916951869341 Centerline is valid? [True, True] Translation: X:91.47, Y:-10.35, Z:-3.87 [[ 9.81441960e-01 1.90457281e-01 2.23092852e-02 9.14720178e+01] [-1.90413247e-01 9.81695459e-01 -4.10130730e-03 -1.03528659e+01] [-2.26820478e-02 -2.22788360e-04 9.99742704e-01 -3.87187888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-10.36, Z:-3.87 [[ 9.81325219e-01 1.90957169e-01 2.31554158e-02 9.15002846e+01] [-1.90909880e-01 9.81598340e-01 -4.25644848e-03 -1.03573379e+01] [-2.35421171e-02 -2.43637417e-04 9.99722816e-01 -3.87176849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-10.36, Z:-3.87 [[ 9.81285124e-01 1.91134933e-01 2.33868051e-02 9.15284118e+01] [-1.91086766e-01 9.81563739e-01 -4.29808122e-03 -1.03615127e+01] [-2.37771534e-02 -2.51265795e-04 9.99717252e-01 -3.87336583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68264 meters Centerline goodness [0,1] 0.9999143945554937 Centerline is valid? [True, True] Translation: X:91.56, Y:-10.37, Z:-3.87 [[ 9.81234712e-01 1.91339753e-01 2.38230678e-02 9.15564816e+01] [-1.91289850e-01 9.81523831e-01 -4.37754077e-03 -1.03666680e+01] [-2.42205063e-02 -2.61716097e-04 9.99706606e-01 -3.87401321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.58, Y:-10.37, Z:-3.88 [[ 9.81138119e-01 1.91804130e-01 2.40658970e-02 9.15842500e+01] [-1.91753366e-01 9.81433186e-01 -4.42123875e-03 -1.03707982e+01] [-2.44670818e-02 -2.76870884e-04 9.99700598e-01 -3.87504109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-10.38, Z:-3.88 [[ 9.81113192e-01 1.92000192e-01 2.35123426e-02 9.16131315e+01] [-1.91951846e-01 9.81394849e-01 -4.31736635e-03 -1.03775834e+01] [-2.39038271e-02 -2.77412478e-04 9.99714224e-01 -3.87500952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-10.38, Z:-3.88 [[ 9.81013513e-01 1.92550492e-01 2.31688334e-02 9.16419222e+01] [-1.92503715e-01 9.81287025e-01 -4.25372472e-03 -1.03826971e+01] [-2.35543324e-02 -2.87125061e-04 9.99722517e-01 -3.87635444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.67, Y:-10.38, Z:-3.88 [[ 9.80218948e-01 1.96860323e-01 2.04163525e-02 9.16696689e+01] [-1.96497469e-01 9.80329950e-01 -1.84914334e-02 -1.03771640e+01] [-2.36549914e-02 1.41138918e-02 9.99620548e-01 -3.87702905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.70, Y:-10.40, Z:-3.88 [[ 9.80677746e-01 1.93995660e-01 2.52357488e-02 9.16984032e+01] [-1.94296222e-01 9.80891559e-01 1.00363584e-02 -1.03976508e+01] [-2.28065230e-02 -1.47456440e-02 9.99631146e-01 -3.87916446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264000000001 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:91.73, Y:-10.39, Z:-3.88 [[ 9.80502376e-01 1.95280423e-01 2.19236577e-02 9.17278891e+01] [-1.95239248e-01 9.80747391e-01 -4.02390051e-03 -1.03918763e+01] [-2.22873591e-02 -3.34914443e-04 9.99751550e-01 -3.88222160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89264 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:91.76, Y:-10.40, Z:-3.88 [[ 9.80465881e-01 1.95512707e-01 2.14810829e-02 9.17563454e+01] [-1.95473274e-01 9.80701111e-01 -3.94083962e-03 -1.03968389e+01] [-2.18370061e-02 -3.35118818e-04 9.99761488e-01 -3.88412440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.78, Y:-10.40, Z:-3.89 [[ 9.80396219e-01 1.95817623e-01 2.18794819e-02 9.17839951e+01] [-1.95776807e-01 9.80640269e-01 -4.01309425e-03 -1.04001828e+01] [-2.22417356e-02 -3.49072692e-04 9.99752561e-01 -3.88587837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.81, Y:-10.41, Z:-3.88 [[ 9.80324419e-01 1.96103553e-01 2.25262165e-02 9.18125664e+01] [-1.96060407e-01 9.80583123e-01 -4.12983017e-03 -1.04058314e+01] [-2.28987021e-02 -3.67925817e-04 9.99737723e-01 -3.88461209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98264 meters Centerline goodness [0,1] 0.9998720218416057 Centerline is valid? [True, True] Translation: X:91.84, Y:-10.41, Z:-3.89 [[ 9.80266007e-01 1.96344594e-01 2.29642366e-02 9.18405399e+01] [-1.96299843e-01 9.80534882e-01 -4.20913960e-03 -1.04070715e+01] [-2.33436769e-02 -3.81799577e-04 9.99727426e-01 -3.88666760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01264 meters Centerline goodness [0,1] 0.999956766104626 Centerline is valid? [True, True] Translation: X:91.87, Y:-10.41, Z:-3.89 [[ 9.80177906e-01 1.96738247e-01 2.33523940e-02 9.18693455e+01] [-1.96692124e-01 9.80455967e-01 -4.27852941e-03 -1.04102498e+01] [-2.37377444e-02 -3.99511976e-04 9.99718140e-01 -3.88683485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.90, Y:-10.41, Z:-3.89 [[ 9.80163798e-01 1.96857696e-01 2.29341887e-02 9.18979543e+01] [-1.96813269e-01 9.80431992e-01 -4.20083153e-03 -1.04137323e+01] [-2.33123784e-02 -3.96249664e-04 9.99728151e-01 -3.88863893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.93, Y:-10.42, Z:-3.89 [[ 9.80178221e-01 1.96888578e-01 2.20350340e-02 9.19269101e+01] [-1.96847596e-01 9.80425796e-01 -4.03512737e-03 -1.04172615e+01] [-2.23981862e-02 -3.82399494e-04 9.99749056e-01 -3.89154979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264000000001 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:91.96, Y:-10.42, Z:-3.89 [[ 9.80161227e-01 1.96958801e-01 2.21630109e-02 9.19557081e+01] [-1.96917384e-01 9.80411689e-01 -4.05750178e-03 -1.04210532e+01] [-2.25280357e-02 -3.87276195e-04 9.99746137e-01 -3.89126386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.98, Y:-10.42, Z:-3.89 [[ 9.80162324e-01 1.96920512e-01 2.24528423e-02 9.19840839e+01] [-1.96878020e-01 9.80419379e-01 -4.10941141e-03 -1.04247956e+01] [-2.28224291e-02 -3.92580907e-04 9.99739457e-01 -3.89089847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264000000001 meters Centerline goodness [0,1] 0.9999784394471875 Centerline is valid? [True, True] Translation: X:92.01, Y:-10.43, Z:-3.89 [[ 9.80164849e-01 1.96917269e-01 2.23709192e-02 9.20126589e+01] [-1.96875107e-01 9.80420030e-01 -4.09350978e-03 -1.04250765e+01] [-2.27389800e-02 -3.91962716e-04 9.99741359e-01 -3.89483004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19264000000001 meters Centerline goodness [0,1] 0.9999783591940964 Centerline is valid? [True, True] Translation: X:92.04, Y:-10.43, Z:-3.89 [[ 9.80253798e-01 1.96471819e-01 2.23900984e-02 9.20414203e+01] [-1.96429506e-01 9.80509397e-01 -4.09536643e-03 -1.04310421e+01] [-2.27583259e-02 -3.83577464e-04 9.99740922e-01 -3.89390214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.07, Y:-10.43, Z:-3.89 [[ 9.80564905e-01 1.94791797e-01 2.34226907e-02 9.20694633e+01] [-1.94745037e-01 9.80844547e-01 -4.28317313e-03 -1.04331154e+01] [-2.38083454e-02 -3.61523504e-04 9.99716476e-01 -3.89475733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25264000000001 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:92.10, Y:-10.44, Z:-3.90 [[ 9.80889952e-01 1.93148399e-01 2.34221825e-02 9.20981097e+01] [-1.93101212e-01 9.81169502e-01 -4.28139512e-03 -1.04385402e+01] [-2.38080758e-02 -3.23274378e-04 9.99716495e-01 -3.89593595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:92.12, Y:-10.45, Z:-3.90 [[ 9.81352138e-01 1.90840746e-01 2.29737198e-02 9.21247614e+01] [-1.90794737e-01 9.81620976e-01 -4.19855525e-03 -1.04450312e+01] [-2.33527407e-02 -2.63003664e-04 9.99727253e-01 -3.89801909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.15, Y:-10.46, Z:-3.90 [[ 9.82525352e-01 1.84706645e-01 2.29649230e-02 9.21523624e+01] [-1.84659024e-01 9.82793692e-01 -4.19564891e-03 -1.04572446e+01] [-2.33447457e-02 -1.18348852e-04 9.99727467e-01 -3.89857646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters Centerline goodness [0,1] 0.9996090950550525 Centerline is valid? [True, True] Translation: X:92.18, Y:-10.47, Z:-3.90 [[ 9.83216577e-01 1.81028617e-01 2.26672012e-02 9.21811087e+01] [-1.80981295e-01 9.83477828e-01 -4.13912534e-03 -1.04670864e+01] [-2.30419899e-02 -3.26827697e-05 9.99734498e-01 -3.89962355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.21, Y:-10.48, Z:-3.90 [[ 9.83799412e-01 1.77719187e-01 2.35501237e-02 9.22086840e+01] [-1.77667167e-01 9.84081241e-01 -4.29991946e-03 -1.04772890e+01] [-2.39394131e-02 4.61744860e-05 9.99713410e-01 -3.90034331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.24, Y:-10.49, Z:-3.90 [[ 9.84366404e-01 1.74504896e-01 2.38919049e-02 9.22376121e+01] [-1.74450445e-01 9.84656298e-01 -4.36076588e-03 -1.04879354e+01] [-2.42862896e-02 1.24637983e-04 9.99705037e-01 -3.90073518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43264 meters Centerline goodness [0,1] 0.9998929542486459 Centerline is valid? [True, True] Translation: X:92.27, Y:-10.50, Z:-3.90 [[ 9.85191918e-01 1.69784893e-01 2.38741255e-02 9.22681549e+01] [-1.69729208e-01 9.85481118e-01 -4.35459415e-03 -1.05006876e+01] [-2.42668442e-02 2.37974538e-04 9.99705488e-01 -3.90033152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.30, Y:-10.51, Z:-3.90 [[ 9.85425073e-01 1.68396166e-01 2.40864303e-02 9.22991383e+01] [-1.68338964e-01 9.85719358e-01 -4.39770061e-03 -1.05092623e+01] [-2.44830166e-02 2.78919713e-04 9.99700207e-01 -3.90064223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:-10.52, Z:-3.90 [[ 9.85618982e-01 1.67240382e-01 2.42048794e-02 9.23289894e+01] [-1.67182155e-01 9.85916100e-01 -4.42386764e-03 -1.05193746e+01] [-2.46038296e-02 3.13624008e-04 9.99697231e-01 -3.90380190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.36, Y:-10.53, Z:-3.91 [[ 9.85735448e-01 1.66577498e-01 2.40325557e-02 9.23601680e+01] [-1.66519808e-01 9.86028310e-01 -4.39616859e-03 -1.05281348e+01] [-2.44290831e-02 3.31562652e-04 9.99701510e-01 -3.90554250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.39, Y:-10.54, Z:-3.90 [[ 9.85899240e-01 1.65596137e-01 2.40958004e-02 9.23915538e+01] [-1.65537752e-01 9.86193586e-01 -4.41173537e-03 -1.05361346e+01] [-2.44936901e-02 3.60761916e-04 9.99699919e-01 -3.90490076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.42, Y:-10.54, Z:-3.90 [[ 9.85899586e-01 1.65522776e-01 2.45808113e-02 9.24236404e+01] [-1.65461894e-01 9.86205897e-01 -4.50451660e-03 -1.05430566e+01] [-2.49873411e-02 3.73813455e-04 9.99687698e-01 -3.90481483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61264000000001 meters Centerline goodness [0,1] 0.9999785853480951 Centerline is valid? [True, True] Translation: X:92.45, Y:-10.55, Z:-3.91 [[ 9.85845353e-01 1.65920381e-01 2.40700490e-02 9.24541985e+01] [-1.65862000e-01 9.86139086e-01 -4.41590527e-03 -1.05540023e+01] [-2.44691048e-02 3.61093224e-04 9.99700521e-01 -3.90790935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:92.49, Y:-10.56, Z:-3.91 [[ 9.85776206e-01 1.66512389e-01 2.27792899e-02 9.24852280e+01] [-1.66460162e-01 9.86039307e-01 -4.18334646e-03 -1.05613705e+01] [-2.31578543e-02 3.31999107e-04 9.99731766e-01 -3.91097751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.52, Y:-10.57, Z:-3.91 [[ 9.85628005e-01 1.67443051e-01 2.23664882e-02 9.25159592e+01] [-1.67392858e-01 9.85881702e-01 -4.11112393e-03 -1.05695164e+01] [-2.27390906e-02 3.08048498e-04 9.99741386e-01 -3.91486830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters Centerline goodness [0,1] 0.9999784473468684 Centerline is valid? [True, True] Translation: X:92.55, Y:-10.57, Z:-3.91 [[ 9.85431621e-01 1.68595602e-01 2.23616435e-02 9.25484304e+01] [-1.68545582e-01 9.85685264e-01 -4.11663117e-03 -1.05740409e+01] [-2.27355884e-02 2.87702321e-04 9.99741472e-01 -3.91387983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73264 meters Centerline goodness [0,1] 0.9998922042083477 Centerline is valid? [True, True] Translation: X:92.58, Y:-10.58, Z:-3.92 [[ 9.85184021e-01 1.70064280e-01 2.21491631e-02 9.25789035e+01] [-1.70015587e-01 9.85432939e-01 -4.07707723e-03 -1.05808208e+01] [-2.25198801e-02 2.50968386e-04 9.99746364e-01 -3.91669837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.61, Y:-10.59, Z:-3.92 [[ 9.84507769e-01 1.73945696e-01 2.20759289e-02 9.26104780e+01] [-1.73898224e-01 9.84755232e-01 -4.06695756e-03 -1.05861625e+01] [-2.24468163e-02 1.64986480e-04 9.99748025e-01 -3.91649407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.64, Y:-10.59, Z:-3.92 [[ 9.84085040e-01 1.76279917e-01 2.24059040e-02 9.26418836e+01] [-1.76231526e-01 9.84340072e-01 -4.13184937e-03 -1.05912622e+01] [-2.27833913e-02 1.17464494e-04 9.99740418e-01 -3.91777455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.67, Y:-10.60, Z:-3.92 [[ 9.83695947e-01 1.78443370e-01 2.23662036e-02 9.26725407e+01] [-1.78395614e-01 9.83950181e-01 -4.12870199e-03 -1.05969431e+01] [-2.27439696e-02 7.13548006e-05 9.99741320e-01 -3.92092775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:-10.60, Z:-3.92 [[ 9.82810125e-01 1.83159693e-01 2.31686370e-02 9.27029206e+01] [-1.83109599e-01 9.83083173e-01 -4.28359157e-03 -1.05995932e+01] [-2.35612785e-02 -3.24426506e-05 9.99722394e-01 -3.91846575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264000000001 meters Centerline goodness [0,1] 0.9998062682968831 Centerline is valid? [True, True] Translation: X:92.73, Y:-10.60, Z:-3.92 [[ 9.82343374e-01 1.85570559e-01 2.37710731e-02 9.27319800e+01] [-1.85518533e-01 9.82630937e-01 -4.39489160e-03 -1.06024481e+01] [-2.41737543e-02 -9.26819521e-05 9.99707768e-01 -3.92125784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91264000000001 meters Centerline goodness [0,1] 0.9999352079823766 Centerline is valid? [True, True] Translation: X:92.76, Y:-10.61, Z:-3.92 [[ 9.81910918e-01 1.87785516e-01 2.42394242e-02 9.27626960e+01] [-1.87732080e-01 9.82210048e-01 -4.48203463e-03 -1.06063041e+01] [-2.46498672e-02 -1.49558797e-04 9.99696135e-01 -3.92024601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-10.61, Z:-3.92 [[ 9.81224413e-01 1.91397353e-01 2.37845508e-02 9.27926062e+01] [-1.91346959e-01 9.81512607e-01 -4.39813453e-03 -1.06086165e+01] [-2.41866278e-02 -2.35544503e-04 9.99707433e-01 -3.92264188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97264000000001 meters Centerline goodness [0,1] 0.9998489165155832 Centerline is valid? [True, True] Translation: X:92.82, Y:-10.61, Z:-3.93 [[ 9.81003946e-01 1.92557901e-01 2.35098423e-02 9.28214424e+01] [-1.92509000e-01 9.81285578e-01 -4.34724746e-03 -1.06132549e+01] [-2.39069660e-02 -2.61189304e-04 9.99714154e-01 -3.92501559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:-10.62, Z:-3.92 [[ 9.80771783e-01 1.93608722e-01 2.45432657e-02 9.28506194e+01] [-1.93555772e-01 9.81078780e-01 -4.53769282e-03 -1.06180922e+01] [-2.49574141e-02 -3.00049650e-04 9.99688470e-01 -3.92279157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:-10.62, Z:-3.92 [[ 9.80573127e-01 1.94577343e-01 2.48193689e-02 9.28808217e+01] [-1.94523530e-01 9.80887124e-01 -4.58771238e-03 -1.06231186e+01] [-2.52376643e-02 -3.29363783e-04 9.99681425e-01 -3.92366474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:-10.63, Z:-3.92 [[ 9.80226561e-01 1.96351202e-01 2.45376100e-02 9.29104529e+01] [-1.96299150e-01 9.80533563e-01 -4.53602629e-03 -1.06264170e+01] [-2.49506044e-02 -3.70378542e-04 9.99688617e-01 -3.92444293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.94, Y:-10.63, Z:-3.93 [[ 9.79972539e-01 1.97537763e-01 2.51526336e-02 9.29396418e+01] [-1.97483471e-01 9.80295192e-01 -4.64924823e-03 -1.06281807e+01] [-2.55754079e-02 -4.11093792e-04 9.99672811e-01 -3.92601184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12264 meters Centerline goodness [0,1] 0.9999572183362211 Centerline is valid? [True, True] Translation: X:92.97, Y:-10.63, Z:-3.93 [[ 9.79749868e-01 1.98601128e-01 2.54516987e-02 9.29688118e+01] [-1.98545926e-01 9.80080300e-01 -4.70336587e-03 -1.06323514e+01] [-2.58788023e-02 -4.45208999e-04 9.99664989e-01 -3.92575518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15264 meters Centerline goodness [0,1] 0.9997441637352095 Centerline is valid? [True, True] Translation: X:93.00, Y:-10.63, Z:-3.93 [[ 9.79488569e-01 2.00061878e-01 2.40288966e-02 9.29978134e+01] [-2.00013125e-01 9.79783158e-01 -4.44003251e-03 -1.06335575e+01] [-2.44313894e-02 -4.57133611e-04 9.99701405e-01 -3.93032418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18264 meters Centerline goodness [0,1] 0.9997441637352095 Centerline is valid? [True, True] Translation: X:93.03, Y:-10.64, Z:-3.93 [[ 9.79498007e-01 2.00015653e-01 2.40289908e-02 9.30256737e+01] [-1.99966898e-01 9.79792595e-01 -4.43952255e-03 -1.06386135e+01] [-2.44314013e-02 -4.56499272e-04 9.99701405e-01 -3.93148455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21264000000001 meters Centerline goodness [0,1] 0.9999785812200137 Centerline is valid? [True, True] Translation: X:93.05, Y:-10.64, Z:-3.93 [[ 9.79455277e-01 2.00259487e-01 2.37381339e-02 9.30543806e+01] [-2.00212004e-01 9.79742787e-01 -4.38464966e-03 -1.06412443e+01] [-2.41353331e-02 -4.58091114e-04 9.99708595e-01 -3.93284265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264000000001 meters Centerline goodness [0,1] 0.9999351140910565 Centerline is valid? [True, True] Translation: X:93.08, Y:-10.64, Z:-3.94 [[ 9.79514658e-01 2.00064590e-01 2.29171356e-02 9.30827331e+01] [-2.00020307e-01 9.79782612e-01 -4.23195295e-03 -1.06447869e+01] [-2.33004749e-02 -4.38632559e-04 9.99728411e-01 -3.93559512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27264000000001 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:93.11, Y:-10.65, Z:-3.94 [[ 9.79624820e-01 1.99434194e-01 2.36899616e-02 9.31113090e+01] [-1.99386719e-01 9.79911123e-01 -4.37344004e-03 -1.06490659e+01] [-2.40862704e-02 -4.39133306e-04 9.99709787e-01 -3.93650810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264000000001 meters Centerline goodness [0,1] 0.9999785554983702 Centerline is valid? [True, True] Translation: X:93.14, Y:-10.66, Z:-3.94 [[ 9.80160815e-01 1.96677755e-01 2.45486699e-02 9.31406133e+01] [-1.96625956e-01 9.80468108e-01 -4.53013876e-03 -1.06575427e+01] [-2.49601654e-02 -3.86641183e-04 9.99688372e-01 -3.93511423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:-10.66, Z:-3.94 [[ 9.80603633e-01 1.94466090e-01 2.44837725e-02 9.31701039e+01] [-1.94413873e-01 9.80909186e-01 -4.51822998e-03 -1.06639466e+01] [-2.48949999e-02 -3.29392318e-04 9.99690017e-01 -3.93669631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.20, Y:-10.67, Z:-3.94 [[ 9.81664713e-01 1.89052351e-01 2.43639034e-02 9.31982456e+01] [-1.88999007e-01 9.81966991e-01 -4.49484689e-03 -1.06722067e+01] [-2.47743103e-02 -1.92320966e-04 9.99693051e-01 -3.93908359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:-10.68, Z:-3.94 [[ 9.82304830e-01 1.85768517e-01 2.38176178e-02 9.32276353e+01] [-1.85716587e-01 9.82593531e-01 -4.39352669e-03 -1.06807413e+01] [-2.42192161e-02 -1.07544181e-04 9.99706666e-01 -3.94209674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters Centerline goodness [0,1] 0.9999568453986406 Centerline is valid? [True, True] Translation: X:93.26, Y:-10.69, Z:-3.94 [[ 9.82950453e-01 1.82369016e-01 2.34510035e-02 9.32566413e+01] [-1.82317702e-01 9.83230157e-01 -4.32599605e-03 -1.06907674e+01] [-2.38466615e-02 -2.32932941e-05 9.99715628e-01 -3.94479290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.29, Y:-10.70, Z:-3.94 [[ 9.83492078e-01 1.79323621e-01 2.42151246e-02 9.32870069e+01] [-1.79267994e-01 9.83790138e-01 -4.46654748e-03 -1.07009270e+01] [-2.46235582e-02 5.18172522e-05 9.99696793e-01 -3.94487080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48264 meters Centerline goodness [0,1] 0.9998485569642162 Centerline is valid? [True, True] Translation: X:93.32, Y:-10.71, Z:-3.95 [[ 9.84475130e-01 1.73795874e-01 2.45705710e-02 9.33175394e+01] [-1.73736922e-01 9.84781680e-01 -4.53036751e-03 -1.07132287e+01] [-2.49840074e-02 1.91218764e-04 9.99687833e-01 -3.94612258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.35, Y:-10.72, Z:-3.94 [[ 9.84771133e-01 1.72009593e-01 2.52688812e-02 9.33498439e+01] [-1.71946545e-01 9.85095243e-01 -4.66338855e-03 -1.07200620e+01] [-2.56944022e-02 2.47473614e-04 9.99669814e-01 -3.94478216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54264 meters Centerline goodness [0,1] 0.9999355932931149 Centerline is valid? [True, True] Translation: X:93.38, Y:-10.73, Z:-3.95 [[ 9.85046987e-01 1.70338367e-01 2.58316662e-02 9.33800161e+01] [-1.70271745e-01 9.85385584e-01 -4.77327701e-03 -1.07289252e+01] [-2.62672237e-02 3.03499241e-04 9.99654911e-01 -3.94765786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.41, Y:-10.74, Z:-3.94 [[ 9.85485138e-01 1.67626956e-01 2.68373870e-02 9.34117310e+01] [-1.67553917e-01 9.85850418e-01 -4.96358889e-03 -1.07370818e+01] [-2.72896805e-02 3.94833767e-04 9.99627489e-01 -3.94492264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264000000001 meters Centerline goodness [0,1] 0.9998706143661182 Centerline is valid? [True, True] Translation: X:93.44, Y:-10.75, Z:-3.95 [[ 9.85733175e-01 1.66303925e-01 2.59444160e-02 9.34417566e+01] [-1.66235086e-01 9.86074453e-01 -4.80304922e-03 -1.07465906e+01] [-2.63818918e-02 4.21652715e-04 9.99651848e-01 -3.95034643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63264000000001 meters Centerline goodness [0,1] 0.9999134199134199 Centerline is valid? [True, True] Translation: X:93.47, Y:-10.75, Z:-3.95 [[ 9.85913770e-01 1.65334258e-01 2.52709467e-02 9.34728387e+01] [-1.65268501e-01 9.86237491e-01 -4.68336157e-03 -1.07522712e+01] [-2.56974751e-02 4.40899190e-04 9.99669668e-01 -3.95212168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.50, Y:-10.76, Z:-3.95 [[ 9.86120261e-01 1.64077911e-01 2.54021829e-02 9.35035719e+01] [-1.64011012e-01 9.86447267e-01 -4.70923113e-03 -1.07602905e+01] [-2.58305947e-02 4.77630506e-04 9.99666220e-01 -3.95218866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69264000000001 meters Centerline goodness [0,1] 0.9999567305612046 Centerline is valid? [True, True] Translation: X:93.53, Y:-10.77, Z:-3.95 [[ 9.86111755e-01 1.64027562e-01 2.60493000e-02 9.35334839e+01] [-1.63957075e-01 9.86455632e-01 -4.83366345e-03 -1.07673123e+01] [-2.64893327e-02 4.95565311e-04 9.99648973e-01 -3.95341739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.56, Y:-10.77, Z:-3.95 [[ 9.86033652e-01 1.64434303e-01 2.64385384e-02 9.35646346e+01] [-1.64361724e-01 9.86387912e-01 -4.91016350e-03 -1.07733927e+01] [-2.68860540e-02 4.96102688e-04 9.99638382e-01 -3.95368983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75264000000001 meters Centerline goodness [0,1] 0.9998708538711553 Centerline is valid? [True, True] Translation: X:93.60, Y:-10.78, Z:-3.95 [[ 9.85840071e-01 1.65395846e-01 2.76327242e-02 9.35958839e+01] [-1.65316794e-01 9.86227138e-01 -5.13710099e-03 -1.07795079e+01] [-2.81017977e-02 4.96206619e-04 9.99604943e-01 -3.95471403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters Centerline goodness [0,1] 0.9998492354081413 Centerline is valid? [True, True] Translation: X:93.63, Y:-10.79, Z:-3.96 [[ 9.85644862e-01 1.66596459e-01 2.73829370e-02 9.36258864e+01] [-1.66519155e-01 9.86025053e-01 -5.09560944e-03 -1.07869624e+01] [-2.78491724e-02 4.62677732e-04 9.99612030e-01 -3.95784047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81264 meters Centerline goodness [0,1] 0.9996099674972915 Centerline is valid? [True, True] Translation: X:93.66, Y:-10.79, Z:-3.96 [[ 9.85482702e-01 1.67689297e-01 2.65357034e-02 9.36581931e+01] [-1.67617002e-01 9.85839805e-01 -4.94155779e-03 -1.07917059e+01] [-2.69885991e-02 4.21984664e-04 9.99635652e-01 -3.96007741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-10.80, Z:-3.96 [[ 9.85288707e-01 1.69031278e-01 2.51911014e-02 9.36894485e+01] [-1.68966440e-01 9.85610618e-01 -4.69599792e-03 -1.07972163e+01] [-2.56223875e-02 3.70462985e-04 9.99671624e-01 -3.96206234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.72, Y:-10.80, Z:-3.96 [[ 9.84940842e-01 1.71087893e-01 2.49092426e-02 9.37214270e+01] [-1.71025034e-01 9.85255719e-01 -4.64821979e-03 -1.08019613e+01] [-2.53372279e-02 3.18117437e-04 9.99678910e-01 -3.96472186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90264 meters Centerline goodness [0,1] 0.9998711644585686 Centerline is valid? [True, True] Translation: X:93.75, Y:-10.81, Z:-3.97 [[ 9.84806885e-01 1.71692572e-01 2.60203679e-02 9.37520544e+01] [-1.71624056e-01 9.85150525e-01 -4.86063222e-03 -1.08092460e+01] [-2.64685136e-02 3.21063005e-04 9.99649596e-01 -3.96776515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93264 meters Centerline goodness [0,1] 0.9996751207467891 Centerline is valid? [True, True] Translation: X:93.78, Y:-10.81, Z:-3.97 [[ 9.84597170e-01 1.72661002e-01 2.75062087e-02 9.37835735e+01] [-1.72584683e-01 9.84981258e-01 -5.14286039e-03 -1.08138374e+01] [-2.79810715e-02 3.16495466e-04 9.99608403e-01 -3.96652459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264000000001 meters Centerline goodness [0,1] 0.9999352876464117 Centerline is valid? [True, True] Translation: X:93.81, Y:-10.82, Z:-3.97 [[ 9.84474761e-01 1.73266638e-01 2.80734250e-02 9.38148905e+01] [-1.73187239e-01 9.84874904e-01 -5.25398984e-03 -1.08197357e+01] [-2.85591529e-02 3.10461415e-04 9.99592056e-01 -3.96574276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-10.83, Z:-3.97 [[ 9.84328328e-01 1.74231838e-01 2.72214863e-02 9.38454448e+01] [-1.74157432e-01 9.84704620e-01 -5.09900854e-03 -1.08282045e+01] [-2.76935330e-02 2.78274406e-04 9.99616422e-01 -3.96767011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264000000001 meters Centerline goodness [0,1] 0.9998266259237587 Centerline is valid? [True, True] Translation: X:93.88, Y:-10.84, Z:-3.97 [[ 9.84281526e-01 1.74462965e-01 2.74326711e-02 9.38780919e+01] [-1.74387349e-01 9.84663697e-01 -5.14358816e-03 -1.08353469e+01] [-2.79093210e-02 2.78828012e-04 9.99610420e-01 -3.97011807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05264000000001 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:93.91, Y:-10.85, Z:-3.97 [[ 9.84316279e-01 1.74431533e-01 2.63648141e-02 9.39074508e+01] [-1.74361501e-01 9.84669267e-01 -4.95002450e-03 -1.08458391e+01] [-2.68240625e-02 2.75381152e-04 9.99640132e-01 -3.97450143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264000000001 meters Centerline goodness [0,1] 0.9996350835014811 Centerline is valid? [True, True] Translation: X:93.94, Y:-10.86, Z:-3.98 [[ 9.84386559e-01 1.73941200e-01 2.69733451e-02 9.39388118e+01] [-1.73867672e-01 9.84755996e-01 -5.06573362e-03 -1.08583225e+01] [-2.74433031e-02 2.96847366e-04 9.99623318e-01 -3.97721493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:-10.87, Z:-3.97 [[ 9.84425965e-01 1.73811135e-01 2.63668112e-02 9.39705945e+01] [-1.73740691e-01 9.84778960e-01 -4.95706958e-03 -1.08666650e+01] [-2.68270748e-02 2.98880012e-04 9.99640045e-01 -3.97452208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.00, Y:-10.88, Z:-3.98 [[ 9.84499936e-01 1.73350194e-01 2.66380731e-02 9.40009766e+01] [-1.73277999e-01 9.84860197e-01 -5.01266413e-03 -1.08773168e+01] [-2.71037242e-02 3.19175515e-04 9.99632576e-01 -3.97656338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17264 meters Centerline goodness [0,1] 0.9996530939681714 Centerline is valid? [True, True] Translation: X:94.03, Y:-10.89, Z:-3.98 [[ 9.84462602e-01 1.73319547e-01 2.81730307e-02 9.40318385e+01] [-1.73238608e-01 9.84865583e-01 -5.30738908e-03 -1.08866017e+01] [-2.86665225e-02 3.44269440e-04 9.99588972e-01 -3.97767076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters Centerline goodness [0,1] 0.9999354311049891 Centerline is valid? [True, True] Translation: X:94.06, Y:-10.89, Z:-3.98 [[ 9.84355888e-01 1.73974310e-01 2.78644110e-02 9.40631170e+01] [-1.73895264e-01 9.84750137e-01 -5.25394658e-03 -1.08945469e+01] [-2.83535343e-02 3.26264124e-04 9.99597904e-01 -3.97935611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:-10.90, Z:-3.98 [[ 9.84134118e-01 1.75333960e-01 2.71669021e-02 9.40936485e+01] [-1.75259203e-01 9.84508975e-01 -5.12740272e-03 -1.09027401e+01] [-2.76450668e-02 2.84802330e-04 9.99617762e-01 -3.98062588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:-10.91, Z:-3.98 [[ 9.83330854e-01 1.79658877e-01 2.79842816e-02 9.41256863e+01] [-1.79581144e-01 9.83728955e-01 -5.28725186e-03 -1.09062014e+01] [-2.84788498e-02 1.73668581e-04 9.99594380e-01 -3.97840622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.16, Y:-10.91, Z:-3.98 [[ 9.82703439e-01 1.82915726e-01 2.89100000e-02 9.41580378e+01] [-1.82834016e-01 9.83128593e-01 -5.46744659e-03 -1.09090901e+01] [-2.94223296e-02 8.71471555e-05 9.99567066e-01 -3.97887739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:-10.91, Z:-3.98 [[ 9.82062213e-01 1.86344638e-01 2.88007746e-02 9.41916276e+01] [-1.86264880e-01 9.82484440e-01 -5.45150534e-03 -1.09114880e+01] [-2.93121717e-02 -1.08554193e-05 9.99570306e-01 -3.98032764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35264000000001 meters Centerline goodness [0,1] 0.9999567829206102 Centerline is valid? [True, True] Translation: X:94.22, Y:-10.91, Z:-3.98 [[ 9.80812404e-01 1.92850880e-01 2.85581194e-02 9.42232310e+01] [-1.92775037e-01 9.81228057e-01 -5.41165873e-03 -1.09093607e+01] [-2.90656711e-02 -1.97470498e-04 9.99577485e-01 -3.98474874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.26, Y:-10.91, Z:-3.98 [[ 9.80195034e-01 1.95999505e-01 2.83176452e-02 9.42554545e+01] [-1.95926122e-01 9.80603953e-01 -5.37041335e-03 -1.09118311e+01] [-2.88209932e-02 -2.84113929e-04 9.99584549e-01 -3.98411100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41264000000001 meters Centerline goodness [0,1] 0.9999781968821542 Centerline is valid? [True, True] Translation: X:94.29, Y:-10.91, Z:-3.99 [[ 9.79661096e-01 1.98612298e-01 2.85883316e-02 9.42863512e+01] [-1.98538437e-01 9.80078072e-01 -5.42790257e-03 -1.09131980e+01] [-2.90968451e-02 -3.58377694e-04 9.99576533e-01 -3.98759867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:-10.91, Z:-3.99 [[ 9.78978065e-01 2.02187268e-01 2.68748323e-02 9.43175013e+01] [-2.02123268e-01 9.79346782e-01 -5.10532027e-03 -1.09137557e+01] [-2.73520113e-02 -4.34032381e-04 9.99625770e-01 -3.99049990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47264000000001 meters Centerline goodness [0,1] 0.9998932878027958 Centerline is valid? [True, True] Translation: X:94.35, Y:-10.92, Z:-4.00 [[ 9.78731167e-01 2.03363671e-01 2.69911169e-02 9.43465860e+01] [-2.03299518e-01 9.79103160e-01 -5.12904295e-03 -1.09158327e+01] [-2.74701488e-02 -4.67326863e-04 9.99622515e-01 -3.99580204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264000000001 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:94.38, Y:-10.92, Z:-3.99 [[ 9.78587446e-01 2.04136592e-01 2.63602576e-02 9.43761487e+01] [-2.04075665e-01 9.78942299e-01 -5.00985418e-03 -1.09187952e+01] [-2.68278658e-02 -4.76906698e-04 9.99639954e-01 -3.99484341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.41, Y:-10.93, Z:-3.99 [[ 9.78633913e-01 2.03824843e-01 2.70388034e-02 9.44066465e+01] [-2.03760655e-01 9.79007253e-01 -5.13749571e-03 -1.09264071e+01] [-2.75183339e-02 -4.81716773e-04 9.99621183e-01 -3.99337071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:-10.93, Z:-4.00 [[ 9.78787539e-01 2.03032539e-01 2.74361341e-02 9.44364577e+01] [-2.02966116e-01 9.79171881e-01 -5.21385890e-03 -1.09314297e+01] [-2.79232740e-02 -4.65345429e-04 9.99609961e-01 -3.99522647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:-10.94, Z:-3.99 [[ 9.78953131e-01 2.02169523e-01 2.78971483e-02 9.44677557e+01] [-2.02100547e-01 9.79350439e-01 -5.29976547e-03 -1.09411524e+01] [-2.83925355e-02 -4.49806933e-04 9.99596749e-01 -3.99367511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62264 meters Centerline goodness [0,1] 0.9999346348265644 Centerline is valid? [True, True] Translation: X:94.50, Y:-10.95, Z:-4.00 [[ 9.79178908e-01 2.00921417e-01 2.89698339e-02 9.44993230e+01] [-2.00846326e-01 9.79607270e-01 -5.50900671e-03 -1.09485471e+01] [-2.94859374e-02 -4.24181524e-04 9.99565105e-01 -3.99614234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.53, Y:-10.95, Z:-4.00 [[ 9.79989839e-01 1.97012839e-01 2.83876248e-02 9.45297887e+01] [-1.96938946e-01 9.80400864e-01 -5.40349297e-03 -1.09546171e+01] [-2.88958094e-02 -2.95260685e-04 9.99582385e-01 -3.99873884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:-10.95, Z:-4.00 [[ 9.80908686e-01 1.93314106e-01 2.11614291e-02 9.45664673e+01] [-1.92789960e-01 9.80933556e-01 -2.45232424e-02 -1.09544423e+01] [-2.54986445e-02 1.99753504e-02 9.99475265e-01 -3.99605553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71264000000001 meters Centerline goodness [0,1] 0.9998912948952082 Centerline is valid? [True, True] Translation: X:94.59, Y:-10.99, Z:-4.00 [[ 9.80856276e-01 1.91764540e-01 3.38722185e-02 9.45887812e+01] [-1.92320303e-01 9.81232888e-01 1.39614053e-02 -1.09853038e+01] [-3.05592323e-02 -2.02084473e-02 9.99328651e-01 -4.00070072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.62, Y:-10.98, Z:-4.00 [[ 9.81190250e-01 1.90814087e-01 2.92519568e-02 9.46227578e+01] [-1.90732528e-01 9.81626188e-01 -5.57940389e-03 -1.09834905e+01] [-2.97791157e-02 -1.04842962e-04 9.99556498e-01 -3.99948129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77264000000001 meters Centerline goodness [0,1] 0.9998927038626609 Centerline is valid? [True, True] Translation: X:94.65, Y:-10.99, Z:-4.01 [[ 9.81892250e-01 1.87084874e-01 2.97801743e-02 9.46519583e+01] [-1.86998425e-01 9.82343753e-01 -5.68678881e-03 -1.09948257e+01] [-3.03182803e-02 1.49681807e-05 9.99540295e-01 -4.00550000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.69, Y:-10.99, Z:-4.00 [[ 9.82705289e-01 1.84018823e-01 2.06733723e-02 9.46885239e+01] [-1.83498389e-01 9.82708054e-01 -2.47633261e-02 -1.09905712e+01] [-2.48728076e-02 2.05415210e-02 9.99479559e-01 -4.00334836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-11.02, Z:-4.00 [[ 9.82455766e-01 1.83595052e-01 3.27646937e-02 9.47113529e+01] [-1.84141219e-01 9.82793028e-01 1.44871123e-02 -1.10212061e+01] [-2.95411503e-02 -2.02662777e-02 9.99358093e-01 -4.00362728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264000000001 meters Centerline goodness [0,1] 0.9997195435031174 Centerline is valid? [True, True] Translation: X:94.75, Y:-11.02, Z:-4.01 [[ 9.82409982e-01 1.84340457e-01 2.98198437e-02 9.47451397e+01] [-1.84252193e-01 9.82862444e-01 -5.70485948e-03 -1.10154657e+01] [-3.03604408e-02 1.10139312e-04 9.99539009e-01 -4.00709345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89264000000001 meters Centerline goodness [0,1] 0.9998719508291184 Centerline is valid? [True, True] Translation: X:94.78, Y:-11.02, Z:-4.01 [[ 9.82338919e-01 1.84758623e-01 2.95719302e-02 9.47774900e+01] [-1.84671862e-01 9.82783924e-01 -5.66235868e-03 -1.10206063e+01] [-3.01089872e-02 1.01251890e-04 9.99546617e-01 -4.00848369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.81, Y:-11.02, Z:-4.01 [[ 9.82100584e-01 1.86345079e-01 2.74582418e-02 9.48099241e+01] [-1.86270753e-01 9.82484355e-01 -5.26288872e-03 -1.10227586e+01] [-2.79580064e-02 5.40187139e-05 9.99609097e-01 -4.00884279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95264 meters Centerline goodness [0,1] 0.999934850590688 Centerline is valid? [True, True] Translation: X:94.84, Y:-11.03, Z:-4.01 [[ 9.81936552e-01 1.87141202e-01 2.79066049e-02 9.48403949e+01] [-1.87064598e-01 9.82333024e-01 -5.35414634e-03 -1.10273869e+01] [-2.84155609e-02 3.70941672e-05 9.99596196e-01 -4.01275197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98264 meters Centerline goodness [0,1] 0.9999141354513256 Centerline is valid? [True, True] Translation: X:94.87, Y:-11.03, Z:-4.01 [[ 9.81676869e-01 1.88484759e-01 2.80003517e-02 9.48731060e+01] [-1.88408065e-01 9.82076115e-01 -5.37635542e-03 -1.10314101e+01] [-2.85118376e-02 2.35166836e-06 9.99593455e-01 -4.01398222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01264 meters Centerline goodness [0,1] 0.9998500267809319 Centerline is valid? [True, True] Translation: X:94.90, Y:-11.03, Z:-4.02 [[ 9.81269711e-01 1.90698816e-01 2.72711585e-02 9.49046798e+01] [-1.90626758e-01 9.81648592e-01 -5.24219412e-03 -1.10304002e+01] [-2.77703745e-02 -5.46062095e-05 9.99614327e-01 -4.01779793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04264 meters Centerline goodness [0,1] 0.9997426273458445 Centerline is valid? [True, True] Translation: X:94.94, Y:-11.03, Z:-4.02 [[ 9.81416223e-01 1.89670376e-01 2.91092090e-02 9.49391621e+01] [-1.89566880e-01 9.81847598e-01 -6.30011685e-03 -1.10342749e+01] [-2.97757525e-02 6.64894938e-04 9.99556383e-01 -4.01607123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-11.04, Z:-4.02 [[ 9.81056536e-01 1.91774679e-01 2.73961022e-02 9.49676417e+01] [-1.91718658e-01 9.81438759e-01 -4.68171381e-03 -1.10399019e+01] [-2.77854307e-02 -6.59318010e-04 9.99613693e-01 -4.01627308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-11.05, Z:-4.02 [[ 9.81022686e-01 1.91963517e-01 2.72854683e-02 9.49987560e+01] [-1.91891569e-01 9.81402059e-01 -5.25585504e-03 -1.10456998e+01] [-2.77869472e-02 -7.97382879e-05 9.99613865e-01 -4.01759780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:-11.05, Z:-4.02 [[ 9.81649424e-01 1.88842036e-01 2.65159325e-02 9.50331662e+01] [-1.88580652e-01 9.81983686e-01 -1.20572956e-02 -1.10485334e+01] [-2.83151374e-02 6.83564547e-03 9.99575673e-01 -4.01873690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264000000001 meters Centerline goodness [0,1] 0.999806568088033 Centerline is valid? [True, True] Translation: X:95.06, Y:-11.07, Z:-4.02 [[ 9.81583707e-01 1.88832690e-01 2.89074512e-02 9.50585318e+01] [-1.88945986e-01 9.81986731e-01 1.21442071e-03 -1.10650263e+01] [-2.81574112e-02 -6.65400246e-03 9.99581355e-01 -4.02131493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19264000000001 meters Centerline goodness [0,1] 0.9999569744428191 Centerline is valid? [True, True] Translation: X:95.09, Y:-11.07, Z:-4.02 [[ 9.81811022e-01 1.87779506e-01 2.80352254e-02 9.50908319e+01] [-1.87701578e-01 9.82211207e-01 -5.40952030e-03 -1.10690625e+01] [-2.85523096e-02 4.88706014e-05 9.99592299e-01 -4.02166795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:-11.08, Z:-4.02 [[ 9.82015295e-01 1.86662150e-01 2.83408061e-02 9.51226302e+01] [-1.86581893e-01 9.82424162e-01 -5.47385444e-03 -1.10772444e+01] [-2.88644541e-02 8.75275380e-05 9.99583331e-01 -4.01991692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25264000000001 meters Centerline goodness [0,1] 0.9999137745203708 Centerline is valid? [True, True] Translation: X:95.15, Y:-11.09, Z:-4.02 [[ 9.82564636e-01 1.83744984e-01 2.83640216e-02 9.51532627e+01] [-1.83663204e-01 9.82973931e-01 -5.48441845e-03 -1.10877314e+01] [-2.88888282e-02 1.79368511e-04 9.99582615e-01 -4.02300983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.18, Y:-11.10, Z:-4.02 [[ 9.82757571e-01 1.82830195e-01 2.75803634e-02 9.51835689e+01] [-1.82752373e-01 9.83144485e-01 -5.33782797e-03 -1.10959044e+01] [-2.80913983e-02 2.05413982e-04 9.99605338e-01 -4.02350233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.21, Y:-11.10, Z:-4.03 [[ 9.82903329e-01 1.82092193e-01 2.72668155e-02 9.52138557e+01] [-1.82015722e-01 9.83281435e-01 -5.28163313e-03 -1.11044319e+01] [-2.77726977e-02 2.28345659e-04 9.99614238e-01 -4.02626982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters Centerline goodness [0,1] 0.9997644640486488 Centerline is valid? [True, True] Translation: X:95.25, Y:-11.11, Z:-4.03 [[ 9.82949451e-01 1.81702744e-01 2.81867103e-02 9.52451745e+01] [-1.81620731e-01 9.83353471e-01 -5.46447544e-03 -1.11120423e+01] [-2.87104096e-02 2.52012194e-04 9.99587739e-01 -4.02827617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37264 meters Centerline goodness [0,1] 0.9998935649360325 Centerline is valid? [True, True] Translation: X:95.28, Y:-11.12, Z:-4.03 [[ 9.82833325e-01 1.82335034e-01 2.81529826e-02 9.52766758e+01] [-1.82253342e-01 9.83236431e-01 -5.46265242e-03 -1.11184621e+01] [-2.86770711e-02 2.37901662e-04 9.99588700e-01 -4.02914926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40264 meters Centerline goodness [0,1] 0.9998927751924686 Centerline is valid? [True, True] Translation: X:95.31, Y:-11.12, Z:-4.03 [[ 9.82514876e-01 1.83988978e-01 2.85056991e-02 9.53093147e+01] [-1.83905764e-01 9.82928287e-01 -5.53652878e-03 -1.11219432e+01] [-2.90377183e-02 1.97359518e-04 9.99578297e-01 -4.02776393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.34, Y:-11.13, Z:-4.03 [[ 9.82250338e-01 1.85428140e-01 2.82962611e-02 9.53399408e+01] [-1.85346570e-01 9.82657814e-01 -5.50178798e-03 -1.11282473e+01] [-2.88257284e-02 1.59518181e-04 9.99584440e-01 -4.02753202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264000000001 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:95.37, Y:-11.13, Z:-4.03 [[ 9.82082950e-01 1.86329203e-01 2.81870090e-02 9.53711743e+01] [-1.86248580e-01 9.82487359e-01 -5.48237882e-03 -1.11343061e+01] [-2.87149073e-02 1.34360365e-04 9.99587633e-01 -4.03294704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49264000000001 meters Centerline goodness [0,1] 0.9998710897215538 Centerline is valid? [True, True] Translation: X:95.40, Y:-11.14, Z:-4.03 [[ 9.81598490e-01 1.88938744e-01 2.76867437e-02 9.54039182e+01] [-1.88861863e-01 9.81988873e-01 -5.38976638e-03 -1.11376883e+01] [-2.82064100e-02 6.16165481e-05 9.99602118e-01 -4.03353606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264000000001 meters Centerline goodness [0,1] 0.999828432949452 Centerline is valid? [True, True] Translation: X:95.43, Y:-11.14, Z:-4.04 [[ 9.81306379e-01 1.90388141e-01 2.81095575e-02 9.54342253e+01] [-1.90309309e-01 9.81708895e-01 -5.47829503e-03 -1.11423535e+01] [-2.86384050e-02 2.63754061e-05 9.99589836e-01 -4.03591270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:-11.15, Z:-4.03 [[ 9.80903578e-01 1.92488082e-01 2.78659174e-02 9.54668145e+01] [-1.92411327e-01 9.81299311e-01 -5.43544574e-03 -1.11481357e+01] [-2.83910641e-02 -3.00699750e-05 9.99596892e-01 -4.03351757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264000000001 meters Centerline goodness [0,1] 0.9998719836139026 Centerline is valid? [True, True] Translation: X:95.50, Y:-11.15, Z:-4.04 [[ 9.80741134e-01 1.93194570e-01 2.86825171e-02 9.54972590e+01] [-1.93113340e-01 9.81160464e-01 -5.60195095e-03 -1.11540525e+01] [-2.92244183e-02 -4.49129414e-05 9.99572874e-01 -4.03791551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.53, Y:-11.16, Z:-4.04 [[ 9.80109483e-01 1.96556996e-01 2.73997856e-02 9.55290255e+01] [-1.96484141e-01 9.80492391e-01 -5.35292926e-03 -1.11584222e+01] [-2.79174369e-02 -1.37166598e-04 9.99610223e-01 -4.03540184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.56, Y:-11.16, Z:-4.04 [[ 9.79770489e-01 1.98259303e-01 2.72587219e-02 9.55596858e+01] [-1.98187713e-01 9.80149589e-01 -5.33044078e-03 -1.11617894e+01] [-2.77744345e-02 -1.79735191e-04 9.99614200e-01 -4.03854628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:-11.17, Z:-4.04 [[ 9.79367040e-01 2.00247370e-01 2.72248324e-02 9.55918179e+01] [-2.00176606e-01 9.79745343e-01 -5.32817970e-03 -1.11667414e+01] [-2.77403567e-02 -2.31530957e-04 9.99615135e-01 -4.03861550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-11.16, Z:-4.04 [[ 9.78605920e-01 2.03943991e-01 2.71533208e-02 9.56225633e+01] [-2.03874822e-01 9.78982503e-01 -5.32129319e-03 -1.11648378e+01] [-2.76678717e-02 -3.28429421e-04 9.99617117e-01 -4.04267463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:-11.17, Z:-4.04 [[ 9.78222591e-01 2.05872535e-01 2.64019210e-02 9.56524074e+01] [-2.05807835e-01 9.78578745e-01 -5.17437625e-03 -1.11683982e+01] [-2.69016207e-02 -3.72030475e-04 9.99638017e-01 -4.04349041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76264 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:95.68, Y:-11.17, Z:-4.04 [[ 9.77601532e-01 2.08718523e-01 2.70522408e-02 9.56825526e+01] [-2.08651703e-01 9.77975646e-01 -5.30114620e-03 -1.11695943e+01] [-2.75628801e-02 -4.62087481e-04 9.99619965e-01 -4.04382057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79264 meters Centerline goodness [0,1] 0.9998931098616841 Centerline is valid? [True, True] Translation: X:95.71, Y:-11.17, Z:-4.05 [[ 9.77493850e-01 2.09157224e-01 2.75504755e-02 9.57112577e+01] [-2.09088113e-01 9.77881906e-01 -5.39808523e-03 -1.11744560e+01] [-2.80701600e-02 -4.83881832e-04 9.99605838e-01 -4.04694462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.74, Y:-11.18, Z:-4.05 [[ 9.77271638e-01 2.10256413e-01 2.70626358e-02 9.57396657e+01] [-2.10190163e-01 9.77646145e-01 -5.30200438e-03 -1.11772829e+01] [-2.75724619e-02 -5.06801313e-04 9.99619679e-01 -4.04614659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:-11.18, Z:-4.05 [[ 9.77152923e-01 2.10849415e-01 2.67336910e-02 9.57685848e+01] [-2.10785015e-01 9.77518417e-01 -5.23658873e-03 -1.11812916e+01] [-2.72368069e-02 -5.18113457e-04 9.99628875e-01 -4.04689190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-11.19, Z:-4.05 [[ 9.77099662e-01 2.11160952e-01 2.62164517e-02 9.57984360e+01] [-2.11099162e-01 9.77451167e-01 -5.13416319e-03 -1.11852967e+01] [-2.67094361e-02 -5.17681870e-04 9.99643105e-01 -4.04829120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91264000000001 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:95.83, Y:-11.19, Z:-4.05 [[ 9.77187092e-01 2.10751484e-01 2.62525931e-02 9.58265023e+01] [-2.10689388e-01 9.77539541e-01 -5.14075333e-03 -1.11890707e+01] [-2.67463692e-02 -5.07664990e-04 9.99642123e-01 -4.05212448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264000000001 meters Centerline goodness [0,1] 0.9997632932366423 Centerline is valid? [True, True] Translation: X:95.85, Y:-11.19, Z:-4.06 [[ 9.77325626e-01 2.10086868e-01 2.64221430e-02 9.58544995e+01] [-2.10023748e-01 9.77682599e-01 -5.17311075e-03 -1.11939556e+01] [-2.69192721e-02 -4.93463796e-04 9.99637489e-01 -4.05524508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97264000000001 meters Centerline goodness [0,1] 0.9998498884885916 Centerline is valid? [True, True] Translation: X:95.88, Y:-11.20, Z:-4.06 [[ 9.77520636e-01 2.09220164e-01 2.60831226e-02 9.58827550e+01] [-2.09158378e-01 9.77868451e-01 -5.10547492e-03 -1.11978274e+01] [-2.65740310e-02 -4.64796540e-04 9.99646740e-01 -4.05733458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264000000001 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:95.92, Y:-11.22, Z:-4.06 [[ 9.77992303e-01 2.04988074e-01 3.88708857e-02 9.59163109e+01] [-2.05651802e-01 9.78526780e-01 1.38808350e-02 -1.12162337e+01] [-3.51907970e-02 -2.15692175e-02 9.99147825e-01 -4.05684563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-11.19, Z:-4.06 [[ 9.77667854e-01 2.09057929e-01 2.14557704e-02 9.59449324e+01] [-2.08484149e-01 9.77674487e-01 -2.62098667e-02 -1.11945478e+01] [-2.64561398e-02 2.11513561e-02 9.99426182e-01 -4.05838929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-11.21, Z:-4.06 [[ 9.77958563e-01 2.07119547e-01 2.64299373e-02 9.59707419e+01] [-2.07055371e-01 9.78315553e-01 -5.17221809e-03 -1.12114620e+01] [-2.69280862e-02 -4.14245487e-04 9.99637288e-01 -4.05530992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09264 meters Centerline goodness [0,1] 0.9998282487816398 Centerline is valid? [True, True] Translation: X:96.00, Y:-11.22, Z:-4.06 [[ 9.78152952e-01 2.06231213e-01 2.61818534e-02 9.59988442e+01] [-2.06167952e-01 9.78503212e-01 -5.12237300e-03 -1.12154276e+01] [-2.66754209e-02 -3.87394835e-04 9.99644073e-01 -4.05976234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:-11.22, Z:-4.06 [[ 9.78295182e-01 2.05797338e-01 2.42072915e-02 9.60273689e+01] [-2.05743154e-01 9.78594571e-01 -4.73499610e-03 -1.12199441e+01] [-2.46635736e-02 -3.48260641e-04 9.99695747e-01 -4.06062370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15264 meters Centerline goodness [0,1] 0.9999147248811479 Centerline is valid? [True, True] Translation: X:96.05, Y:-11.22, Z:-4.07 [[ 9.78530760e-01 2.04658482e-01 2.43404405e-02 9.60544775e+01] [-2.04603373e-01 9.78833388e-01 -4.76002727e-03 -1.12230748e+01] [-2.47994158e-02 -3.22303116e-04 9.99692395e-01 -4.06536333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-11.23, Z:-4.06 [[ 9.78399550e-01 2.04667673e-01 2.90768724e-02 9.60837820e+01] [-2.04679897e-01 9.78825544e-01 -2.58715892e-03 -1.12309933e+01] [-2.89906933e-02 -3.42017614e-03 9.99573830e-01 -4.06222618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-11.23, Z:-4.07 [[ 9.79141385e-01 2.01701192e-01 2.44699498e-02 9.61133106e+01] [-2.01566069e-01 9.79443111e-01 -7.89386121e-03 -1.12299816e+01] [-2.55591249e-02 2.79689461e-03 9.99669400e-01 -4.06530381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264000000001 meters Centerline goodness [0,1] 0.9998709816148801 Centerline is valid? [True, True] Translation: X:96.14, Y:-11.24, Z:-4.07 [[ 9.79652792e-01 1.99146925e-01 2.49180341e-02 9.61403942e+01] [-1.99087461e-01 9.79969625e-01 -4.87001321e-03 -1.12398844e+01] [-2.53887647e-02 -1.89946090e-04 9.99677635e-01 -4.06880448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-11.25, Z:-4.07 [[ 9.80083230e-01 1.97049757e-01 2.46628401e-02 9.61677707e+01] [-1.96990870e-01 9.80393480e-01 -4.81895689e-03 -1.12485184e+01] [-2.51288619e-02 -1.35375488e-04 9.99684211e-01 -4.06762326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264000000001 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:96.20, Y:-11.26, Z:-4.07 [[ 9.80647683e-01 1.94226988e-01 2.46170346e-02 9.61958113e+01] [-1.94167470e-01 9.80956611e-01 -4.80842637e-03 -1.12580838e+01] [-2.50821690e-02 -6.44551372e-05 9.99685391e-01 -4.06915028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.22, Y:-11.27, Z:-4.07 [[ 9.81699533e-01 1.88860245e-01 2.44506750e-02 9.62232169e+01] [-1.88799892e-01 9.82003973e-01 -4.77474043e-03 -1.12736007e+01] [-2.49124187e-02 7.10756542e-05 9.99689635e-01 -4.07008769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.25, Y:-11.28, Z:-4.07 [[ 9.82178306e-01 1.86481779e-01 2.34589375e-02 9.62542172e+01] [-1.86425604e-01 9.82458412e-01 -4.57857222e-03 -1.12842809e+01] [-2.39012507e-02 1.23627725e-04 9.99714317e-01 -4.07006214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.28, Y:-11.32, Z:-4.07 [[ 9.82314035e-01 1.81550510e-01 4.58099214e-02 9.62818883e+01] [-1.82991243e-01 9.82672663e-01 2.94727308e-02 -1.13158818e+01] [-3.96653682e-02 -3.73342916e-02 9.98515302e-01 -4.07104426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters Centerline goodness [0,1] 0.9998488610601317 Centerline is valid? [True, True] Translation: X:96.32, Y:-11.28, Z:-4.08 [[ 9.82932580e-01 1.83198803e-01 1.67851571e-02 9.63176777e+01] [-1.82368952e-01 9.82331298e-01 -4.20331516e-02 -1.12819685e+01] [-2.41890082e-02 3.82546626e-02 9.98975211e-01 -4.07514851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.34, Y:-11.32, Z:-4.07 [[ 9.83429520e-01 1.79531255e-01 2.51973738e-02 9.63424241e+01] [-1.79463956e-01 9.83752217e-01 -4.92583541e-03 -1.13174459e+01] [-2.56723138e-02 3.22191566e-04 9.99670360e-01 -4.07205516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48264 meters Centerline goodness [0,1] 0.9998497950775701 Centerline is valid? [True, True] Translation: X:96.37, Y:-11.33, Z:-4.07 [[ 9.83577720e-01 1.78656847e-01 2.56242217e-02 9.63742571e+01] [-1.78586855e-01 9.83911381e-01 -5.01296957e-03 -1.13270837e+01] [-2.61075647e-02 3.54496015e-04 9.99659077e-01 -4.07373201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.41, Y:-11.34, Z:-4.07 [[ 9.83633401e-01 1.78369674e-01 2.54871005e-02 9.64057963e+01] [-1.78300192e-01 9.83963478e-01 -4.99156580e-03 -1.13363387e+01] [-2.59687200e-02 3.65515949e-04 9.99662689e-01 -4.07104906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54264 meters Centerline goodness [0,1] 0.99995667432087 Centerline is valid? [True, True] Translation: X:96.43, Y:-11.35, Z:-4.08 [[ 9.83603122e-01 1.79197165e-01 2.03291393e-02 9.64348925e+01] [-1.79153040e-01 9.83813142e-01 -3.98623504e-03 -1.13479393e+01] [-2.07143964e-02 2.78846142e-04 9.99785395e-01 -4.08254699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57264 meters Centerline goodness [0,1] 0.9998492613807658 Centerline is valid? [True, True] Translation: X:96.46, Y:-11.36, Z:-4.09 [[ 9.83433400e-01 1.80304123e-01 1.86861310e-02 9.64647369e+01] [-1.80267074e-01 9.83610883e-01 -3.66239696e-03 -1.13559930e+01] [-1.90402271e-02 2.33229331e-04 9.99818691e-01 -4.08855572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.50, Y:-11.36, Z:-4.09 [[ 9.82475375e-01 1.85432155e-01 1.88958752e-02 9.64954064e+01] [-1.85395158e-01 9.82657060e-01 -3.70654571e-03 -1.13597716e+01] [-1.92554779e-02 1.38386113e-04 9.99814587e-01 -4.08873772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63264000000001 meters Centerline goodness [0,1] 0.9998924245358118 Centerline is valid? [True, True] Translation: X:96.53, Y:-11.36, Z:-4.09 [[ 9.81939419e-01 1.88260586e-01 1.87863835e-02 9.65277430e+01] [-1.88224475e-01 9.82119109e-01 -3.68820093e-03 -1.13625830e+01] [-1.91448091e-02 8.55327132e-05 9.99816718e-01 -4.08906890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.56, Y:-11.36, Z:-4.09 [[ 9.80933463e-01 1.93760394e-01 1.50482745e-02 9.65617582e+01] [-1.93389887e-01 9.80850421e-01 -2.30825507e-02 -1.13556322e+01] [-1.92325905e-02 1.97322623e-02 9.99620301e-01 -4.08645963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69264000000001 meters Centerline goodness [0,1] 0.9997411450019414 Centerline is valid? [True, True] Translation: X:96.59, Y:-11.38, Z:-4.09 [[ 9.79967104e-01 1.97759173e-01 2.35750906e-02 9.65878026e+01] [-1.98149444e-01 9.80048645e-01 1.55387291e-02 -1.13806291e+01] [-2.00318093e-02 -1.98988345e-02 9.99601302e-01 -4.08768969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.62, Y:-11.37, Z:-4.08 [[ 9.79038696e-01 2.02540100e-01 2.14648432e-02 9.66205569e+01] [-2.02496120e-01 9.79273947e-01 -4.22581062e-03 -1.13715596e+01] [-2.18758578e-02 -2.09315337e-04 9.99760673e-01 -4.08290082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.65, Y:-11.37, Z:-4.09 [[ 9.78137261e-01 2.06735975e-01 2.25329638e-02 9.66500059e+01] [-2.06688605e-01 9.78396717e-01 -4.43676394e-03 -1.13684098e+01] [-2.29634166e-02 -3.17542725e-04 9.99736256e-01 -4.08555606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:-11.37, Z:-4.08 [[ 9.77273388e-01 2.10709453e-01 2.32002346e-02 9.66803418e+01] [-2.10660381e-01 9.77548641e-01 -4.56699808e-03 -1.13701942e+01] [-2.36416675e-02 -4.24164569e-04 9.99720407e-01 -4.08296907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81264 meters Centerline goodness [0,1] 0.9998929565403554 Centerline is valid? [True, True] Translation: X:96.71, Y:-11.37, Z:-4.08 [[ 9.75953472e-01 2.16682084e-01 2.37422480e-02 9.67107393e+01] [-2.16632475e-01 9.76242047e-01 -4.67288439e-03 -1.13706780e+01] [-2.41907112e-02 -5.82824214e-04 9.99707192e-01 -4.08395626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters Centerline goodness [0,1] 0.9999567155780634 Centerline is valid? [True, True] Translation: X:96.74, Y:-11.37, Z:-4.08 [[ 9.74635644e-01 2.22830643e-01 2.07813672e-02 9.67403919e+01] [-2.22469097e-01 9.74766800e-01 -1.83626537e-02 -1.13665037e+01] [-2.43487487e-02 1.32736848e-02 9.99615400e-01 -4.08342840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87264 meters Centerline goodness [0,1] 0.9999356250804686 Centerline is valid? [True, True] Translation: X:96.77, Y:-11.38, Z:-4.09 [[ 9.74560254e-01 2.22690787e-01 2.53204548e-02 9.67668952e+01] [-2.22673371e-01 9.74886675e-01 -3.54118172e-03 -1.13768769e+01] [-2.54731625e-02 -2.18709606e-03 9.99673114e-01 -4.08549747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90264 meters Centerline goodness [0,1] 0.9999570677256627 Centerline is valid? [True, True] Translation: X:96.79, Y:-11.39, Z:-4.09 [[ 9.75089838e-01 2.20107298e-01 2.74332883e-02 9.67940896e+01] [-2.20441218e-01 9.75351321e-01 9.77090961e-03 -1.13910185e+01] [-2.46064455e-02 -1.55749422e-02 9.99575882e-01 -4.08502617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93264 meters Centerline goodness [0,1] 0.9998069663692519 Centerline is valid? [True, True] Translation: X:96.82, Y:-11.39, Z:-4.09 [[ 9.75429772e-01 2.18935601e-01 2.45756346e-02 9.68235792e+01] [-2.18883247e-01 9.75739084e-01 -4.83356633e-03 -1.13897196e+01] [-2.50376469e-02 -6.64390186e-04 9.99686288e-01 -4.08924646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264000000001 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:96.85, Y:-11.40, Z:-4.09 [[ 9.76179689e-01 2.15617725e-01 2.41290421e-02 9.68510157e+01] [-2.15566264e-01 9.76477686e-01 -4.74484276e-03 -1.13971776e+01] [-2.45845434e-02 -5.69588325e-04 9.99697592e-01 -4.09082894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99264000000001 meters Centerline goodness [0,1] 0.9999359945382006 Centerline is valid? [True, True] Translation: X:96.88, Y:-11.40, Z:-4.09 [[ 9.76189741e-01 2.15572197e-01 2.41291735e-02 9.68788195e+01] [-2.15520739e-01 9.76487739e-01 -4.74417452e-03 -1.14025514e+01] [-2.45845542e-02 -5.69122793e-04 9.99697592e-01 -4.09200636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-11.42, Z:-4.09 [[ 9.77453470e-01 2.09965328e-01 2.23444413e-02 9.69060585e+01] [-2.09919777e-01 9.77708751e-01 -4.39143966e-03 -1.14210210e+01] [-2.27684059e-02 -3.98112214e-04 9.99740687e-01 -4.09433224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.93, Y:-11.44, Z:-4.10 [[ 9.78616060e-01 2.04516647e-01 2.19897173e-02 9.69339378e+01] [-2.04471159e-01 9.78863050e-01 -4.32148232e-03 -1.14368276e+01] [-2.24087368e-02 -2.67190989e-04 9.99748857e-01 -4.09695414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:-11.45, Z:-4.10 [[ 9.79361625e-01 2.00925750e-01 2.19009152e-02 9.69641046e+01] [-2.00879794e-01 9.79606456e-01 -4.30119709e-03 -1.14502108e+01] [-2.23184992e-02 -1.87023960e-04 9.99750894e-01 -4.09760758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11264000000001 meters Centerline goodness [0,1] 0.999784691570675 Centerline is valid? [True, True] Translation: X:97.00, Y:-11.46, Z:-4.10 [[ 9.79545444e-01 2.00025105e-01 2.19244116e-02 9.69952888e+01] [-1.99978737e-01 9.79790759e-01 -4.30973752e-03 -1.14580158e+01] [-2.23433916e-02 -1.62832390e-04 9.99750342e-01 -4.10086043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264000000001 meters Centerline goodness [0,1] 0.999784691570675 Centerline is valid? [True, True] Translation: X:97.03, Y:-11.46, Z:-4.10 [[ 9.79511156e-01 2.00193026e-01 2.19236778e-02 9.70263152e+01] [-2.00146617e-01 9.79756462e-01 -4.31346569e-03 -1.14642703e+01] [-2.23433908e-02 -1.62862192e-04 9.99750342e-01 -4.10217691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17264 meters Centerline goodness [0,1] 0.999784691570675 Centerline is valid? [True, True] Translation: X:97.06, Y:-11.47, Z:-4.10 [[ 9.79476839e-01 2.00360943e-01 2.19229376e-02 9.70573405e+01] [-2.00314492e-01 9.79722137e-01 -4.31722299e-03 -1.14705301e+01] [-2.23433902e-02 -1.62862187e-04 9.99750342e-01 -4.10349340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.09, Y:-11.48, Z:-4.10 [[ 9.79427865e-01 2.00705313e-01 2.09388221e-02 9.70883273e+01] [-2.00662940e-01 9.79651648e-01 -4.12704946e-03 -1.14773099e+01] [-2.13410724e-02 -1.59498369e-04 9.99772241e-01 -4.10310889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.12, Y:-11.48, Z:-4.11 [[ 9.79241188e-01 2.01614439e-01 2.09359405e-02 9.71186476e+01] [-2.01572210e-01 9.79464949e-01 -4.13000541e-03 -1.14823708e+01] [-2.13386886e-02 -1.75832397e-04 9.99772289e-01 -4.10606198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.15, Y:-11.48, Z:-4.11 [[ 9.78741349e-01 2.04047483e-01 2.07363621e-02 9.71484034e+01] [-2.04006455e-01 9.78960968e-01 -4.09754974e-03 -1.14844765e+01] [-2.11361838e-02 -2.19910365e-04 9.99776582e-01 -4.10811275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:-11.49, Z:-4.11 [[ 9.78400108e-01 2.05754315e-01 1.99597318e-02 9.71789143e+01] [-2.05716668e-01 9.78603648e-01 -3.94359956e-03 -1.14890148e+01] [-2.03440789e-02 -2.47631277e-04 9.99793007e-01 -4.10762454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.21, Y:-11.49, Z:-4.11 [[ 9.77934021e-01 2.07865339e-01 2.09057550e-02 9.72084545e+01] [-2.07824525e-01 9.78157404e-01 -4.13029641e-03 -1.14906227e+01] [-2.13076646e-02 -3.05571235e-04 9.99772919e-01 -4.10981291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35264000000001 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:97.24, Y:-11.49, Z:-4.11 [[ 9.77464764e-01 2.09998968e-01 2.15190480e-02 9.72378655e+01] [-2.09956220e-01 9.77701541e-01 -4.25239315e-03 -1.14929376e+01] [-2.19322046e-02 -3.61493514e-04 9.99759395e-01 -4.11108088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.27, Y:-11.49, Z:-4.11 [[ 9.76200478e-01 2.15702318e-01 2.24752670e-02 9.72688052e+01] [-2.15657203e-01 9.76459036e-01 -4.44102799e-03 -1.14884102e+01] [-2.29041176e-02 -5.11619579e-04 9.99737535e-01 -4.10812313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:-11.49, Z:-4.11 [[ 9.75546257e-01 2.18619662e-01 2.26923569e-02 9.72992223e+01] [-2.18574486e-01 9.75809971e-01 -4.48275806e-03 -1.14891429e+01] [-2.31234472e-02 -5.86832406e-04 9.99732445e-01 -4.10857207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264000000001 meters Centerline goodness [0,1] 0.9999139747946149 Centerline is valid? [True, True] Translation: X:97.33, Y:-11.49, Z:-4.11 [[ 9.74411521e-01 2.23668457e-01 2.22398201e-02 9.73294266e+01] [-2.23626389e-01 9.74665041e-01 -4.39281301e-03 -1.14856981e+01] [-2.26589089e-02 -6.93003067e-04 9.99743014e-01 -4.11110561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47264000000001 meters Centerline goodness [0,1] 0.9997002975617066 Centerline is valid? [True, True] Translation: X:97.36, Y:-11.49, Z:-4.11 [[ 9.74070788e-01 2.25158793e-01 2.21273018e-02 9.73568541e+01] [-2.25117530e-01 9.74321812e-01 -4.37076851e-03 -1.14879059e+01] [-2.25432298e-02 -7.23805595e-04 9.99745607e-01 -4.11301570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264000000001 meters Centerline goodness [0,1] 0.999551406660543 Centerline is valid? [True, True] Translation: X:97.38, Y:-11.49, Z:-4.12 [[ 9.73918573e-01 2.25768658e-01 2.26081019e-02 9.73849281e+01] [-2.25725783e-01 9.74180652e-01 -4.46417150e-03 -1.14880065e+01] [-2.30322455e-02 -7.55491973e-04 9.99734437e-01 -4.11719202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53264 meters Centerline goodness [0,1] 0.9998928418345477 Centerline is valid? [True, True] Translation: X:97.41, Y:-11.49, Z:-4.11 [[ 9.73881322e-01 2.25814614e-01 2.37261481e-02 9.74131015e+01] [-2.25767450e-01 9.74169968e-01 -4.68314000e-03 -1.14942025e+01] [-2.41708224e-02 -7.95769366e-04 9.99707526e-01 -4.11355219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters Centerline goodness [0,1] 0.9996603549290991 Centerline is valid? [True, True] Translation: X:97.44, Y:-11.50, Z:-4.12 [[ 9.74050567e-01 2.25068097e-01 2.38714007e-02 9.74406620e+01] [-2.25020154e-01 9.74342721e-01 -4.71081432e-03 -1.14962668e+01] [-2.43191795e-02 -7.82974884e-04 9.99703938e-01 -4.11662139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59264 meters Centerline goodness [0,1] 0.999848386398094 Centerline is valid? [True, True] Translation: X:97.47, Y:-11.51, Z:-4.11 [[ 9.74340930e-01 2.23815878e-01 2.37950433e-02 9.74681544e+01] [-2.23767908e-01 9.74631155e-01 -4.69409658e-03 -1.15082671e+01] [-2.42420039e-02 -7.50916616e-04 9.99705837e-01 -4.11457972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62264 meters Centerline goodness [0,1] 0.9998087385243115 Centerline is valid? [True, True] Translation: X:97.50, Y:-11.51, Z:-4.12 [[ 9.74518732e-01 2.22980121e-01 2.43537848e-02 9.74963121e+01] [-2.22929638e-01 9.74822705e-01 -4.80321800e-03 -1.15101635e+01] [-2.48116445e-02 -7.48354511e-04 9.99691864e-01 -4.11665307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65264 meters Centerline goodness [0,1] 0.9999566808897745 Centerline is valid? [True, True] Translation: X:97.52, Y:-11.52, Z:-4.12 [[ 9.74793019e-01 2.21832353e-01 2.38532300e-02 9.75243116e+01] [-2.21783622e-01 9.75084565e-01 -4.70280119e-03 -1.15165412e+01] [-2.43021499e-02 -7.05997968e-04 9.99704410e-01 -4.11666773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68264 meters Centerline goodness [0,1] 0.9999353740763879 Centerline is valid? [True, True] Translation: X:97.55, Y:-11.52, Z:-4.12 [[ 9.74780791e-01 2.21984995e-01 2.29144521e-02 9.75523778e+01] [-2.21940086e-01 9.75049843e-01 -4.51685235e-03 -1.15193185e+01] [-2.33454064e-02 -6.82694578e-04 9.99727226e-01 -4.11980666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71264000000001 meters Centerline goodness [0,1] 0.9998298017190026 Centerline is valid? [True, True] Translation: X:97.58, Y:-11.52, Z:-4.12 [[ 9.74529737e-01 2.23112256e-01 2.26431678e-02 9.75812869e+01] [-2.23068741e-01 9.74792505e-01 -4.46195994e-03 -1.15177166e+01] [-2.30679082e-02 -7.02670296e-04 9.99733653e-01 -4.12304336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264000000001 meters Centerline goodness [0,1] 0.9997862973885541 Centerline is valid? [True, True] Translation: X:97.61, Y:-11.52, Z:-4.12 [[ 9.74332092e-01 2.23933120e-01 2.30419884e-02 9.76094772e+01] [-2.23888324e-01 9.74604235e-01 -4.53903015e-03 -1.15180054e+01] [-2.34732587e-02 -7.36309428e-04 9.99724194e-01 -4.12484615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77264000000001 meters Centerline goodness [0,1] 0.9998706729318446 Centerline is valid? [True, True] Translation: X:97.64, Y:-11.52, Z:-4.12 [[ 9.74081458e-01 2.24960871e-01 2.36203064e-02 9.76384533e+01] [-2.24914142e-01 9.74367485e-01 -4.65121512e-03 -1.15218769e+01] [-2.40611999e-02 -7.81878537e-04 9.99710182e-01 -4.12416343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264000000001 meters Centerline goodness [0,1] 0.9998501487808533 Centerline is valid? [True, True] Translation: X:97.67, Y:-11.52, Z:-4.12 [[ 9.73567368e-01 2.27089828e-01 2.44292696e-02 9.76685431e+01] [-2.27040548e-01 9.73873433e-01 -4.80904098e-03 -1.15180840e+01] [-2.48831009e-02 -8.64509395e-04 9.99689994e-01 -4.12472234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83264000000001 meters Centerline goodness [0,1] 0.9997408767004966 Centerline is valid? [True, True] Translation: X:97.70, Y:-11.52, Z:-4.13 [[ 9.73459893e-01 2.27583212e-01 2.41188365e-02 9.76965510e+01] [-2.27535343e-01 9.73758251e-01 -4.74730256e-03 -1.15236526e+01] [-2.45663224e-02 -8.66579105e-04 9.99697827e-01 -4.12544439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264000000001 meters Centerline goodness [0,1] 0.9998277755053713 Centerline is valid? [True, True] Translation: X:97.73, Y:-11.53, Z:-4.13 [[ 9.73399648e-01 2.27864661e-01 2.38918859e-02 9.77253163e+01] [-2.27817803e-01 9.73692428e-01 -4.70143988e-03 -1.15255153e+01] [-2.43346404e-02 -8.66617030e-04 9.99703493e-01 -4.12660919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89264000000001 meters Centerline goodness [0,1] 0.9995271562748511 Centerline is valid? [True, True] Translation: X:97.75, Y:-11.52, Z:-4.13 [[ 9.73683185e-01 2.26744428e-01 2.29786864e-02 9.77534999e+01] [-2.26700792e-01 9.73953958e-01 -4.52087678e-03 -1.15238982e+01] [-2.34052662e-02 -8.07384704e-04 9.99725733e-01 -4.13461481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters Centerline goodness [0,1] 0.9995919857409754 Centerline is valid? [True, True] Translation: X:97.78, Y:-11.53, Z:-4.14 [[ 9.73950872e-01 2.25582489e-01 2.30703261e-02 9.77814405e+01] [-2.25538218e-01 9.74223756e-01 -4.53720359e-03 -1.15321489e+01] [-2.34991734e-02 -7.84226844e-04 9.99723549e-01 -4.13557234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95264 meters Centerline goodness [0,1] 0.999869991982839 Centerline is valid? [True, True] Translation: X:97.81, Y:-11.54, Z:-4.13 [[ 9.74348906e-01 2.23792990e-01 2.36834812e-02 9.78092414e+01] [-2.23745837e-01 9.74636402e-01 -4.65656048e-03 -1.15380025e+01] [-2.41248885e-02 -7.61965697e-04 9.99708662e-01 -4.13470685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98264 meters Centerline goodness [0,1] 0.9999570234437114 Centerline is valid? [True, True] Translation: X:97.84, Y:-11.55, Z:-4.13 [[ 9.74819021e-01 2.21696768e-01 2.40503620e-02 9.78374577e+01] [-2.21647539e-01 9.75115389e-01 -4.72727996e-03 -1.15461381e+01] [-2.44999007e-02 -7.22461125e-04 9.99699571e-01 -4.13428394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01264 meters Centerline goodness [0,1] 0.9999354380528117 Centerline is valid? [True, True] Translation: X:97.87, Y:-11.55, Z:-4.13 [[ 9.75855595e-01 2.17016793e-01 2.46894662e-02 9.78668702e+01] [-2.16963455e-01 9.76167672e-01 -4.85133117e-03 -1.15543704e+01] [-2.51538791e-02 -6.22513217e-04 9.99683397e-01 -4.13429397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.89, Y:-11.56, Z:-4.13 [[ 9.76272065e-01 2.15069048e-01 2.52618035e-02 9.78949719e+01] [-2.15012536e-01 9.76598670e-01 -4.96457342e-03 -1.15598611e+01] [-2.57383698e-02 -5.84830079e-04 9.99668542e-01 -4.13401883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07264 meters Centerline goodness [0,1] 0.9999569873973074 Centerline is valid? [True, True] Translation: X:97.92, Y:-11.57, Z:-4.13 [[ 9.76783043e-01 2.12651503e-01 2.59658472e-02 9.79236999e+01] [-2.12590983e-01 9.77127960e-01 -5.10138525e-03 -1.15655605e+01] [-2.64567725e-02 -5.37158368e-04 9.99649814e-01 -4.13455516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264000000001 meters Centerline goodness [0,1] 0.9999783277707945 Centerline is valid? [True, True] Translation: X:97.95, Y:-11.57, Z:-4.13 [[ 9.76932008e-01 2.11931459e-01 2.62470770e-02 9.79520216e+01] [-2.11869383e-01 9.77284392e-01 -5.15581303e-03 -1.15714038e+01] [-2.67435376e-02 -5.24073229e-04 9.99642190e-01 -4.13496951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13264000000001 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:97.98, Y:-11.58, Z:-4.14 [[ 9.77088774e-01 2.11146925e-01 2.67301983e-02 9.79799828e+01] [-2.11082287e-01 9.77454200e-01 -5.24930923e-03 -1.15756330e+01] [-2.72359201e-02 -5.13230283e-04 9.99628902e-01 -4.13685190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264000000001 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:98.01, Y:-11.58, Z:-4.14 [[ 9.77380671e-01 2.09838672e-01 2.63582190e-02 9.80073557e+01] [-2.09775377e-01 9.77735910e-01 -5.17511473e-03 -1.15789630e+01] [-2.68573165e-02 -4.71248226e-04 9.99639166e-01 -4.13882100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19264000000001 meters Centerline goodness [0,1] 0.9999568602920558 Centerline is valid? [True, True] Translation: X:98.04, Y:-11.59, Z:-4.14 [[ 9.77619896e-01 2.08719916e-01 2.63692231e-02 9.80355912e+01] [-2.08656210e-01 9.77975358e-01 -5.17542492e-03 -1.15859015e+01] [-2.68686647e-02 -4.42503784e-04 9.99638874e-01 -4.14040642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:-11.59, Z:-4.14 [[ 9.78206170e-01 2.05879754e-01 2.69483817e-02 9.80625863e+01] [-2.05812175e-01 9.78577226e-01 -5.28785964e-03 -1.15913341e+01] [-2.74597359e-02 -3.73688136e-04 9.99622841e-01 -4.14099596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25264000000001 meters Centerline goodness [0,1] 0.9998921088406016 Centerline is valid? [True, True] Translation: X:98.09, Y:-11.60, Z:-4.14 [[ 9.78557400e-01 2.04225801e-01 2.67812744e-02 9.80909374e+01] [-2.04158485e-01 9.78923754e-01 -5.25334373e-03 -1.15975279e+01] [-2.72896939e-02 -3.26926024e-04 9.99627513e-01 -4.14269773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters Centerline goodness [0,1] 0.9999784110535406 Centerline is valid? [True, True] Translation: X:98.12, Y:-11.60, Z:-4.14 [[ 9.78924654e-01 2.02477687e-01 2.66328327e-02 9.81183564e+01] [-2.02410500e-01 9.79286837e-01 -5.22305793e-03 -1.16029513e+01] [-2.71387352e-02 -2.77784818e-04 9.99631638e-01 -4.14366513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31264 meters Centerline goodness [0,1] 0.999869966624767 Centerline is valid? [True, True] Translation: X:98.15, Y:-11.61, Z:-4.15 [[ 9.79363286e-01 2.00349532e-01 2.66011034e-02 9.81455782e+01] [-2.00281770e-01 9.79724459e-01 -5.21497124e-03 -1.16113210e+01] [-2.71065687e-02 -2.20364709e-04 9.99632525e-01 -4.14693946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.17, Y:-11.63, Z:-4.15 [[ 9.80225361e-01 1.96087249e-01 2.66088703e-02 9.81712749e+01] [-1.96017908e-01 9.80586447e-01 -5.21530465e-03 -1.16256457e+01] [-2.71149523e-02 -1.03641216e-04 9.99632317e-01 -4.14833096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.20, Y:-11.63, Z:-4.15 [[ 9.80621588e-01 1.94145699e-01 2.62440390e-02 9.81996240e+01] [-1.94077611e-01 9.80972703e-01 -5.14161376e-03 -1.16349017e+01] [-2.67429081e-02 -5.14029394e-05 9.99642343e-01 -4.14937083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:-11.64, Z:-4.15 [[ 9.81069481e-01 1.91864800e-01 2.62787374e-02 9.82271009e+01] [-1.91795731e-01 9.81421366e-01 -5.14773357e-03 -1.16427578e+01] [-2.67781832e-02 1.01346491e-05 9.99641400e-01 -4.15206780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43264 meters Centerline goodness [0,1] 0.9999566987096216 Centerline is valid? [True, True] Translation: X:98.26, Y:-11.65, Z:-4.15 [[ 9.81112451e-01 1.91589657e-01 2.66788670e-02 9.82564333e+01] [-1.91518385e-01 9.81475116e-01 -5.22542772e-03 -1.16486606e+01] [-2.71857820e-02 1.72386684e-05 9.99630398e-01 -4.15333197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264000000001 meters Centerline goodness [0,1] 0.9999351645739232 Centerline is valid? [True, True] Translation: X:98.29, Y:-11.65, Z:-4.15 [[ 9.81082838e-01 1.91849963e-01 2.58854529e-02 9.82855657e+01] [-1.91782975e-01 9.81424267e-01 -5.06941386e-03 -1.16540117e+01] [-2.63771785e-02 9.12579050e-06 9.99652062e-01 -4.15410242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:-11.66, Z:-4.16 [[ 9.80941922e-01 1.92637699e-01 2.53705124e-02 9.83135976e+01] [-1.92573624e-01 9.81269951e-01 -4.96812584e-03 -1.16587873e+01] [-2.58523697e-02 -1.22486040e-05 9.99665772e-01 -4.15561361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264000000001 meters Centerline goodness [0,1] 0.9998485635167879 Centerline is valid? [True, True] Translation: X:98.34, Y:-11.66, Z:-4.16 [[ 9.80524784e-01 1.94738056e-01 2.54604901e-02 9.83426528e+01] [-1.94674255e-01 9.80855282e-01 -4.98494548e-03 -1.16610526e+01] [-2.59438148e-02 -6.86393515e-05 9.99663400e-01 -4.15777828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.37, Y:-11.66, Z:-4.16 [[ 9.80240604e-01 1.96161991e-01 2.54721836e-02 9.83705524e+01] [-1.96098641e-01 9.80571498e-01 -4.98611799e-03 -1.16639113e+01] [-2.59553841e-02 -1.07465276e-04 9.99663096e-01 -4.15790153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:-11.67, Z:-4.16 [[ 9.79997824e-01 1.97367516e-01 2.55015528e-02 9.83997187e+01] [-1.97304475e-01 9.80329559e-01 -4.99003948e-03 -1.16670795e+01] [-2.59847977e-02 -1.41342653e-04 9.99662328e-01 -4.15936759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61264000000001 meters Centerline goodness [0,1] 0.99989122631453 Centerline is valid? [True, True] Translation: X:98.43, Y:-11.67, Z:-4.16 [[ 9.79612366e-01 1.99233064e-01 2.58030581e-02 9.84282769e+01] [-1.99169200e-01 9.79952115e-01 -5.04787214e-03 -1.16670410e+01] [-2.62914644e-02 -1.94216473e-04 9.99654301e-01 -4.16162868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264000000001 meters Centerline goodness [0,1] 0.9999130737134909 Centerline is valid? [True, True] Translation: X:98.46, Y:-11.67, Z:-4.16 [[ 9.79359290e-01 2.00392906e-01 2.64209258e-02 9.84574287e+01] [-2.00326421e-01 9.79715586e-01 -5.16681356e-03 -1.16699659e+01] [-2.69203856e-02 -2.32642647e-04 9.99637554e-01 -4.16082948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.49, Y:-11.67, Z:-4.16 [[ 9.79184509e-01 2.01128160e-01 2.72976142e-02 9.84853935e+01] [-2.01057510e-01 9.79564901e-01 -5.33699007e-03 -1.16708441e+01] [-2.78132038e-02 -2.62492334e-04 9.99613104e-01 -4.16264251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.51, Y:-11.67, Z:-4.16 [[ 9.78924702e-01 2.02238172e-01 2.83927704e-02 9.85144552e+01] [-2.02162272e-01 9.79336320e-01 -5.54875786e-03 -1.16742833e+01] [-2.89282419e-02 -3.08130859e-04 9.99581443e-01 -4.16191019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.54, Y:-11.68, Z:-4.16 [[ 9.78975686e-01 2.02039489e-01 2.80473123e-02 9.85429930e+01] [-2.01965382e-01 9.79377330e-01 -5.47992873e-03 -1.16810347e+01] [-2.85760639e-02 -2.99869166e-04 9.99591576e-01 -4.16247603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76264 meters Centerline goodness [0,1] 0.9998913681100223 Centerline is valid? [True, True] Translation: X:98.57, Y:-11.69, Z:-4.17 [[ 9.79434357e-01 1.99878878e-01 2.75095532e-02 9.85706197e+01] [-1.99806770e-01 9.79820585e-01 -5.37352784e-03 -1.16887337e+01] [-2.80284813e-02 -2.33577206e-04 9.99607098e-01 -4.16588745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.60, Y:-11.69, Z:-4.17 [[ 9.79880550e-01 1.97666819e-01 2.76031855e-02 9.85978485e+01] [-1.97593377e-01 9.80269248e-01 -5.39056821e-03 -1.16940572e+01] [-2.81240904e-02 -1.72093715e-04 9.99604425e-01 -4.16941262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.62, Y:-11.70, Z:-4.17 [[ 9.80426038e-01 1.94877286e-01 2.80646913e-02 9.86249221e+01] [-1.94800280e-01 9.80827627e-01 -5.47873343e-03 -1.17044286e+01] [-2.85943053e-02 -9.55168086e-05 9.99591095e-01 -4.16654681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.65, Y:-11.72, Z:-4.17 [[ 9.81086437e-01 1.91479351e-01 2.83735900e-02 9.86522297e+01] [-1.91399267e-01 9.81496642e-01 -5.53736574e-03 -1.17151202e+01] [-2.89088745e-02 1.95011185e-06 9.99582051e-01 -4.16900164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.68, Y:-11.73, Z:-4.17 [[ 9.82412427e-01 1.84656248e-01 2.77108993e-02 9.86793963e+01] [-1.84577193e-01 9.82803150e-01 -5.40631721e-03 -1.17349896e+01] [-2.82326694e-02 1.96433208e-04 9.99601359e-01 -4.17422859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.71, Y:-11.74, Z:-4.18 [[ 9.82416586e-01 1.84634142e-01 2.77107448e-02 9.87080091e+01] [-1.84555056e-01 9.82807303e-01 -5.40710897e-03 -1.17405241e+01] [-2.82326593e-02 1.97875469e-04 9.99601359e-01 -4.17544036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264000000001 meters Centerline goodness [0,1] 0.9998922088561204 Centerline is valid? [True, True] Translation: X:98.74, Y:-11.75, Z:-4.18 [[ 9.83304093e-01 1.79902481e-01 2.73524633e-02 9.87376545e+01] [-1.79823683e-01 9.83684396e-01 -5.33406270e-03 -1.17541491e+01] [-2.78658024e-02 3.26385016e-04 9.99611620e-01 -4.17718779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.77, Y:-11.76, Z:-4.18 [[ 9.83562443e-01 1.78600924e-01 2.65825280e-02 9.87670170e+01] [-1.78525912e-01 9.83921533e-01 -5.18808779e-03 -1.17648265e+01] [-2.70817190e-02 3.57138238e-04 9.99633159e-01 -4.17888854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264000000001 meters Centerline goodness [0,1] 0.9999354686054766 Centerline is valid? [True, True] Translation: X:98.80, Y:-11.77, Z:-4.18 [[ 9.83733482e-01 1.77608702e-01 2.68995280e-02 9.87975271e+01] [-1.77531403e-01 9.84101110e-01 -5.25419836e-03 -1.17744404e+01] [-2.74050467e-02 3.93219897e-04 9.99624334e-01 -4.17994864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.83, Y:-11.78, Z:-4.18 [[ 9.83593269e-01 1.78396938e-01 2.68106938e-02 9.88293141e+01] [-1.78320311e-01 9.83958532e-01 -5.24159533e-03 -1.17816980e+01] [-2.73156955e-02 3.74706614e-04 9.99626787e-01 -4.17985644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters Centerline goodness [0,1] 0.9998273182524607 Centerline is valid? [True, True] Translation: X:98.86, Y:-11.79, Z:-4.18 [[ 9.83123940e-01 1.80824718e-01 2.77441807e-02 9.88592747e+01] [-1.80743454e-01 9.83515285e-01 -5.43024975e-03 -1.17885220e+01] [-2.82687492e-02 3.24029491e-04 9.99600307e-01 -4.18226995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.89, Y:-11.79, Z:-4.18 [[ 9.82655725e-01 1.83308778e-01 2.80288918e-02 9.88917394e+01] [-1.83226791e-01 9.83055352e-01 -5.48790419e-03 -1.17927141e+01] [-2.85599331e-02 2.57076563e-04 9.99592049e-01 -4.18075093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-11.80, Z:-4.18 [[ 9.82624822e-01 1.83474498e-01 2.80279684e-02 9.89227739e+01] [-1.83392445e-01 9.83024436e-01 -5.49261546e-03 -1.17989455e+01] [-2.85599327e-02 2.57062655e-04 9.99592049e-01 -4.18206730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-11.80, Z:-4.18 [[ 9.81602077e-01 1.88905598e-01 2.77855594e-02 9.89542350e+01] [-1.88826931e-01 9.81995246e-01 -5.45218549e-03 -1.17976798e+01] [-2.83152356e-02 1.05214701e-04 9.99599038e-01 -4.18304421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18264 meters Centerline goodness [0,1] 0.9997846220116304 Centerline is valid? [True, True] Translation: X:98.98, Y:-11.80, Z:-4.19 [[ 9.81033676e-01 1.91790359e-01 2.80959922e-02 9.89833639e+01] [-1.91711111e-01 9.81435916e-01 -5.51290699e-03 -1.18008535e+01] [-2.86317382e-02 2.20335329e-05 9.99590028e-01 -4.18717825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.01, Y:-11.80, Z:-4.19 [[ 9.80437394e-01 1.94784648e-01 2.83100262e-02 9.90128583e+01] [-1.94705408e-01 9.80846031e-01 -5.55583614e-03 -1.18042088e+01] [-2.88499684e-02 -6.49657030e-05 9.99583751e-01 -4.18575049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-11.80, Z:-4.19 [[ 9.79433685e-01 1.99791539e-01 2.81602131e-02 9.90424798e+01] [-1.99715213e-01 9.79838403e-01 -5.52606631e-03 -1.18020945e+01] [-2.86965195e-02 -2.11607468e-04 9.99588148e-01 -4.18670276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-11.80, Z:-4.19 [[ 9.79087525e-01 2.01567318e-01 2.75360622e-02 9.90704948e+01] [-2.01495073e-01 9.79474629e-01 -5.40241032e-03 -1.18039418e+01] [-2.80598237e-02 -2.58948312e-04 9.99606212e-01 -4.19059066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:-11.81, Z:-4.19 [[ 9.78802643e-01 2.02988477e-01 2.72224972e-02 9.90987230e+01] [-2.02918469e-01 9.79181081e-01 -5.33907855e-03 -1.18095263e+01] [-2.77395257e-02 -2.98043263e-04 9.99615141e-01 -4.19071298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:-11.81, Z:-4.19 [[ 9.78545119e-01 2.04168969e-01 2.76492671e-02 9.91270546e+01] [-2.04097259e-01 9.78935605e-01 -5.42135066e-03 -1.18137011e+01] [-2.81737236e-02 -3.38103404e-04 9.99602985e-01 -4.19112323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:-11.81, Z:-4.19 [[ 9.78128669e-01 2.06026977e-01 2.85865589e-02 9.91550258e+01] [-2.05951161e-01 9.78546228e-01 -5.60354124e-03 -1.18130215e+01] [-2.91277501e-02 -4.06450674e-04 9.99575614e-01 -4.19222119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39264000000001 meters Centerline goodness [0,1] 0.9998283224961909 Centerline is valid? [True, True] Translation: X:99.18, Y:-11.82, Z:-4.19 [[ 9.78135602e-01 2.06057530e-01 2.81253962e-02 9.91828823e+01] [-2.05984187e-01 9.78539796e-01 -5.51200210e-03 -1.18192997e+01] [-2.86576090e-02 -4.01901355e-04 9.99589206e-01 -4.19464119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:-11.83, Z:-4.20 [[ 9.78288296e-01 2.05429125e-01 2.74022559e-02 9.92100718e+01] [-2.05359291e-01 9.78671924e-01 -5.36910995e-03 -1.18260768e+01] [-2.79207901e-02 -3.74770425e-04 9.99610068e-01 -4.19751228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:-11.83, Z:-4.20 [[ 9.78473366e-01 2.04535227e-01 2.74811259e-02 9.92378361e+01] [-2.04464688e-01 9.78859140e-01 -5.38277755e-03 -1.18306275e+01] [-2.80011189e-02 -3.52015372e-04 9.99607830e-01 -4.20053696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.27, Y:-11.84, Z:-4.20 [[ 9.78685230e-01 2.03594863e-01 2.69138025e-02 9.92660059e+01] [-2.03526903e-01 9.79055172e-01 -5.26977538e-03 -1.18397771e+01] [-2.74229967e-02 -3.20231536e-04 9.99623868e-01 -4.19934048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51264 meters Centerline goodness [0,1] 0.9998081023454157 Centerline is valid? [True, True] Translation: X:99.29, Y:-11.85, Z:-4.21 [[ 9.79441254e-01 2.00013816e-01 2.62545893e-02 9.92936074e+01] [-1.99947890e-01 9.79793053e-01 -5.13947872e-03 -1.18474438e+01] [-2.67520309e-02 -2.15732250e-04 9.99642077e-01 -4.20668217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-11.86, Z:-4.20 [[ 9.79846358e-01 1.97925831e-01 2.69533010e-02 9.93220958e+01] [-1.97855573e-01 9.80216986e-01 -5.27574935e-03 -1.18585910e+01] [-2.74642905e-02 -1.63437012e-04 9.99622772e-01 -4.20330189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.35, Y:-11.87, Z:-4.20 [[ 9.80304893e-01 1.95986681e-01 2.43215374e-02 9.93532612e+01] [-1.95712376e-01 9.80572347e-01 -1.32113094e-02 -1.18658086e+01] [-2.64382677e-02 8.19108536e-03 9.99616889e-01 -4.20134018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.38, Y:-11.89, Z:-4.20 [[ 9.81448470e-01 1.89499735e-01 2.91333485e-02 9.93795966e+01] [-1.89657783e-01 9.81846445e-01 2.73568858e-03 -1.18896278e+01] [-2.80860624e-02 -8.21030366e-03 9.99571790e-01 -4.20429366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.41, Y:-11.89, Z:-4.21 [[ 9.81850167e-01 1.87716800e-01 2.70675389e-02 9.94116189e+01] [-1.87642107e-01 9.82223187e-01 -5.29635568e-03 -1.18943347e+01] [-2.75805793e-02 1.21217670e-04 9.99619576e-01 -4.20629669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264000000001 meters Centerline goodness [0,1] 0.9999572494282111 Centerline is valid? [True, True] Translation: X:99.44, Y:-11.90, Z:-4.21 [[ 9.82239436e-01 1.85666647e-01 2.70847949e-02 9.94410309e+01] [-1.85590917e-01 9.82612773e-01 -5.30563003e-03 -1.19042701e+01] [-2.75989440e-02 1.84707137e-04 9.99619060e-01 -4.21085395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69264000000001 meters Centerline goodness [0,1] 0.9998083556918359 Centerline is valid? [True, True] Translation: X:99.47, Y:-11.92, Z:-4.21 [[ 9.82840099e-01 1.82401297e-01 2.74792158e-02 9.94706253e+01] [-1.82321993e-01 9.83224128e-01 -5.38555417e-03 -1.19176037e+01] [-2.80005600e-02 2.83073201e-04 9.99607867e-01 -4.21202945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264000000001 meters Centerline goodness [0,1] 0.9998292058070025 Centerline is valid? [True, True] Translation: X:99.50, Y:-11.93, Z:-4.21 [[ 9.83017898e-01 1.81424606e-01 2.75848680e-02 9.95001323e+01] [-1.81344251e-01 9.83404807e-01 -5.40822132e-03 -1.19273788e+01] [-2.81082762e-02 3.14021125e-04 9.99604835e-01 -4.21354735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75264000000001 meters Centerline goodness [0,1] 0.9998931509776685 Centerline is valid? [True, True] Translation: X:99.53, Y:-11.94, Z:-4.22 [[ 9.83080538e-01 1.81048012e-01 2.78257496e-02 9.95308771e+01] [-1.80965976e-01 9.83474203e-01 -5.45970266e-03 -1.19370104e+01] [-2.83543752e-02 3.31813496e-04 9.99597879e-01 -4.21551136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.56, Y:-11.95, Z:-4.21 [[ 9.82972404e-01 1.81634079e-01 2.78264959e-02 9.95628312e+01] [-1.81552136e-01 9.83366137e-01 -5.46466701e-03 -1.19454758e+01] [-2.83562035e-02 3.19657091e-04 9.99597831e-01 -4.21213032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.59, Y:-11.95, Z:-4.21 [[ 9.82803777e-01 1.82582217e-01 2.75766209e-02 9.95940879e+01] [-1.82501951e-01 9.83190545e-01 -5.42136509e-03 -1.19508690e+01] [-2.81029178e-02 2.95350973e-04 9.99604991e-01 -4.21395794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.62, Y:-11.96, Z:-4.22 [[ 9.82562402e-01 1.83870605e-01 2.76175034e-02 9.96243765e+01] [-1.83790450e-01 9.82950421e-01 -5.43505927e-03 -1.19565614e+01] [-2.81459843e-02 2.64451516e-04 9.99603788e-01 -4.21724307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.66, Y:-11.96, Z:-4.22 [[ 9.81971377e-01 1.86999213e-01 2.76316598e-02 9.96565855e+01] [-1.86920093e-01 9.82360047e-01 -5.44213287e-03 -1.19620148e+01] [-2.81619132e-02 1.79106301e-04 9.99603359e-01 -4.21621219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.69, Y:-11.97, Z:-4.22 [[ 9.81625644e-01 1.88870979e-01 2.71817510e-02 9.96875338e+01] [-1.88795003e-01 9.82001903e-01 -5.35816200e-03 -1.19690335e+01] [-2.77045325e-02 1.27930458e-04 9.99616148e-01 -4.22078591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93264 meters Centerline goodness [0,1] 0.9999573287817367 Centerline is valid? [True, True] Translation: X:99.72, Y:-11.97, Z:-4.22 [[ 9.80986905e-01 1.92272105e-01 2.63842705e-02 9.97183660e+01] [-1.92201555e-01 9.81341651e-01 -5.20826083e-03 -1.19717773e+01] [-2.68933869e-02 3.81378597e-05 9.99638307e-01 -4.22467452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:-11.98, Z:-4.22 [[ 9.80490929e-01 1.94776537e-01 2.64507001e-02 9.97495555e+01] [-1.94706525e-01 9.80847643e-01 -5.22201552e-03 -1.19761198e+01] [-2.69612329e-02 -2.99850452e-05 9.99636479e-01 -4.22411766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99264000000001 meters Centerline goodness [0,1] 0.999761315800894 Centerline is valid? [True, True] Translation: X:99.78, Y:-11.98, Z:-4.22 [[ 9.80089905e-01 1.96714554e-01 2.69659591e-02 9.97818398e+01] [-1.96642561e-01 9.80460798e-01 -5.32226876e-03 -1.19803810e+01] [-2.74860335e-02 -8.63533747e-05 9.99622184e-01 -4.22483957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264000000001 meters Centerline goodness [0,1] 0.9998499206723553 Centerline is valid? [True, True] Translation: X:99.81, Y:-11.98, Z:-4.23 [[ 9.79593818e-01 1.99068954e-01 2.77038309e-02 9.98119436e+01] [-1.98993697e-01 9.79985474e-01 -5.47533255e-03 -1.19831297e+01] [-2.82393205e-02 -1.49285809e-04 9.99601180e-01 -4.22608901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.84, Y:-11.98, Z:-4.22 [[ 9.78712103e-01 2.03111278e-01 2.94691250e-02 9.98425596e+01] [-2.03027927e-01 9.79155621e-01 -5.82506247e-03 -1.19841400e+01] [-3.00379953e-02 -2.81996229e-04 9.99548718e-01 -4.22215336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264000000001 meters Centerline goodness [0,1] 0.9998287781178434 Centerline is valid? [True, True] Translation: X:99.87, Y:-11.99, Z:-4.22 [[ 9.78468108e-01 2.04238422e-01 2.97796764e-02 9.98727199e+01] [-2.04153858e-01 9.78921123e-01 -5.88542500e-03 -1.19885314e+01] [-3.03539842e-02 -3.20935166e-04 9.99539160e-01 -4.22408697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.90, Y:-11.99, Z:-4.22 [[ 9.77851039e-01 2.06952219e-01 3.12749937e-02 9.99020421e+01] [-2.06860337e-01 9.78350958e-01 -6.18085943e-03 -1.19921953e+01] [-3.18770626e-02 -4.25595921e-04 9.99491707e-01 -4.22123624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.93, Y:-12.00, Z:-4.22 [[ 9.77668105e-01 2.07748800e-01 3.17098108e-02 9.99315583e+01] [-2.07654747e-01 9.78182103e-01 -6.26729042e-03 -1.19958885e+01] [-3.23199915e-02 -4.57362808e-04 9.99477468e-01 -4.22218731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-12.00, Z:-4.22 [[ 9.77522904e-01 2.08465060e-01 3.14847743e-02 9.99612012e+01] [-2.08372726e-01 9.78029698e-01 -6.22230991e-03 -1.20006826e+01] [-3.20901785e-02 -4.78117795e-04 9.99484863e-01 -4.22380356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters Centerline goodness [0,1] 0.9999366647666097 Centerline is valid? [True, True] Translation: X:99.99, Y:-12.00, Z:-4.23 [[ 9.77421392e-01 2.09116462e-01 3.02940304e-02 9.99905008e+01] [-2.09031282e-01 9.77890625e-01 -5.98737546e-03 -1.19982680e+01] [-3.08763071e-02 -4.80211148e-04 9.99523098e-01 -4.23076569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.02, Y:-12.01, Z:-4.23 [[ 9.77431275e-01 2.09082887e-01 3.02067667e-02 1.00019138e+02] [-2.08998219e-01 9.77897805e-01 -5.96887398e-03 -1.20089886e+01] [-3.07871202e-02 -4.78996328e-04 9.99525849e-01 -4.22896946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.05, Y:-12.01, Z:-4.23 [[ 9.77455498e-01 2.09000653e-01 2.99912659e-02 1.00047871e+02] [-2.08917169e-01 9.77915386e-01 -5.92567490e-03 -1.20123465e+01] [-3.05673903e-02 -4.73606867e-04 9.99532596e-01 -4.23172935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29264 meters Centerline goodness [0,1] 0.9998926854395604 Centerline is valid? [True, True] Translation: X:100.08, Y:-12.02, Z:-4.24 [[ 9.77569091e-01 2.08544317e-01 2.94608084e-02 1.00077144e+02] [-2.08463591e-01 9.78012813e-01 -5.81964094e-03 -1.20165918e+01] [-3.00267012e-02 -4.52404794e-04 9.99548995e-01 -4.23556824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:-12.02, Z:-4.24 [[ 9.77663553e-01 2.08241684e-01 2.84495538e-02 1.00106217e+02] [-2.08166288e-01 9.78077306e-01 -5.61951777e-03 -1.20192085e+01] [-2.89960808e-02 -4.28240304e-04 9.99579434e-01 -4.23675169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-12.02, Z:-4.24 [[ 9.77775953e-01 2.07783390e-01 2.79329420e-02 1.00134518e+02] [-2.07710559e-01 9.78174778e-01 -5.51613389e-03 -1.20235581e+01] [-2.84694603e-02 -4.08423922e-04 9.99594579e-01 -4.23957136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264000000001 meters Centerline goodness [0,1] 0.9998060512024826 Centerline is valid? [True, True] Translation: X:100.16, Y:-12.03, Z:-4.24 [[ 9.78037914e-01 2.06733111e-01 2.65190577e-02 1.00163288e+02] [-2.06667113e-01 9.78397307e-01 -5.23574962e-03 -1.20277148e+01] [-2.70285774e-02 -3.59855473e-04 9.99634596e-01 -4.24380082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:-12.03, Z:-4.24 [[ 9.78077343e-01 2.06578564e-01 2.62680008e-02 1.00191541e+02] [-2.06513788e-01 9.78429953e-01 -5.18490295e-03 -1.20334606e+01] [-2.67724886e-02 -3.53468254e-04 9.99641490e-01 -4.24231575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.22, Y:-12.04, Z:-4.24 [[ 9.78137890e-01 2.06228039e-01 2.67630969e-02 1.00219049e+02] [-2.06160702e-01 9.78503895e-01 -5.28138038e-03 -1.20363526e+01] [-2.72769633e-02 -3.51580578e-04 9.99627853e-01 -4.24358512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47264000000001 meters Centerline goodness [0,1] 0.9998289830907031 Centerline is valid? [True, True] Translation: X:100.25, Y:-12.04, Z:-4.25 [[ 9.78468011e-01 2.04487981e-01 2.80181420e-02 1.00247456e+02] [-2.04413520e-01 9.78869023e-01 -5.52711580e-03 -1.20368062e+01] [-2.85563200e-02 -3.19181035e-04 9.99592134e-01 -4.24568180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264000000001 meters Centerline goodness [0,1] 0.9998493068113321 Centerline is valid? [True, True] Translation: X:100.28, Y:-12.04, Z:-4.24 [[ 9.78726493e-01 2.03153144e-01 2.86923874e-02 1.00275789e+02] [-2.03074540e-01 9.79146933e-01 -5.65811414e-03 -1.20444582e+01] [-2.92435268e-02 -2.88947171e-04 9.99572275e-01 -4.24394971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:-12.05, Z:-4.24 [[ 9.79037863e-01 2.01498067e-01 2.97219124e-02 1.00303618e+02] [-2.01413016e-01 9.79488880e-01 -5.85921681e-03 -1.20503596e+01] [-3.02929035e-02 -2.49984907e-04 9.99541033e-01 -4.24376420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:-12.06, Z:-4.24 [[ 9.79421807e-01 1.99493520e-01 3.05820048e-02 1.00331869e+02] [-1.99402516e-01 9.79899126e-01 -6.02818229e-03 -1.20589540e+01] [-3.11698631e-02 -1.93995502e-04 9.99514083e-01 -4.24186223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:-12.07, Z:-4.24 [[ 9.80280814e-01 1.95156630e-01 3.10389268e-02 1.00360005e+02] [-1.95060749e-01 9.80772087e-01 -6.11700826e-03 -1.20687772e+01] [-3.16358877e-02 -5.80904651e-05 9.99499458e-01 -4.24255449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:-12.08, Z:-4.24 [[ 9.80750515e-01 1.92808442e-01 3.08760713e-02 1.00389726e+02] [-1.92712384e-01 9.81236416e-01 -6.08544676e-03 -1.20774336e+01] [-3.14700511e-02 1.81037345e-05 9.99504695e-01 -4.24421243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:-12.09, Z:-4.25 [[ 9.81225335e-01 1.90409119e-01 3.06791398e-02 1.00418668e+02] [-1.90313082e-01 9.81704822e-01 -6.04752739e-03 -1.20862103e+01] [-3.12693639e-02 9.53454370e-05 9.99510989e-01 -4.24628755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-12.10, Z:-4.25 [[ 9.82028234e-01 1.86382394e-01 2.97010327e-02 1.00447915e+02] [-1.86290581e-01 9.82477255e-01 -5.85343464e-03 -1.20993775e+01] [-3.02715662e-02 2.15215450e-04 9.99541688e-01 -4.24931147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.48, Y:-12.11, Z:-4.25 [[ 9.82376259e-01 1.84604528e-01 2.92925515e-02 1.00478352e+02] [-1.84514298e-01 9.82812848e-01 -5.77742608e-03 -1.21092043e+01] [-2.98556350e-02 2.70711637e-04 9.99554185e-01 -4.25078308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264000000001 meters Centerline goodness [0,1] 0.9998700961288647 Centerline is valid? [True, True] Translation: X:100.51, Y:-12.12, Z:-4.25 [[ 9.82838973e-01 1.82065825e-01 2.96578746e-02 1.00508159e+02] [-1.81972012e-01 9.83286280e-01 -5.85485092e-03 -1.21201036e+01] [-3.02281495e-02 3.57472547e-04 9.99542961e-01 -4.25268943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77264000000001 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:100.54, Y:-12.13, Z:-4.25 [[ 9.82995584e-01 1.81179960e-01 2.98915497e-02 1.00539025e+02] [-1.81084109e-01 9.83449881e-01 -5.90570437e-03 -1.21284142e+01] [-3.04668363e-02 3.92396649e-04 9.99535701e-01 -4.25383897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264000000001 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:100.57, Y:-12.13, Z:-4.26 [[ 9.82961739e-01 1.81363640e-01 2.98906381e-02 1.00570856e+02] [-1.81267733e-01 9.83416024e-01 -5.91031440e-03 -1.21349095e+01] [-3.04668486e-02 3.91404708e-04 9.99535701e-01 -4.25519002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:-12.15, Z:-4.26 [[ 9.83266044e-01 1.79839430e-01 2.90803373e-02 1.00601251e+02] [-1.79747818e-01 9.83695884e-01 -5.75580856e-03 -1.21469221e+01] [-2.96413294e-02 4.32363929e-04 9.99560506e-01 -4.25624244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264000000001 meters Centerline goodness [0,1] 0.9998925262773252 Centerline is valid? [True, True] Translation: X:100.63, Y:-12.15, Z:-4.26 [[ 9.83297982e-01 1.79738609e-01 2.86201103e-02 1.00631037e+02] [-1.79649689e-01 9.83714310e-01 -5.66963306e-03 -1.21546700e+01] [-2.91730641e-02 4.33344834e-04 9.99574282e-01 -4.25956333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:-12.16, Z:-4.26 [[ 9.83304116e-01 1.79670015e-01 2.88392402e-02 1.00662997e+02] [-1.79579577e-01 9.83726837e-01 -5.71715324e-03 -1.21628939e+01] [-2.93971356e-02 4.42761744e-04 9.99567713e-01 -4.25926322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.69, Y:-12.17, Z:-4.26 [[ 9.83260321e-01 1.79894412e-01 2.89334061e-02 1.00694054e+02] [-1.79803310e-01 9.83685826e-01 -5.74156518e-03 -1.21704439e+01] [-2.94942570e-02 4.43131037e-04 9.99564852e-01 -4.26083872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.73, Y:-12.18, Z:-4.26 [[ 9.83044202e-01 1.81109892e-01 2.86932615e-02 1.00725884e+02] [-1.81020664e-01 9.83462780e-01 -5.69900851e-03 -1.21758752e+01] [-2.92509015e-02 4.08304029e-04 9.99572017e-01 -4.25988059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98264 meters Centerline goodness [0,1] 0.9998075319176236 Centerline is valid? [True, True] Translation: X:100.76, Y:-12.18, Z:-4.26 [[ 9.82827934e-01 1.82311835e-01 2.84894184e-02 1.00756282e+02] [-1.82224224e-01 9.83240690e-01 -5.66374483e-03 -1.21840082e+01] [-2.90445231e-02 3.75024479e-04 9.99578048e-01 -4.26492868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01264 meters Centerline goodness [0,1] 0.9999349410131853 Centerline is valid? [True, True] Translation: X:100.79, Y:-12.19, Z:-4.27 [[ 9.82615044e-01 1.83588148e-01 2.76236640e-02 1.00789015e+02] [-1.83506179e-01 9.83003196e-01 -5.49543521e-03 -1.21893918e+01] [-2.81630468e-02 3.30784275e-04 9.99603288e-01 -4.26527860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04264 meters Centerline goodness [0,1] 0.9998706617805562 Centerline is valid? [True, True] Translation: X:100.82, Y:-12.20, Z:-4.27 [[ 9.82358471e-01 1.84986276e-01 2.74210224e-02 1.00819603e+02] [-1.84905853e-01 9.82741060e-01 -5.46214384e-03 -1.21956549e+01] [-2.79581863e-02 2.95475725e-04 9.99609050e-01 -4.26848594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07264 meters Centerline goodness [0,1] 0.9997852787082367 Centerline is valid? [True, True] Translation: X:100.85, Y:-12.20, Z:-4.27 [[ 9.81767662e-01 1.88081826e-01 2.75224263e-02 1.00849974e+02] [-1.88001964e-01 9.82153340e-01 -5.48440766e-03 -1.22011981e+01] [-2.80627603e-02 2.10143883e-04 9.99606141e-01 -4.27082967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.88, Y:-12.21, Z:-4.27 [[ 9.81558756e-01 1.89052329e-01 2.83129927e-02 1.00881641e+02] [-1.88968081e-01 9.81966995e-01 -5.64661910e-03 -1.22084925e+01] [-2.88699309e-02 1.92236515e-04 9.99583158e-01 -4.26739343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.91, Y:-12.22, Z:-4.27 [[ 9.81383117e-01 1.89888930e-01 2.87988317e-02 1.00912827e+02] [-1.89801974e-01 9.81805563e-01 -5.74866545e-03 -1.22158798e+01] [-2.93664611e-02 1.75568121e-04 9.99568697e-01 -4.26744405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264000000001 meters Centerline goodness [0,1] 0.9999145992570135 Centerline is valid? [True, True] Translation: X:100.94, Y:-12.22, Z:-4.27 [[ 9.81159573e-01 1.91150449e-01 2.80606077e-02 1.00943931e+02] [-1.91068277e-01 9.81560740e-01 -5.60598419e-03 -1.22245413e+01] [-2.86147773e-02 1.38873084e-04 9.99590504e-01 -4.27448093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19264000000001 meters Centerline goodness [0,1] 0.9999786561939725 Centerline is valid? [True, True] Translation: X:100.98, Y:-12.23, Z:-4.27 [[ 9.81126393e-01 1.91293328e-01 2.82464693e-02 1.00976469e+02] [-1.91209969e-01 9.81532905e-01 -5.64842767e-03 -1.22323298e+01] [-2.88053456e-02 1.40814941e-04 9.99585030e-01 -4.27243595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264000000001 meters Centerline goodness [0,1] 0.9998288843258042 Centerline is valid? [True, True] Translation: X:101.01, Y:-12.24, Z:-4.27 [[ 9.81032447e-01 1.91647565e-01 2.90955137e-02 1.01007562e+02] [-1.91559084e-01 9.81463800e-01 -5.82464429e-03 -1.22404856e+01] [-2.96724723e-02 1.40655096e-04 9.99559665e-01 -4.27323303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.04, Y:-12.25, Z:-4.27 [[ 9.81038103e-01 1.91475875e-01 3.00205016e-02 1.01037335e+02] [-1.91381400e-01 9.81497307e-01 -6.01625759e-03 -1.22500597e+01] [-3.06170097e-02 1.56812308e-04 9.99531177e-01 -4.27287317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.07, Y:-12.26, Z:-4.27 [[ 9.81030852e-01 1.91600214e-01 2.94588829e-02 1.01069284e+02] [-1.91509244e-01 9.81473043e-01 -5.90544505e-03 -1.22568451e+01] [-3.00445840e-02 1.51775383e-04 9.99548548e-01 -4.27266331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31264 meters Centerline goodness [0,1] 0.9998714625420425 Centerline is valid? [True, True] Translation: X:101.10, Y:-12.26, Z:-4.28 [[ 9.80586804e-01 1.93858872e-01 2.94661942e-02 1.01100329e+02] [-1.93768687e-01 9.81029423e-01 -5.91322273e-03 -1.22631196e+01] [-3.00535342e-02 8.88024269e-05 9.99548287e-01 -4.27678205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.13, Y:-12.27, Z:-4.28 [[ 9.80268710e-01 1.95483863e-01 2.93140967e-02 1.01131316e+02] [-1.95395182e-01 9.80706917e-01 -5.88775104e-03 -1.22700235e+01] [-2.98994977e-02 4.37448756e-05 9.99552909e-01 -4.27765893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37264 meters Centerline goodness [0,1] 0.9999362515937101 Centerline is valid? [True, True] Translation: X:101.16, Y:-12.27, Z:-4.28 [[ 9.79789391e-01 1.97959528e-01 2.87188709e-02 1.01164333e+02] [-1.97875320e-01 9.80210194e-01 -5.77350614e-03 -1.22748773e+01] [-2.92934505e-02 -2.59356832e-05 9.99570854e-01 -4.28212960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.20, Y:-12.27, Z:-4.28 [[ 9.78940163e-01 2.02301389e-01 2.73916868e-02 1.01196209e+02] [-2.02226282e-01 9.79323301e-01 -5.51391378e-03 -1.22747925e+01] [-2.79407896e-02 -1.41527318e-04 9.99609570e-01 -4.28300786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.23, Y:-12.28, Z:-4.28 [[ 9.78447621e-01 2.04663109e-01 2.74456853e-02 1.01227040e+02] [-2.04588605e-01 9.78832452e-01 -5.52577798e-03 -1.22768873e+01] [-2.79956503e-02 -2.08390156e-04 9.99608023e-01 -4.28329813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.26, Y:-12.28, Z:-4.28 [[ 9.77955305e-01 2.06954122e-01 2.78102865e-02 1.01256806e+02] [-2.06878554e-01 9.78350609e-01 -5.59905362e-03 -1.22783753e+01] [-2.83669579e-02 -2.77727670e-04 9.99597538e-01 -4.28419971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.29, Y:-12.28, Z:-4.29 [[ 9.77585046e-01 2.08696632e-01 2.78063558e-02 1.01286311e+02] [-2.08621770e-01 9.77980372e-01 -5.59899045e-03 -1.22804705e+01] [-2.83625606e-02 -3.27521814e-04 9.99597648e-01 -4.28525868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.32, Y:-12.28, Z:-4.29 [[ 9.77209808e-01 2.10523873e-01 2.72156174e-02 1.01316096e+02] [-2.10452895e-01 9.77588645e-01 -5.47898391e-03 -1.22845793e+01] [-2.77591355e-02 -3.73488670e-04 9.99614571e-01 -4.28519009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.34, Y:-12.29, Z:-4.29 [[ 9.77173274e-01 2.10650317e-01 2.75469956e-02 1.01344881e+02] [-2.10577638e-01 9.77561404e-01 -5.54613442e-03 -1.22894002e+01] [-2.80971747e-02 -3.81246937e-04 9.99605124e-01 -4.28744354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.37, Y:-12.29, Z:-4.29 [[ 9.77186984e-01 2.10545928e-01 2.78569656e-02 1.01372953e+02] [-2.10471566e-01 9.77583892e-01 -5.60838474e-03 -1.22938311e+01] [-2.84133434e-02 -3.82658614e-04 9.99596186e-01 -4.28882725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61264000000001 meters Centerline goodness [0,1] 0.9999360027305502 Centerline is valid? [True, True] Translation: X:101.40, Y:-12.30, Z:-4.29 [[ 9.77312403e-01 2.09894198e-01 2.83706270e-02 1.01401148e+02] [-2.09816815e-01 9.77724035e-01 -5.71106404e-03 -1.22971397e+01] [-2.89373631e-02 -3.71140873e-04 9.99581158e-01 -4.29128340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-12.30, Z:-4.29 [[ 9.77578342e-01 2.08693029e-01 2.80678708e-02 1.01429848e+02] [-2.08616827e-01 9.77981139e-01 -5.64896557e-03 -1.23036111e+01] [-2.86287480e-02 -3.33123768e-04 9.99590058e-01 -4.29026838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:-12.31, Z:-4.29 [[ 9.77795803e-01 2.07773396e-01 2.73053629e-02 1.01459370e+02] [-2.07700947e-01 9.78176940e-01 -5.49452529e-03 -1.23104101e+01] [-2.78510925e-02 -2.98825979e-04 9.99612038e-01 -4.29145013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.49, Y:-12.32, Z:-4.30 [[ 9.78231251e-01 2.05855296e-01 2.62148280e-02 1.01488642e+02] [-2.05787826e-01 9.78582415e-01 -5.27526533e-03 -1.23158632e+01] [-2.67393110e-02 -2.34263062e-04 9.99642413e-01 -4.29698704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.52, Y:-12.32, Z:-4.30 [[ 9.78548464e-01 2.04355468e-01 2.61102579e-02 1.01517799e+02] [-2.04288006e-01 9.78896729e-01 -5.25406877e-03 -1.23233513e+01] [-2.66329437e-02 -1.92651588e-04 9.99645262e-01 -4.29837335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.55, Y:-12.33, Z:-4.30 [[ 9.78882929e-01 2.02722335e-01 2.63033317e-02 1.01546215e+02] [-2.02653299e-01 9.79236249e-01 -5.29226774e-03 -1.23307782e+01] [-2.68300367e-02 -1.49946401e-04 9.99639999e-01 -4.29908391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79264 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:101.58, Y:-12.34, Z:-4.30 [[ 9.79473102e-01 1.99700817e-01 2.74230862e-02 1.01575289e+02] [-1.99624621e-01 9.79856917e-01 -5.51652450e-03 -1.23393489e+01] [-2.79723552e-02 -7.10358366e-05 9.99608695e-01 -4.29921818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.61, Y:-12.35, Z:-4.30 [[ 9.79847312e-01 1.97866250e-01 2.73530888e-02 1.01605741e+02] [-1.97789737e-01 9.80229028e-01 -5.50211689e-03 -1.23477524e+01] [-2.79009749e-02 -1.89257997e-05 9.99610692e-01 -4.29958650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.64, Y:-12.36, Z:-4.30 [[ 9.80150325e-01 1.96397402e-01 2.70813821e-02 1.01637320e+02] [-1.96321885e-01 9.80524380e-01 -5.44584352e-03 -1.23556308e+01] [-2.76235049e-02 2.10773042e-05 9.99618398e-01 -4.30044826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:-12.36, Z:-4.30 [[ 9.80444669e-01 1.94974226e-01 2.67077237e-02 1.01668557e+02] [-1.94900111e-01 9.80808364e-01 -5.37588520e-03 -1.23633826e+01] [-2.72433179e-02 6.54196739e-05 9.99628830e-01 -4.30206102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.70, Y:-12.37, Z:-4.30 [[ 9.81034474e-01 1.92027393e-01 2.63977577e-02 1.01699589e+02] [-1.91953797e-01 9.81389555e-01 -5.31807219e-03 -1.23728046e+01] [-2.69276992e-02 1.50062334e-04 9.99637372e-01 -4.30390123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.73, Y:-12.38, Z:-4.31 [[ 9.81263323e-01 1.90821152e-01 2.66379340e-02 1.01730933e+02] [-1.90745639e-01 9.81624802e-01 -5.37110727e-03 -1.23816486e+01] [-2.71733775e-02 1.89400816e-04 9.99630718e-01 -4.30528488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97264000000001 meters Centerline goodness [0,1] 0.9999787011991225 Centerline is valid? [True, True] Translation: X:101.76, Y:-12.39, Z:-4.31 [[ 9.81443714e-01 1.89801821e-01 2.72672956e-02 1.01761455e+02] [-1.89722153e-01 9.81822396e-01 -5.50343506e-03 -1.23911044e+01] [-2.78162035e-02 2.28101720e-04 9.99613029e-01 -4.30860604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264000000001 meters Centerline goodness [0,1] 0.9999356043531458 Centerline is valid? [True, True] Translation: X:101.79, Y:-12.40, Z:-4.31 [[ 9.81481657e-01 1.89571188e-01 2.75049294e-02 1.01793844e+02] [-1.89489891e-01 9.81866949e-01 -5.55653638e-03 -1.23956930e+01] [-2.80595404e-02 2.41732470e-04 9.99606224e-01 -4.30787645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.82, Y:-12.40, Z:-4.31 [[ 9.81821418e-01 1.87869479e-01 2.70510857e-02 1.01823636e+02] [-1.87790034e-01 9.82193959e-01 -5.47077253e-03 -1.24047855e+01] [-2.75972041e-02 2.91397357e-04 9.99619082e-01 -4.31047750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.86, Y:-12.41, Z:-4.31 [[ 9.81833672e-01 1.87812363e-01 2.70029041e-02 1.01856161e+02] [-1.87733068e-01 9.82204881e-01 -5.46505992e-03 -1.24125538e+01] [-2.75487900e-02 2.96441811e-04 9.99620416e-01 -4.31196892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.89, Y:-12.42, Z:-4.31 [[ 9.81777903e-01 1.88040893e-01 2.74366708e-02 1.01887913e+02] [-1.87958958e-01 9.82161154e-01 -5.55855484e-03 -1.24185205e+01] [-2.79924679e-02 3.00298261e-04 9.99608089e-01 -4.31113041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.92, Y:-12.42, Z:-4.31 [[ 9.81600382e-01 1.88969707e-01 2.74069482e-02 1.01919414e+02] [-1.88888180e-01 9.81982878e-01 -5.55725653e-03 -1.24238362e+01] [-2.79633070e-02 2.78156582e-04 9.99608912e-01 -4.31240961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.95, Y:-12.43, Z:-4.31 [[ 9.81572429e-01 1.89061381e-01 2.77733843e-02 1.01951333e+02] [-1.88977569e-01 9.81965230e-01 -5.63601816e-03 -1.24305945e+01] [-2.83380511e-02 2.83613388e-04 9.99598357e-01 -4.31208739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.98, Y:-12.44, Z:-4.31 [[ 9.81594516e-01 1.88787920e-01 2.88327655e-02 1.01981165e+02] [-1.88697274e-01 9.82017834e-01 -5.85773702e-03 -1.24395044e+01] [-2.94201599e-02 3.09258283e-04 9.99567086e-01 -4.31210654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.01, Y:-12.45, Z:-4.31 [[ 9.81789946e-01 1.87697373e-01 2.92950070e-02 1.02011525e+02] [-1.87603161e-01 9.82226843e-01 -5.95667101e-03 -1.24488184e+01] [-2.98923938e-02 3.52363781e-04 9.99553060e-01 -4.31348646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.04, Y:-12.46, Z:-4.31 [[ 9.81947775e-01 1.86981326e-01 2.85753396e-02 1.02043026e+02] [-1.86891260e-01 9.82363399e-01 -5.81459782e-03 -1.24559201e+01] [-2.91585890e-02 3.69150163e-04 9.99574730e-01 -4.31488386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.07, Y:-12.47, Z:-4.32 [[ 9.82106242e-01 1.86194228e-01 2.82672748e-02 1.02072553e+02] [-1.86105621e-01 9.82512878e-01 -5.75700947e-03 -1.24665784e+01] [-2.88448835e-02 3.93296200e-04 9.99583822e-01 -4.31802168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.10, Y:-12.48, Z:-4.32 [[ 9.82259717e-01 1.85367607e-01 2.83672233e-02 1.02103779e+02] [-1.85277896e-01 9.82669156e-01 -5.78190281e-03 -1.24762164e+01] [-2.89473729e-02 4.23510760e-04 9.99580847e-01 -4.31859408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33264000000001 meters Centerline goodness [0,1] 0.9997215797138697 Centerline is valid? [True, True] Translation: X:102.14, Y:-12.49, Z:-4.32 [[ 9.82343271e-01 1.84874916e-01 2.86873338e-02 1.02135422e+02] [-1.84782816e-01 9.82761957e-01 -5.85199794e-03 -1.24867853e+01] [-2.92747080e-02 4.47744460e-04 9.99571304e-01 -4.32232454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.17, Y:-12.50, Z:-4.32 [[ 9.82748733e-01 1.82793758e-01 2.81313136e-02 1.02165989e+02] [-1.82704175e-01 9.83151151e-01 -5.74438291e-03 -1.25000744e+01] [-2.87073707e-02 5.05576571e-04 9.99587731e-01 -4.32036251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39264000000001 meters Centerline goodness [0,1] 0.9999570557416474 Centerline is valid? [True, True] Translation: X:102.20, Y:-12.51, Z:-4.32 [[ 9.82737632e-01 1.82844139e-01 2.81916203e-02 1.02196101e+02] [-1.82754050e-01 9.83141781e-01 -5.76161876e-03 -1.25100931e+01] [-2.87698380e-02 5.10026782e-04 9.99585932e-01 -4.32426347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.23, Y:-12.52, Z:-4.32 [[ 9.82875897e-01 1.82241437e-01 2.72585594e-02 1.02226150e+02] [-1.82156810e-01 9.83253676e-01 -5.57712102e-03 -1.25212616e+01] [-2.78184613e-02 5.16285581e-04 9.99612858e-01 -4.32393268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45264 meters Centerline goodness [0,1] 0.9999352401511064 Centerline is valid? [True, True] Translation: X:102.26, Y:-12.53, Z:-4.33 [[ 9.82725230e-01 1.83049364e-01 2.72773260e-02 1.02255754e+02] [-1.82964884e-01 9.83103598e-01 -5.58270053e-03 -1.25298639e+01] [-2.78383472e-02 4.95467867e-04 9.99612315e-01 -4.32763613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.29, Y:-12.54, Z:-4.33 [[ 9.82643645e-01 1.83456047e-01 2.74835515e-02 1.02286118e+02] [-1.83370315e-01 9.83027790e-01 -5.62950009e-03 -1.25393442e+01] [-2.80498608e-02 4.92124999e-04 9.99606404e-01 -4.32848088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51264 meters Centerline goodness [0,1] 0.999978557337679 Centerline is valid? [True, True] Translation: X:102.32, Y:-12.55, Z:-4.33 [[ 9.82494196e-01 1.84271924e-01 2.73680928e-02 1.02317341e+02] [-1.84187089e-01 9.82875188e-01 -5.61074482e-03 -1.25464486e+01] [-2.79333221e-02 4.71674876e-04 9.99609677e-01 -4.33000248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54264 meters Centerline goodness [0,1] 0.9998922274432038 Centerline is valid? [True, True] Translation: X:102.35, Y:-12.55, Z:-4.33 [[ 9.82214166e-01 1.85745301e-01 2.74593306e-02 1.02348632e+02] [-1.85660343e-01 9.82597829e-01 -5.63415546e-03 -1.25526657e+01] [-2.80279966e-02 4.35838560e-04 9.99607044e-01 -4.33217185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57264 meters Centerline goodness [0,1] 0.9999130302437328 Centerline is valid? [True, True] Translation: X:102.38, Y:-12.56, Z:-4.33 [[ 9.81651500e-01 1.88768565e-01 2.69585214e-02 1.02379945e+02] [-1.88687690e-01 9.82021541e-01 -5.53603358e-03 -1.25604165e+01] [-2.75188778e-02 3.47714538e-04 9.99621223e-01 -4.33270595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264000000001 meters Centerline goodness [0,1] 0.999760812368175 Centerline is valid? [True, True] Translation: X:102.41, Y:-12.57, Z:-4.34 [[ 9.81214274e-01 1.91051357e-01 2.67941649e-02 1.02410253e+02] [-1.90972154e-01 9.81580000e-01 -5.50819334e-03 -1.25660223e+01] [-2.73529642e-02 2.87778559e-04 9.99625796e-01 -4.33509988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.44, Y:-12.57, Z:-4.34 [[ 9.80737366e-01 1.93537137e-01 2.64120421e-02 1.02441184e+02] [-1.93461005e-01 9.81092926e-01 -5.43233986e-03 -1.25715167e+01] [-2.69640272e-02 2.17998465e-04 9.99636381e-01 -4.33519452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264000000001 meters Centerline goodness [0,1] 0.9998480144169182 Centerline is valid? [True, True] Translation: X:102.47, Y:-12.57, Z:-4.34 [[ 9.79470094e-01 1.99953479e-01 2.56308813e-02 1.02473699e+02] [-1.99883941e-01 9.79805391e-01 -5.27307339e-03 -1.25727150e+01] [-2.61676450e-02 4.16161174e-05 9.99657568e-01 -4.34025216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.51, Y:-12.58, Z:-4.34 [[ 9.78821626e-01 2.03076909e-01 2.58455760e-02 1.02505501e+02] [-2.03007171e-01 9.79162789e-01 -5.32172388e-03 -1.25764634e+01] [-2.63877455e-02 -3.78188597e-05 9.99651782e-01 -4.34050240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.54, Y:-12.58, Z:-4.34 [[ 9.78783968e-01 2.03258456e-01 2.58446087e-02 1.02537270e+02] [-2.03188658e-01 9.79125119e-01 -5.32641628e-03 -1.25832166e+01] [-2.63877447e-02 -3.79204836e-05 9.99651782e-01 -4.34185343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.57, Y:-12.59, Z:-4.34 [[ 9.78100698e-01 2.06455653e-01 2.63645280e-02 1.02570281e+02] [-2.06384040e-01 9.78455951e-01 -5.43868858e-03 -1.25868660e+01] [-2.69193774e-02 -1.21632715e-04 9.99637600e-01 -4.34050093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.60, Y:-12.59, Z:-4.34 [[ 9.76939640e-01 2.11786909e-01 2.71154058e-02 1.02601804e+02] [-2.11712983e-01 9.77315831e-01 -5.60172546e-03 -1.25859618e+01] [-2.76866875e-02 -2.68135804e-04 9.99616614e-01 -4.34162297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.63, Y:-12.59, Z:-4.34 [[ 9.76440217e-01 2.14092521e-01 2.69980358e-02 1.02633709e+02] [-2.14020153e-01 9.76813330e-01 -5.57609491e-03 -1.25902035e+01] [-2.75658414e-02 -3.33400431e-04 9.99619934e-01 -4.34224086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.67, Y:-12.59, Z:-4.34 [[ 9.75969387e-01 2.16270637e-01 2.66602221e-02 1.02665163e+02] [-2.16200750e-01 9.76333377e-01 -5.51111292e-03 -1.25933874e+01] [-2.72211566e-02 -3.85282515e-04 9.99629361e-01 -4.34492391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87264 meters Centerline goodness [0,1] 0.999978438052525 Centerline is valid? [True, True] Translation: X:102.70, Y:-12.60, Z:-4.35 [[ 9.75301143e-01 2.19358656e-01 2.58739388e-02 1.02695988e+02] [-2.19293753e-01 9.75644185e-01 -5.35479872e-03 -1.25959487e+01] [-2.64183794e-02 -4.51451827e-04 9.99650872e-01 -4.34723898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.73, Y:-12.60, Z:-4.35 [[ 9.75066119e-01 2.20422867e-01 2.56870317e-02 1.02725355e+02] [-2.20359249e-01 9.75404292e-01 -5.31679597e-03 -1.25998644e+01] [-2.62271844e-02 -4.76147399e-04 9.99655895e-01 -4.34927014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93264 meters Centerline goodness [0,1] 0.9999783671526846 Centerline is valid? [True, True] Translation: X:102.76, Y:-12.61, Z:-4.35 [[ 9.74933219e-01 2.21078348e-01 2.50914720e-02 1.02755983e+02] [-2.21017886e-01 9.75255931e-01 -5.19264447e-03 -1.26069971e+01] [-2.56185881e-02 -4.83182493e-04 9.99671673e-01 -4.34950526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264000000001 meters Centerline goodness [0,1] 0.9999355199243434 Centerline is valid? [True, True] Translation: X:102.79, Y:-12.61, Z:-4.35 [[ 9.74755008e-01 2.21781131e-01 2.58031668e-02 1.02785479e+02] [-2.21717413e-01 9.75096336e-01 -5.34078693e-03 -1.26074376e+01] [-2.63450592e-02 -5.15052590e-04 9.99652776e-01 -4.35101137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99264000000001 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:102.81, Y:-12.61, Z:-4.35 [[ 9.74711736e-01 2.21883305e-01 2.65486655e-02 1.02814643e+02] [-2.21815865e-01 9.75073082e-01 -5.49599820e-03 -1.26115136e+01] [-2.71063593e-02 -5.31901256e-04 9.99632414e-01 -4.35056580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264000000001 meters Centerline goodness [0,1] 0.9998261134175234 Centerline is valid? [True, True] Translation: X:102.84, Y:-12.62, Z:-4.35 [[ 9.74646571e-01 2.22200075e-01 2.62904606e-02 1.02844148e+02] [-2.22134082e-01 9.75000943e-01 -5.44157011e-03 -1.26174697e+01] [-2.68423412e-02 -5.36399686e-04 9.99639536e-01 -4.35141314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05264000000001 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:102.87, Y:-12.62, Z:-4.35 [[ 9.74740994e-01 2.21703796e-01 2.69707562e-02 1.02874379e+02] [-2.21634153e-01 9.75113911e-01 -5.58237692e-03 -1.26232035e+01] [-2.75371937e-02 -5.36269065e-04 9.99620636e-01 -4.34992185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.91, Y:-12.63, Z:-4.35 [[ 9.74853643e-01 2.21292810e-01 2.62653043e-02 1.02905268e+02] [-2.21226624e-01 9.75207276e-01 -5.43599644e-03 -1.26277186e+01] [-2.68170628e-02 -5.11283668e-04 9.99640227e-01 -4.35129410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11264000000001 meters Centerline goodness [0,1] 0.9998717674716819 Centerline is valid? [True, True] Translation: X:102.93, Y:-12.63, Z:-4.35 [[ 9.74829645e-01 2.21457458e-01 2.57635053e-02 1.02934508e+02] [-2.21393803e-01 9.75169903e-01 -5.33334683e-03 -1.26312461e+01] [-2.63049044e-02 -5.04775819e-04 9.99653839e-01 -4.35449557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.96, Y:-12.63, Z:-4.35 [[ 9.74958858e-01 2.20854722e-01 2.60464240e-02 1.02964189e+02] [-2.20789450e-01 9.75306592e-01 -5.39176340e-03 -1.26329352e+01] [-2.65940454e-02 -4.94028137e-04 9.99646194e-01 -4.35335222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:102.99, Y:-12.64, Z:-4.36 [[ 9.75082335e-01 2.20354204e-01 2.56605572e-02 1.02992458e+02] [-2.20290690e-01 9.75419807e-01 -5.31143776e-03 -1.26359386e+01] [-2.62002134e-02 -4.73692725e-04 9.99656603e-01 -4.35532251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters Centerline goodness [0,1] 0.9999352457424076 Centerline is valid? [True, True] Translation: X:103.02, Y:-12.64, Z:-4.36 [[ 9.75302257e-01 2.19494217e-01 2.46535097e-02 1.03021971e+02] [-2.19435344e-01 9.75613704e-01 -5.10191832e-03 -1.26405775e+01] [-2.51721435e-02 -4.33938922e-04 9.99683037e-01 -4.35784201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23264 meters Centerline goodness [0,1] 0.9997651529708149 Centerline is valid? [True, True] Translation: X:103.05, Y:-12.64, Z:-4.36 [[ 9.75462567e-01 2.18802423e-01 2.44597610e-02 1.03050919e+02] [-2.18744264e-01 9.75769096e-01 -5.06140993e-03 -1.26420656e+01] [-2.49745276e-02 -4.13216503e-04 9.99688002e-01 -4.36222437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26264 meters Centerline goodness [0,1] 0.9999358864763207 Centerline is valid? [True, True] Translation: X:103.08, Y:-12.64, Z:-4.36 [[ 9.75995543e-01 2.16427365e-01 2.43289072e-02 1.03079103e+02] [-2.16369103e-01 9.76298659e-01 -5.03378887e-03 -1.26449384e+01] [-2.48417292e-02 -3.51068337e-04 9.99691335e-01 -4.36201602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29264 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:103.11, Y:-12.65, Z:-4.36 [[ 9.76371029e-01 2.14759170e-01 2.40439938e-02 1.03107721e+02] [-2.14701808e-01 9.76666988e-01 -4.97281053e-03 -1.26523802e+01] [-2.45509317e-02 -3.06980803e-04 9.99698533e-01 -4.36153208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32264 meters Centerline goodness [0,1] 0.9998707342295761 Centerline is valid? [True, True] Translation: X:103.14, Y:-12.66, Z:-4.36 [[ 9.76800792e-01 2.12904686e-01 2.30609411e-02 1.03137118e+02] [-2.12851415e-01 9.77072941e-01 -4.76894955e-03 -1.26578665e+01] [-2.35475533e-02 -2.50240259e-04 9.99722687e-01 -4.36489058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35264000000001 meters Centerline goodness [0,1] 0.9999139044339217 Centerline is valid? [True, True] Translation: X:103.17, Y:-12.66, Z:-4.37 [[ 9.77631552e-01 2.09129185e-01 2.23949349e-02 1.03165830e+02] [-2.09077968e-01 9.77888010e-01 -4.63067602e-03 -1.26625060e+01] [-2.28681479e-02 -1.55192506e-04 9.99738478e-01 -4.36746855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.19, Y:-12.67, Z:-4.37 [[ 9.78115569e-01 2.06801221e-01 2.28733423e-02 1.03194572e+02] [-2.06747170e-01 9.78382974e-01 -4.72899813e-03 -1.26693835e+01] [-2.33568513e-02 -1.03492097e-04 9.99727186e-01 -4.36668503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.22, Y:-12.68, Z:-4.37 [[ 9.78640833e-01 2.04197374e-01 2.37813392e-02 1.03222292e+02] [-2.04138188e-01 9.78929737e-01 -4.91628654e-03 -1.26764452e+01] [-2.42841529e-02 -4.34007343e-05 9.99705096e-01 -4.36748193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.25, Y:-12.69, Z:-4.37 [[ 9.79704849e-01 1.98992587e-01 2.40906338e-02 1.03249927e+02] [-1.98930309e-01 9.80000991e-01 -4.97886027e-03 -1.26872883e+01] [-2.45996013e-02 8.54563326e-05 9.99697380e-01 -4.36841700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.28, Y:-12.70, Z:-4.37 [[ 9.80246787e-01 1.96330704e-01 2.38849608e-02 1.03279710e+02] [-1.96268717e-01 9.80537726e-01 -4.93542113e-03 -1.26960519e+01] [-2.43890799e-02 1.50060079e-04 9.99702531e-01 -4.36830962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.31, Y:-12.70, Z:-4.37 [[ 9.80739690e-01 1.93811466e-01 2.42234675e-02 1.03309860e+02] [-1.93746926e-01 9.81038770e-01 -5.00600281e-03 -1.27049674e+01] [-2.47343815e-02 2.16363280e-04 9.99694035e-01 -4.36915152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.34, Y:-12.72, Z:-4.37 [[ 9.81194306e-01 1.91517158e-01 2.40605916e-02 1.03338972e+02] [-1.91452803e-01 9.81489228e-01 -4.97189943e-03 -1.27152091e+01] [-2.45674156e-02 2.71931701e-04 9.99698139e-01 -4.37266761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters Centerline goodness [0,1] 0.9999346789470246 Centerline is valid? [True, True] Translation: X:103.37, Y:-12.73, Z:-4.37 [[ 9.82058870e-01 1.87084355e-01 2.36605052e-02 1.03369153e+02] [-1.87020819e-01 9.82343780e-01 -4.88992520e-03 -1.27251627e+01] [-2.41575786e-02 3.77187341e-04 9.99708092e-01 -4.37253015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.40, Y:-12.73, Z:-4.37 [[ 9.82381593e-01 1.85267263e-01 2.45447916e-02 1.03399950e+02] [-1.85198217e-01 9.82688072e-01 -5.07685831e-03 -1.27348162e+01] [-2.50604496e-02 4.41760507e-04 9.99685840e-01 -4.37156243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62264 meters Centerline goodness [0,1] 0.9997626701762713 Centerline is valid? [True, True] Translation: X:103.43, Y:-12.75, Z:-4.38 [[ 9.82636118e-01 1.83929157e-01 2.44197571e-02 1.03429170e+02] [-1.83860257e-01 9.82939386e-01 -5.05671818e-03 -1.27452361e+01] [-2.49332189e-02 4.79091119e-04 9.99689004e-01 -4.37546708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.46, Y:-12.75, Z:-4.37 [[ 9.82857190e-01 1.82678863e-01 2.49033414e-02 1.03460856e+02] [-1.82606778e-01 9.83172498e-01 -5.15790341e-03 -1.27512827e+01] [-2.54265203e-02 5.21963519e-04 9.99676558e-01 -4.37224876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68264 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:103.49, Y:-12.76, Z:-4.38 [[ 9.83029327e-01 1.81817578e-01 2.44071907e-02 1.03490439e+02] [-1.81747963e-01 9.83332131e-01 -5.05948882e-03 -1.27628679e+01] [-2.49202788e-02 5.37668697e-04 9.99689297e-01 -4.37575393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.52, Y:-12.77, Z:-4.38 [[ 9.82968055e-01 1.82260778e-01 2.35544258e-02 1.03521562e+02] [-1.82195974e-01 9.83250094e-01 -4.88675159e-03 -1.27709295e+01] [-2.40505545e-02 5.11999147e-04 9.99710612e-01 -4.37820490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264000000001 meters Centerline goodness [0,1] 0.9997855457859747 Centerline is valid? [True, True] Translation: X:103.55, Y:-12.78, Z:-4.38 [[ 9.82813039e-01 1.83226402e-01 2.25081344e-02 1.03551870e+02] [-1.83167374e-01 9.83070630e-01 -4.67436274e-03 -1.27812946e+01] [-2.29835525e-02 4.71268776e-04 9.99735732e-01 -4.38437051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77264000000001 meters Centerline goodness [0,1] 0.9998917491177554 Centerline is valid? [True, True] Translation: X:103.58, Y:-12.79, Z:-4.38 [[ 9.82550071e-01 1.84665958e-01 2.22225349e-02 1.03584135e+02] [-1.84608745e-01 9.82801249e-01 -4.61688622e-03 -1.27862473e+01] [-2.26929168e-02 4.33847617e-04 9.99742388e-01 -4.38399180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264000000001 meters Centerline goodness [0,1] 0.9998708260672996 Centerline is valid? [True, True] Translation: X:103.61, Y:-12.79, Z:-4.38 [[ 9.81686205e-01 1.89150339e-01 2.26791532e-02 1.03614423e+02] [-1.89091779e-01 9.81948079e-01 -4.71894430e-03 -1.27885206e+01] [-2.31623408e-02 3.44081111e-04 9.99731658e-01 -4.38453266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83264000000001 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:103.65, Y:-12.79, Z:-4.38 [[ 9.81114255e-01 1.92045821e-01 2.30915961e-02 1.03647015e+02] [-1.91985926e-01 9.81385920e-01 -4.80418305e-03 -1.27923696e+01] [-2.35843905e-02 2.80191021e-04 9.99721810e-01 -4.38499633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.68, Y:-12.80, Z:-4.39 [[ 9.80421976e-01 1.95477682e-01 2.36901688e-02 1.03679592e+02] [-1.95415604e-01 9.80708129e-01 -4.93028069e-03 -1.27954951e+01] [-2.41969009e-02 2.04326901e-04 9.99707191e-01 -4.38554808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.71, Y:-12.79, Z:-4.39 [[ 9.78976311e-01 2.02590013e-01 2.37206356e-02 1.03711692e+02] [-2.02529802e-01 9.79263645e-01 -4.93898668e-03 -1.27935932e+01] [-2.42293454e-02 3.10153405e-05 9.99706426e-01 -4.38643446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.74, Y:-12.80, Z:-4.39 [[ 9.78262861e-01 2.06025141e-01 2.35672666e-02 1.03741593e+02] [-2.05966695e-01 9.78546697e-01 -4.90736839e-03 -1.27951315e+01] [-2.40727121e-02 -5.33757638e-05 9.99710209e-01 -4.39005013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.77, Y:-12.80, Z:-4.39 [[ 9.77584022e-01 2.09162242e-01 2.40963979e-02 1.03771146e+02] [-2.09102070e-01 9.77880943e-01 -5.01847228e-03 -1.27973230e+01] [-2.46130832e-02 -1.32628367e-04 9.99697043e-01 -4.38849408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.80, Y:-12.79, Z:-4.39 [[ 9.76442189e-01 2.14281136e-01 2.53819931e-02 1.03800492e+02] [-2.14216103e-01 9.76771989e-01 -5.28609223e-03 -1.27949055e+01] [-2.59251298e-02 -2.75668179e-04 9.99663849e-01 -4.38924452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:103.83, Y:-12.80, Z:-4.39 [[ 9.76086172e-01 2.15925147e-01 2.51418999e-02 1.03829019e+02] [-2.15861929e-01 9.76409868e-01 -5.23430217e-03 -1.27983090e+01] [-2.56790166e-02 -3.18049042e-04 9.99670189e-01 -4.38992664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04264 meters Centerline goodness [0,1] 0.9998919012409737 Centerline is valid? [True, True] Translation: X:103.86, Y:-12.80, Z:-4.39 [[ 9.75930722e-01 2.16754533e-01 2.40145547e-02 1.03856976e+02] [-2.16697130e-01 9.76226084e-01 -4.99869811e-03 -1.28021351e+01] [-2.45271252e-02 -3.25502038e-04 9.99699112e-01 -4.39418555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07264 meters Centerline goodness [0,1] 0.9999571394895314 Centerline is valid? [True, True] Translation: X:103.88, Y:-12.81, Z:-4.40 [[ 9.75844776e-01 2.17128736e-01 2.41264433e-02 1.03884267e+02] [-2.17070950e-01 9.76142919e-01 -5.02047208e-03 -1.28067427e+01] [-2.46409455e-02 -3.37948503e-04 9.99696309e-01 -4.39571037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264000000001 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:103.91, Y:-12.82, Z:-4.40 [[ 9.75972113e-01 2.16611706e-01 2.36178797e-02 1.03911593e+02] [-2.16556217e-01 9.76257787e-01 -4.91305067e-03 -1.28161545e+01] [-2.41213633e-02 -3.19598240e-04 9.99708987e-01 -4.39636540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13264000000001 meters Centerline goodness [0,1] 0.999978601844521 Centerline is valid? [True, True] Translation: X:103.94, Y:-12.82, Z:-4.40 [[ 9.76058282e-01 2.16242243e-01 2.34419178e-02 1.03939196e+02] [-2.16187492e-01 9.76339693e-01 -4.87556581e-03 -1.28212395e+01] [-2.39415782e-02 -3.09013046e-04 9.99713312e-01 -4.39990423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264000000001 meters Centerline goodness [0,1] 0.9999568788943749 Centerline is valid? [True, True] Translation: X:103.97, Y:-12.83, Z:-4.40 [[ 9.76115890e-01 2.15969421e-01 2.35579999e-02 1.03967766e+02] [-2.15914103e-01 9.76400080e-01 -4.89739308e-03 -1.28295313e+01] [-2.40597201e-02 -3.06081213e-04 9.99710476e-01 -4.39792299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.00, Y:-12.83, Z:-4.40 [[ 9.76046954e-01 2.16174020e-01 2.45181060e-02 1.03995741e+02] [-2.16114167e-01 9.76354796e-01 -5.09693017e-03 -1.28317487e+01] [-2.50401942e-02 -3.23866884e-04 9.99686393e-01 -4.39960198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.02, Y:-12.84, Z:-4.40 [[ 9.76018541e-01 2.16288949e-01 2.46352815e-02 1.04022773e+02] [-2.16228599e-01 9.76329341e-01 -5.11969480e-03 -1.28360188e+01] [-2.51594816e-02 -3.29935374e-04 9.99683396e-01 -4.40100362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25264000000001 meters Centerline goodness [0,1] 0.9999783928610013 Centerline is valid? [True, True] Translation: X:104.05, Y:-12.84, Z:-4.40 [[ 9.76025332e-01 2.16286538e-01 2.43861775e-02 1.04050541e+02] [-2.16227447e-01 9.76329875e-01 -5.06610735e-03 -1.28435205e+01] [-2.49046844e-02 -3.28311779e-04 9.99689776e-01 -4.40043257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.08, Y:-12.85, Z:-4.40 [[ 9.76210512e-01 2.15518610e-01 2.37647704e-02 1.04078636e+02] [-2.15462293e-01 9.76499686e-01 -4.93585839e-03 -1.28490089e+01] [-2.42700602e-02 -3.01975076e-04 9.99705393e-01 -4.40272267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.11, Y:-12.85, Z:-4.41 [[ 9.76347455e-01 2.14938718e-01 2.33879317e-02 1.04107068e+02] [-2.14884034e-01 9.76627497e-01 -4.85643061e-03 -1.28540100e+01] [-2.38851322e-02 -2.84129451e-04 9.99714669e-01 -4.40521399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34264 meters Centerline goodness [0,1] 0.9999786821292289 Centerline is valid? [True, True] Translation: X:104.13, Y:-12.86, Z:-4.41 [[ 9.76494950e-01 2.14280584e-01 2.32689556e-02 1.04134321e+02] [-2.14226292e-01 9.76772112e-01 -4.83076019e-03 -1.28569768e+01] [-2.37636051e-02 -2.67609158e-04 9.99717570e-01 -4.40985601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37264 meters Centerline goodness [0,1] 0.9999569698143248 Centerline is valid? [True, True] Translation: X:104.16, Y:-12.86, Z:-4.41 [[ 9.76765501e-01 2.13046988e-01 2.32408631e-02 1.04162722e+02] [-2.12992504e-01 9.77041926e-01 -4.82380565e-03 -1.28648138e+01] [-2.37349949e-02 -2.38402676e-04 9.99718257e-01 -4.40829364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.19, Y:-12.87, Z:-4.41 [[ 9.77264869e-01 2.10514443e-01 2.52397520e-02 1.04190391e+02] [-2.10449418e-01 9.77590728e-01 -5.23558341e-03 -1.28718156e+01] [-2.57763134e-02 -1.95139377e-04 9.99667717e-01 -4.40633314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.22, Y:-12.88, Z:-4.41 [[ 9.77549765e-01 2.09165636e-01 2.54203488e-02 1.04218326e+02] [-2.09099247e-01 9.77880213e-01 -5.27205274e-03 -1.28774805e+01] [-2.59607884e-02 -1.61681880e-04 9.99662949e-01 -4.41114662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.25, Y:-12.89, Z:-4.41 [[ 9.77728949e-01 2.08303519e-01 2.56075295e-02 1.04246949e+02] [-2.08235883e-01 9.78064223e-01 -5.30970572e-03 -1.28863197e+01] [-2.61518388e-02 -1.40953518e-04 9.99657972e-01 -4.40744850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.28, Y:-12.89, Z:-4.41 [[ 9.77743042e-01 2.08184363e-01 2.60348601e-02 1.04275901e+02] [-2.08114422e-01 9.78089593e-01 -5.39780831e-03 -1.28895506e+01] [-2.65881650e-02 -1.40560332e-04 9.99646462e-01 -4.40792042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264000000001 meters Centerline goodness [0,1] 0.9998927452915183 Centerline is valid? [True, True] Translation: X:104.30, Y:-12.89, Z:-4.41 [[ 9.77621779e-01 2.08808787e-01 2.55841264e-02 1.04304558e+02] [-2.08741490e-01 9.77956475e-01 -5.30322939e-03 -1.28919331e+01] [-2.61275229e-02 -1.55916101e-04 9.99658606e-01 -4.41159784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.33, Y:-12.89, Z:-4.41 [[ 9.77419929e-01 2.09759816e-01 2.55166910e-02 1.04333083e+02] [-2.09693201e-01 9.77752927e-01 -5.28908950e-03 -1.28935995e+01] [-2.60584578e-02 -1.81015141e-04 9.99660404e-01 -4.41308551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264000000001 meters Centerline goodness [0,1] 0.9999347882792801 Centerline is valid? [True, True] Translation: X:104.36, Y:-12.89, Z:-4.41 [[ 9.77038876e-01 2.11569818e-01 2.51643982e-02 1.04362812e+02] [-2.11505674e-01 9.77362860e-01 -5.21434803e-03 -1.28940808e+01] [-2.56979468e-02 -2.27792255e-04 9.99669727e-01 -4.41386088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61264000000001 meters Centerline goodness [0,1] 0.9999347882792801 Centerline is valid? [True, True] Translation: X:104.39, Y:-12.90, Z:-4.42 [[ 9.77049409e-01 2.11521140e-01 2.51646578e-02 1.04390552e+02] [-2.11457012e-01 9.77373396e-01 -5.21309470e-03 -1.28997372e+01] [-2.56979468e-02 -2.27792254e-04 9.99669727e-01 -4.41503795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.42, Y:-12.90, Z:-4.41 [[ 9.76838844e-01 2.12450531e-01 2.55077541e-02 1.04418551e+02] [-2.12384987e-01 9.77171789e-01 -5.28309194e-03 -1.29020767e+01] [-2.60478534e-02 -2.56734607e-04 9.99660664e-01 -4.41475092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67264 meters Centerline goodness [0,1] 0.9999785679075848 Centerline is valid? [True, True] Translation: X:104.45, Y:-12.90, Z:-4.42 [[ 9.76617956e-01 2.13443161e-01 2.56784933e-02 1.04446449e+02] [-2.13377130e-01 9.76955441e-01 -5.31654344e-03 -1.29034317e+01] [-2.62215236e-02 -2.86971432e-04 9.99656116e-01 -4.41672524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:104.48, Y:-12.91, Z:-4.42 [[ 9.76388540e-01 2.14543578e-01 2.52284132e-02 1.04475546e+02] [-2.14480255e-01 9.76714367e-01 -5.22158753e-03 -1.29053216e+01] [-2.57612117e-02 -3.12698260e-04 9.99668076e-01 -4.41842185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73264 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:104.50, Y:-12.90, Z:-4.42 [[ 9.76101987e-01 2.15776987e-01 2.57915366e-02 1.04504110e+02] [-2.15711266e-01 9.76442608e-01 -5.33696780e-03 -1.29023907e+01] [-2.63355501e-02 -3.54100135e-04 9.99653097e-01 -4.42130720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76264 meters Centerline goodness [0,1] 0.9999783807155983 Centerline is valid? [True, True] Translation: X:104.53, Y:-12.91, Z:-4.42 [[ 9.76064291e-01 2.15858068e-01 2.65291229e-02 1.04532394e+02] [-2.15788616e-01 9.76424681e-01 -5.48767726e-03 -1.29065435e+01] [-2.70882498e-02 -3.68356912e-04 9.99632978e-01 -4.41971231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.56, Y:-12.91, Z:-4.42 [[ 9.76171909e-01 2.15351455e-01 2.66862194e-02 1.04560576e+02] [-2.15281021e-01 9.76536545e-01 -5.51896467e-03 -1.29090513e+01] [-2.72485856e-02 -3.57578284e-04 9.99628624e-01 -4.42180621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.59, Y:-12.91, Z:-4.42 [[ 9.76365944e-01 2.14483425e-01 2.65782494e-02 1.04589252e+02] [-2.14413289e-01 9.76727571e-01 -5.49478028e-03 -1.29138658e+01] [-2.71382483e-02 -3.33813539e-04 9.99631634e-01 -4.42289820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85264000000001 meters Centerline goodness [0,1] 0.9999785214141501 Centerline is valid? [True, True] Translation: X:104.62, Y:-12.92, Z:-4.43 [[ 9.76883054e-01 2.12145266e-01 2.63416791e-02 1.04617206e+02] [-2.12075554e-01 9.77238105e-01 -5.44472115e-03 -1.29171159e+01] [-2.68971644e-02 -2.67570368e-04 9.99638170e-01 -4.42700998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.65, Y:-12.92, Z:-4.43 [[ 9.77126137e-01 2.11027466e-01 2.63043924e-02 1.04645237e+02] [-2.10957595e-01 9.77480103e-01 -5.43517086e-03 -1.29239097e+01] [-2.68589905e-02 -2.38263848e-04 9.99639204e-01 -4.42700079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.67, Y:-12.93, Z:-4.43 [[ 9.77432824e-01 2.09548339e-01 2.67314143e-02 1.04673670e+02] [-2.09475666e-01 9.77798268e-01 -5.52199072e-03 -1.29263596e+01] [-2.72950545e-02 -2.02205818e-04 9.99627400e-01 -4.42725041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264000000001 meters Centerline goodness [0,1] 0.9998056785058836 Centerline is valid? [True, True] Translation: X:104.70, Y:-12.93, Z:-4.43 [[ 9.77420291e-01 2.09465915e-01 2.78137473e-02 1.04702469e+02] [-2.09387247e-01 9.77815927e-01 -5.74406255e-03 -1.29296390e+01] [-2.83999104e-02 -2.09480686e-04 9.99596619e-01 -4.42849392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.73, Y:-12.93, Z:-4.43 [[ 9.77371352e-01 2.09676701e-01 2.79449796e-02 1.04730207e+02] [-2.09597407e-01 9.77770747e-01 -5.77005286e-03 -1.29320538e+01] [-2.85336293e-02 -2.17710900e-04 9.99592809e-01 -4.42720511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264000000001 meters Centerline goodness [0,1] 0.9999782887166461 Centerline is valid? [True, True] Translation: X:104.76, Y:-12.93, Z:-4.43 [[ 9.77283656e-01 2.10108432e-01 2.77687217e-02 1.04758935e+02] [-2.10030379e-01 9.77678062e-01 -5.73121652e-03 -1.29347206e+01] [-2.83530469e-02 -2.31250887e-04 9.99597945e-01 -4.43000849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.79, Y:-12.93, Z:-4.43 [[ 9.77028247e-01 2.11421776e-01 2.67700922e-02 1.04787947e+02] [-2.11349751e-01 9.77394887e-01 -5.52431586e-03 -1.29310261e+01] [-2.73329119e-02 -2.60439677e-04 9.99626352e-01 -4.43231550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters Centerline goodness [0,1] 0.9998921321165836 Centerline is valid? [True, True] Translation: X:104.82, Y:-12.93, Z:-4.44 [[ 9.76825206e-01 2.12245606e-01 2.76463332e-02 1.04815700e+02] [-2.12169188e-01 9.77216309e-01 -5.70262849e-03 -1.29293519e+01] [-2.82268055e-02 -2.95228828e-04 9.99601501e-01 -4.43692909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09264 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:104.84, Y:-12.93, Z:-4.44 [[ 9.76792193e-01 2.12381772e-01 2.77667702e-02 1.04844275e+02] [-2.12304818e-01 9.77186723e-01 -5.72480275e-03 -1.29305633e+01] [-2.83491629e-02 -3.03076446e-04 9.99598036e-01 -4.43581700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.87, Y:-12.93, Z:-4.44 [[ 9.76743990e-01 2.12554226e-01 2.81403329e-02 1.04872181e+02] [-2.12475316e-01 9.77149222e-01 -5.79981058e-03 -1.29331641e+01] [-2.87300787e-02 -3.14195988e-04 9.99587157e-01 -4.43696825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.90, Y:-12.94, Z:-4.44 [[ 9.76810866e-01 2.12240528e-01 2.81866965e-02 1.04901292e+02] [-2.12161292e-01 9.77217409e-01 -5.80713036e-03 -1.29368589e+01] [-2.87770390e-02 -3.07657900e-04 9.99585808e-01 -4.43599577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18264 meters Centerline goodness [0,1] 0.9998702730751767 Centerline is valid? [True, True] Translation: X:104.93, Y:-12.94, Z:-4.44 [[ 9.76865142e-01 2.11848286e-01 2.92369232e-02 1.04929328e+02] [-2.11762889e-01 9.77302517e-01 -6.02244875e-03 -1.29396906e+01] [-2.98491640e-02 -3.08175063e-04 9.99554367e-01 -4.43778114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:104.96, Y:-12.94, Z:-4.44 [[ 9.76974470e-01 2.11308442e-01 2.94894388e-02 1.04958138e+02] [-2.11221413e-01 9.77419385e-01 -6.07128841e-03 -1.29427373e+01] [-3.01064636e-02 -2.97307159e-04 9.99546653e-01 -4.43555274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264000000001 meters Centerline goodness [0,1] 0.9999786716717144 Centerline is valid? [True, True] Translation: X:104.99, Y:-12.94, Z:-4.44 [[ 9.77352676e-01 2.09453038e-01 3.01856214e-02 1.04986833e+02] [-2.09361014e-01 9.77818676e-01 -6.21303749e-03 -1.29436764e+01] [-3.08174040e-02 -2.47363509e-04 9.99525000e-01 -4.43656834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.01, Y:-12.95, Z:-4.44 [[ 9.77793608e-01 2.07299167e-01 3.07687374e-02 1.05013859e+02] [-2.07202533e-01 9.78277579e-01 -6.33157751e-03 -1.29505104e+01] [-3.14128966e-02 -1.84384288e-04 9.99506476e-01 -4.43787730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.04, Y:-12.96, Z:-4.44 [[ 9.78357883e-01 2.04581341e-01 3.10214182e-02 1.05041611e+02] [-2.04481811e-01 9.78849562e-01 -6.38154666e-03 -1.29592718e+01] [-3.16708470e-02 -9.98792895e-05 9.99498348e-01 -4.43854177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.07, Y:-12.97, Z:-4.44 [[ 9.79582200e-01 1.98680234e-01 3.07388684e-02 1.05067901e+02] [-1.98579640e-01 9.80064364e-01 -6.32218408e-03 -1.29712202e+01] [-3.13821625e-02 8.89855812e-05 9.99507455e-01 -4.44009193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.10, Y:-12.98, Z:-4.44 [[ 9.80187337e-01 1.95759565e-01 3.01824071e-02 1.05095420e+02] [-1.95661271e-01 9.80651906e-01 -6.20527696e-03 -1.29798618e+01] [-3.08131774e-02 1.76805750e-04 9.99525146e-01 -4.44249969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.12, Y:-12.99, Z:-4.45 [[ 9.80758983e-01 1.93023860e-01 2.92165494e-02 1.05121625e+02] [-1.92930577e-01 9.81194030e-01 -6.00560067e-03 -1.29876670e+01] [-2.98263281e-02 2.53281068e-04 9.99555064e-01 -4.44547468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.15, Y:-12.99, Z:-4.45 [[ 9.81269266e-01 1.90534785e-01 2.84099047e-02 1.05148429e+02] [-1.90445602e-01 9.81680393e-01 -5.83762437e-03 -1.29948944e+01] [-2.90017169e-02 3.17739985e-04 9.99579311e-01 -4.44830434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.17, Y:-13.00, Z:-4.45 [[ 9.81977210e-01 1.86887344e-01 2.81758523e-02 1.05174640e+02] [-1.86798172e-01 9.82381262e-01 -5.78783453e-03 -1.30038621e+01] [-2.87611024e-02 4.20323894e-04 9.99586226e-01 -4.45045747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.20, Y:-13.01, Z:-4.45 [[ 9.82198080e-01 1.85699681e-01 2.83295031e-02 1.05202963e+02] [-1.85609093e-01 9.82606442e-01 -5.81754195e-03 -1.30107843e+01] [-2.89170679e-02 4.55765163e-04 9.99581710e-01 -4.45054361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.23, Y:-13.02, Z:-4.45 [[ 9.82321333e-01 1.85054331e-01 2.82788409e-02 1.05229512e+02] [-1.84963835e-01 9.82728178e-01 -5.80588280e-03 -1.30187206e+01] [-2.88648176e-02 4.72679656e-04 9.99583213e-01 -4.45239731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.26, Y:-13.02, Z:-4.45 [[ 9.82252289e-01 1.85516652e-01 2.76407793e-02 1.05257694e+02] [-1.85430430e-01 9.82641019e-01 -5.67305566e-03 -1.30229812e+01] [-2.82134098e-02 4.46930315e-04 9.99601823e-01 -4.45480037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57264 meters Centerline goodness [0,1] 0.9998711810550271 Centerline is valid? [True, True] Translation: X:105.29, Y:-13.03, Z:-4.46 [[ 9.82181564e-01 1.85893670e-01 2.76209783e-02 1.05286475e+02] [-1.85807758e-01 9.82569771e-01 -5.66766023e-03 -1.30269337e+01] [-2.81931205e-02 4.34479337e-04 9.99602401e-01 -4.45787826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264000000001 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:105.31, Y:-13.03, Z:-4.46 [[ 9.82184501e-01 1.85885151e-01 2.75738420e-02 1.05313561e+02] [-1.85799563e-01 9.82571383e-01 -5.65676621e-03 -1.30341475e+01] [-2.81447769e-02 4.32780308e-04 9.99603764e-01 -4.45851468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63264000000001 meters Centerline goodness [0,1] 0.9997640345796598 Centerline is valid? [True, True] Translation: X:105.34, Y:-13.04, Z:-4.46 [[ 9.82269973e-01 1.85314878e-01 2.83565929e-02 1.05341678e+02] [-1.85224181e-01 9.82679085e-01 -5.81533612e-03 -1.30406305e+01] [-2.89430991e-02 4.59903344e-04 9.99580955e-01 -4.46116551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.37, Y:-13.05, Z:-4.46 [[ 9.82637174e-01 1.83425442e-01 2.79158008e-02 1.05368441e+02] [-1.83336814e-01 9.83033494e-01 -5.72377720e-03 -1.30514752e+01] [-2.84920536e-02 5.06402268e-04 9.99593891e-01 -4.46041465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69264000000001 meters Centerline goodness [0,1] 0.9999784375875973 Centerline is valid? [True, True] Translation: X:105.40, Y:-13.06, Z:-4.46 [[ 9.82867085e-01 1.82127884e-01 2.83147917e-02 1.05396352e+02] [-1.82036221e-01 9.83274698e-01 -5.80369047e-03 -1.30595710e+01] [-2.88982321e-02 5.49938661e-04 9.99582208e-01 -4.46121380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.43, Y:-13.07, Z:-4.46 [[ 9.83122728e-01 1.80713364e-01 2.85023190e-02 1.05425199e+02] [-1.80619939e-01 9.83535626e-01 -5.84037179e-03 -1.30677443e+01] [-2.90884794e-02 5.93715130e-04 9.99576664e-01 -4.45978011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75264000000001 meters Centerline goodness [0,1] 0.9999139396286495 Centerline is valid? [True, True] Translation: X:105.45, Y:-13.08, Z:-4.46 [[ 9.83541501e-01 1.78339007e-01 2.90054243e-02 1.05452348e+02] [-1.78241244e-01 9.83968873e-01 -5.94269313e-03 -1.30798918e+01] [-2.96002487e-02 6.74922390e-04 9.99561589e-01 -4.46260314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.48, Y:-13.09, Z:-4.46 [[ 9.83638059e-01 1.77733586e-01 2.94438647e-02 1.05480339e+02] [-1.77632609e-01 9.84078391e-01 -6.03134624e-03 -1.30916889e+01] [-3.00470438e-02 7.02471184e-04 9.99548239e-01 -4.46269511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81264 meters Centerline goodness [0,1] 0.9999787771387338 Centerline is valid? [True, True] Translation: X:105.51, Y:-13.10, Z:-4.47 [[ 9.83798314e-01 1.76896242e-01 2.91306721e-02 1.05507378e+02] [-1.76797020e-01 9.84229242e-01 -5.96774880e-03 -1.31043065e+01] [-2.97269316e-02 7.20845207e-04 9.99557797e-01 -4.46506118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.54, Y:-13.11, Z:-4.47 [[ 9.83780066e-01 1.77092527e-01 2.85485191e-02 1.05536466e+02] [-1.76997328e-01 9.84193958e-01 -5.84800853e-03 -1.31115853e+01] [-2.91329186e-02 7.00142631e-04 9.99575301e-01 -4.46720737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.57, Y:-13.12, Z:-4.47 [[ 9.83715873e-01 1.77489491e-01 2.82941888e-02 1.05566403e+02] [-1.77396130e-01 9.84122459e-01 -5.79640671e-03 -1.31158222e+01] [-2.88737479e-02 6.82737689e-04 9.99582833e-01 -4.46765384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.60, Y:-13.12, Z:-4.47 [[ 9.83562136e-01 1.78314578e-01 2.84505971e-02 1.05596632e+02] [-1.78220579e-01 9.83973310e-01 -5.82665645e-03 -1.31224836e+01] [-2.90336060e-02 6.60396768e-04 9.99578218e-01 -4.46891951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.63, Y:-13.13, Z:-4.47 [[ 9.83082819e-01 1.80830803e-01 2.91271561e-02 1.05625018e+02] [-1.80733378e-01 9.83514037e-01 -5.96535574e-03 -1.31314307e+01] [-2.97256870e-02 6.00189420e-04 9.99557914e-01 -4.46915755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264000000001 meters Centerline goodness [0,1] 0.9998279495892296 Centerline is valid? [True, True] Translation: X:105.65, Y:-13.14, Z:-4.47 [[ 9.82768057e-01 1.82530267e-01 2.91487257e-02 1.05653711e+02] [-1.82433396e-01 9.83200080e-01 -5.97141905e-03 -1.31368277e+01] [-2.97489941e-02 5.50818887e-04 9.99557249e-01 -4.47197158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.68, Y:-13.14, Z:-4.47 [[ 9.82374112e-01 1.84688745e-01 2.88300519e-02 1.05682751e+02] [-1.84594931e-01 9.82796946e-01 -5.90542234e-03 -1.31413109e+01] [-2.94247521e-02 4.79452576e-04 9.99566883e-01 -4.47112751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264000000001 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:105.71, Y:-13.14, Z:-4.48 [[ 9.81606766e-01 1.88871238e-01 2.78534264e-02 1.05712267e+02] [-1.88785379e-01 9.82001802e-01 -5.70454281e-03 -1.31445388e+01] [-2.84295390e-02 3.41298176e-04 9.99595741e-01 -4.47522913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05264000000001 meters Centerline goodness [0,1] 0.9999354199853618 Centerline is valid? [True, True] Translation: X:105.74, Y:-13.15, Z:-4.48 [[ 9.81255717e-01 1.90774561e-01 2.72448896e-02 1.05741895e+02] [-1.90693151e-01 9.81633836e-01 -5.57975028e-03 -1.31490207e+01] [-2.78089800e-02 2.79748014e-04 9.99613216e-01 -4.47779957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.77, Y:-13.15, Z:-4.48 [[ 9.80935151e-01 1.92431724e-01 2.71341277e-02 1.05770101e+02] [-1.92351618e-01 9.81310337e-01 -5.55672354e-03 -1.31533778e+01] [-2.76962899e-02 2.31492081e-04 9.99616357e-01 -4.47862023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.80, Y:-13.16, Z:-4.48 [[ 9.80642926e-01 1.93855452e-01 2.75592928e-02 1.05797597e+02] [-1.93773412e-01 9.81030084e-01 -5.64254676e-03 -1.31577873e+01] [-2.81303338e-02 1.93065358e-04 9.99604245e-01 -4.47946332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.83, Y:-13.16, Z:-4.48 [[ 9.80108371e-01 1.96340213e-01 2.89499720e-02 1.05825198e+02] [-1.96250828e-01 9.80535825e-01 -5.92518890e-03 -1.31628587e+01] [-2.95498376e-02 1.25871268e-04 9.99563300e-01 -4.47957619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.85, Y:-13.17, Z:-4.48 [[ 9.79882960e-01 1.97441737e-01 2.90885720e-02 1.05854001e+02] [-1.97352038e-01 9.80314619e-01 -5.95156436e-03 -1.31682108e+01] [-2.96910396e-02 9.11475366e-05 9.99559120e-01 -4.47907014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.88, Y:-13.17, Z:-4.48 [[ 9.79720185e-01 1.98249378e-01 2.90782121e-02 1.05881756e+02] [-1.98160138e-01 9.80151611e-01 -5.94811406e-03 -1.31730566e+01] [-2.96802663e-02 6.53449030e-05 9.99559442e-01 -4.48064109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.91, Y:-13.18, Z:-4.48 [[ 9.79351457e-01 2.00046266e-01 2.91927288e-02 1.05909077e+02] [-1.99957175e-01 9.79786452e-01 -5.96967658e-03 -1.31776113e+01] [-2.97968517e-02 9.11588902e-06 9.99555975e-01 -4.48256516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.94, Y:-13.18, Z:-4.48 [[ 9.79224218e-01 2.00650597e-01 2.93132969e-02 1.05937169e+02] [-2.00561097e-01 9.79662870e-01 -5.99237420e-03 -1.31840106e+01] [-2.99195220e-02 -1.12290316e-05 9.99552311e-01 -4.48283898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.96, Y:-13.19, Z:-4.48 [[ 9.79083503e-01 2.01326083e-01 2.93820174e-02 1.05964281e+02] [-2.01236508e-01 9.79524276e-01 -6.00506136e-03 -1.31888652e+01] [-2.99893748e-02 -3.32780505e-05 9.99550217e-01 -4.48459823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:105.99, Y:-13.19, Z:-4.49 [[ 9.78952926e-01 2.01928275e-01 2.95996759e-02 1.05991781e+02] [-2.01837701e-01 9.79400311e-01 -6.04763432e-03 -1.31926251e+01] [-3.02111202e-02 -5.39812242e-05 9.99543538e-01 -4.48562475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.02, Y:-13.20, Z:-4.49 [[ 9.78919010e-01 2.02066477e-01 2.97776869e-02 1.06020090e+02] [-2.01974934e-01 9.79371806e-01 -6.08201475e-03 -1.31984005e+01] [-3.03923983e-02 -6.05464755e-05 9.99538043e-01 -4.48708075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.05, Y:-13.21, Z:-4.49 [[ 9.79058781e-01 2.01458164e-01 2.93003807e-02 1.06048152e+02] [-2.01369302e-01 9.79497119e-01 -5.98314862e-03 -1.32060787e+01] [-2.99049927e-02 -4.23430135e-05 9.99552745e-01 -4.48867422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41264000000001 meters Centerline goodness [0,1] 0.9998274300012943 Centerline is valid? [True, True] Translation: X:106.08, Y:-13.21, Z:-4.49 [[ 9.79249774e-01 2.00587593e-01 2.88876884e-02 1.06075645e+02] [-2.00500878e-01 9.79675771e-01 -5.89750007e-03 -1.32136576e+01] [-2.94835338e-02 -1.68813055e-05 9.99565266e-01 -4.49219565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.10, Y:-13.22, Z:-4.49 [[ 9.79541560e-01 1.99230245e-01 2.83838125e-02 1.06103835e+02] [-1.99145999e-01 9.79952707e-01 -5.79327068e-03 -1.32212516e+01] [-2.89689886e-02 2.22266962e-05 9.99580311e-01 -4.49126413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.13, Y:-13.23, Z:-4.49 [[ 9.80158313e-01 1.96230714e-01 2.79855086e-02 1.06129655e+02] [-1.96147629e-01 9.80557747e-01 -5.71073428e-03 -1.32329714e+01] [-2.85620287e-02 1.08132514e-04 9.99592016e-01 -4.49452103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264000000001 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:106.16, Y:-13.24, Z:-4.50 [[ 9.80416309e-01 1.94940162e-01 2.79677242e-02 1.06156292e+02] [-1.94856708e-01 9.80815127e-01 -5.70531017e-03 -1.32422695e+01] [-2.85433610e-02 1.43880467e-04 9.99592545e-01 -4.49718032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53264000000001 meters Centerline goodness [0,1] 0.9999136982459168 Centerline is valid? [True, True] Translation: X:106.18, Y:-13.25, Z:-4.50 [[ 9.80425375e-01 1.94894511e-01 2.79680915e-02 1.06184047e+02] [-1.94811090e-01 9.80824199e-01 -5.70350870e-03 -1.32478373e+01] [-2.85433635e-02 1.43370255e-04 9.99592545e-01 -4.49835730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.21, Y:-13.26, Z:-4.50 [[ 9.80673188e-01 1.93597435e-01 2.82865804e-02 1.06212788e+02] [-1.93511613e-01 9.81081036e-01 -5.76677510e-03 -1.32560449e+01] [-2.88678605e-02 1.81539934e-04 9.99583220e-01 -4.49546826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.24, Y:-13.26, Z:-4.50 [[ 9.80861105e-01 1.92629024e-01 2.83822522e-02 1.06240305e+02] [-1.92542230e-01 9.81271632e-01 -5.78571474e-03 -1.32632601e+01] [-2.89651955e-02 2.10200417e-04 9.99580399e-01 -4.49718638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.27, Y:-13.27, Z:-4.50 [[ 9.80917159e-01 1.92378069e-01 2.81461672e-02 1.06269301e+02] [-1.92292645e-01 9.81320861e-01 -5.73639163e-03 -1.32698540e+01] [-2.87239770e-02 2.14624052e-04 9.99587358e-01 -4.49818737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65264 meters Centerline goodness [0,1] 0.999892355056083 Centerline is valid? [True, True] Translation: X:106.30, Y:-13.28, Z:-4.50 [[ 9.80877270e-01 1.92614570e-01 2.79178794e-02 1.06296111e+02] [-1.92530637e-01 9.81274470e-01 -5.68933270e-03 -1.32791140e+01] [-2.84909507e-02 2.05490025e-04 9.99594029e-01 -4.50223317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.33, Y:-13.28, Z:-4.50 [[ 9.80872633e-01 1.92556017e-01 2.84790778e-02 1.06325885e+02] [-1.92468686e-01 9.81285960e-01 -5.80245936e-03 -1.32847878e+01] [-2.90634176e-02 2.10142900e-04 9.99577548e-01 -4.49879977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71264000000001 meters Centerline goodness [0,1] 0.9998925516826407 Centerline is valid? [True, True] Translation: X:106.35, Y:-13.29, Z:-4.50 [[ 9.80835802e-01 1.92831527e-01 2.78770813e-02 1.06354974e+02] [-1.92747985e-01 9.81231860e-01 -5.67895829e-03 -1.32911366e+01] [-2.84489626e-02 1.96874339e-04 9.99595227e-01 -4.50262001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264000000001 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:106.38, Y:-13.30, Z:-4.50 [[ 9.80796893e-01 1.93076539e-01 2.75482151e-02 1.06384631e+02] [-1.92995068e-01 9.81183681e-01 -5.61145495e-03 -1.33001383e+01] [-2.81132994e-02 1.87027922e-04 9.99604726e-01 -4.50288655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.41, Y:-13.31, Z:-4.50 [[ 9.80810676e-01 1.93035097e-01 2.73472002e-02 1.06414345e+02] [-1.92954796e-01 9.81191835e-01 -5.57050907e-03 -1.33083820e+01] [-2.79081533e-02 1.86841331e-04 9.99610474e-01 -4.50387785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.44, Y:-13.32, Z:-4.51 [[ 9.80761743e-01 1.93331062e-01 2.70093236e-02 1.06442245e+02] [-1.93252835e-01 9.81133563e-01 -5.50203193e-03 -1.33160986e+01] [-2.75634675e-02 1.76554075e-04 9.99620040e-01 -4.50740495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83264000000001 meters Centerline goodness [0,1] 0.9998279902814509 Centerline is valid? [True, True] Translation: X:106.47, Y:-13.32, Z:-4.51 [[ 9.80709000e-01 1.93716300e-01 2.61505830e-02 1.06471003e+02] [-1.93643124e-01 9.81057577e-01 -5.32645838e-03 -1.33213872e+01] [-2.66870494e-02 1.59825098e-04 9.99643824e-01 -4.51112052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.50, Y:-13.33, Z:-4.51 [[ 9.80323539e-01 1.95640729e-01 2.62766742e-02 1.06499945e+02] [-1.95567553e-01 9.80675631e-01 -5.35150115e-03 -1.33278051e+01] [-2.68158656e-02 1.07337676e-04 9.99640384e-01 -4.50963733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89264000000001 meters Centerline goodness [0,1] 0.9997637000279264 Centerline is valid? [True, True] Translation: X:106.53, Y:-13.33, Z:-4.51 [[ 9.80014601e-01 1.97181310e-01 2.62852016e-02 1.06528734e+02] [-1.97108658e-01 9.80367037e-01 -5.35257619e-03 -1.33328819e+01] [-2.68245732e-02 6.45620006e-05 9.99640154e-01 -4.51149026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.56, Y:-13.34, Z:-4.51 [[ 9.79616082e-01 1.99065584e-01 2.69299889e-02 1.06557308e+02] [-1.98990050e-01 9.79986170e-01 -5.48333385e-03 -1.33374976e+01] [-2.74825597e-02 1.27621830e-05 9.99622283e-01 -4.51116706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.59, Y:-13.34, Z:-4.51 [[ 9.78829098e-01 2.02880709e-01 2.70742586e-02 1.06586907e+02] [-2.02805855e-01 9.79203456e-01 -5.51149793e-03 -1.33401637e+01] [-2.76293842e-02 -9.60036148e-05 9.99618231e-01 -4.50962181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98264 meters Centerline goodness [0,1] 0.9998280457398332 Centerline is valid? [True, True] Translation: X:106.61, Y:-13.34, Z:-4.51 [[ 9.78448117e-01 2.04670370e-01 2.73737328e-02 1.06614378e+02] [-2.04594556e-01 9.78830944e-01 -5.57225736e-03 -1.33439505e+01] [-2.79347327e-02 -1.48351981e-04 9.99609738e-01 -4.51417462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.64, Y:-13.35, Z:-4.51 [[ 9.78145958e-01 2.06101978e-01 2.74310105e-02 1.06642497e+02] [-2.06026463e-01 9.78530499e-01 -5.58198878e-03 -1.33493593e+01] [-2.79925393e-02 -1.91514293e-04 9.99608114e-01 -4.51168787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.67, Y:-13.35, Z:-4.51 [[ 9.77659641e-01 2.08350002e-01 2.77831481e-02 1.06670871e+02] [-2.08273479e-01 9.78054297e-01 -5.65236679e-03 -1.33500639e+01] [-2.83510981e-02 -2.60402037e-04 9.99597993e-01 -4.51333582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07264 meters Centerline goodness [0,1] 0.9999786630251563 Centerline is valid? [True, True] Translation: X:106.70, Y:-13.35, Z:-4.51 [[ 9.77452666e-01 2.09223572e-01 2.84918069e-02 1.06699350e+02] [-2.09143524e-01 9.77867788e-01 -5.79450492e-03 -1.33546735e+01] [-2.90735672e-02 -2.95022627e-04 9.99577231e-01 -4.51306614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264000000001 meters Centerline goodness [0,1] 0.9998922529899795 Centerline is valid? [True, True] Translation: X:106.73, Y:-13.36, Z:-4.52 [[ 9.77268546e-01 2.10136714e-01 2.80846892e-02 1.06726945e+02] [-2.10059350e-01 9.77671959e-01 -5.71048584e-03 -1.33584072e+01] [-2.86575959e-02 -3.18773360e-04 9.99589236e-01 -4.51727244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.75, Y:-13.36, Z:-4.52 [[ 9.77004714e-01 2.11390116e-01 2.78569028e-02 1.06754989e+02] [-2.11314564e-01 9.77401705e-01 -5.66233096e-03 -1.33636462e+01] [-2.84243451e-02 -3.54445218e-04 9.99595884e-01 -4.51586730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.79, Y:-13.37, Z:-4.52 [[ 9.77156473e-01 2.09809403e-01 3.38414276e-02 1.06791107e+02] [-2.09958609e-01 9.77709882e-01 8.77219554e-04 -1.33721639e+01] [-3.29030492e-02 -7.96247981e-03 9.99426830e-01 -4.51840313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.82, Y:-13.36, Z:-4.52 [[ 9.76347838e-01 2.14747645e-01 2.50668621e-02 1.06815518e+02] [-2.14468843e-01 9.76639486e-01 -1.33577757e-02 -1.33639912e+01] [-2.73498382e-02 7.66577448e-03 9.99596530e-01 -4.52200772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264000000001 meters Centerline goodness [0,1] 0.9999569392412694 Centerline is valid? [True, True] Translation: X:106.84, Y:-13.37, Z:-4.52 [[ 9.76267093e-01 2.14945150e-01 2.64791480e-02 1.06842646e+02] [-2.14878216e-01 9.76626025e-01 -5.38146592e-03 -1.33729885e+01] [-2.70169450e-02 -4.36043979e-04 9.99634881e-01 -4.52350820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.87, Y:-13.38, Z:-4.52 [[ 9.76231206e-01 2.14994996e-01 2.73822038e-02 1.06870117e+02] [-2.14923472e-01 9.76615045e-01 -5.56373391e-03 -1.33771256e+01] [-2.79380472e-02 -4.53587657e-04 9.99609554e-01 -4.52275069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.90, Y:-13.38, Z:-4.52 [[ 9.76316002e-01 2.14624591e-01 2.72644213e-02 1.06897915e+02] [-2.14553587e-01 9.76696518e-01 -5.53799456e-03 -1.33846784e+01] [-2.78176551e-02 -4.42846674e-04 9.99612916e-01 -4.52196211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:106.93, Y:-13.39, Z:-4.52 [[ 9.76704691e-01 2.12979293e-01 2.62253197e-02 1.06925901e+02] [-2.12913039e-01 9.77056639e-01 -5.32568132e-03 -1.33909927e+01] [-2.67578826e-02 -3.82094590e-04 9.99641871e-01 -4.52496008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34264 meters Centerline goodness [0,1] 0.999785780081832 Centerline is valid? [True, True] Translation: X:106.95, Y:-13.40, Z:-4.53 [[ 9.76966715e-01 2.11787393e-01 2.61177517e-02 1.06953542e+02] [-2.11721291e-01 9.77315700e-01 -5.30252582e-03 -1.33971637e+01] [-2.66482969e-02 -3.49292885e-04 9.99644810e-01 -4.52851871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37264 meters Centerline goodness [0,1] 0.9999786548272108 Centerline is valid? [True, True] Translation: X:106.98, Y:-13.40, Z:-4.53 [[ 9.77144244e-01 2.10904542e-01 2.66157881e-02 1.06980674e+02] [-2.10835599e-01 9.77506605e-01 -5.40247476e-03 -1.34027339e+01] [-2.71565152e-02 -3.32558509e-04 9.99631139e-01 -4.52838775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.01, Y:-13.41, Z:-4.53 [[ 9.77337388e-01 2.09984321e-01 2.67995446e-02 1.07008304e+02] [-2.09914133e-01 9.77704704e-01 -5.43771907e-03 -1.34092428e+01] [-2.73438766e-02 -3.11117014e-04 9.99626038e-01 -4.52920247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.04, Y:-13.42, Z:-4.53 [[ 9.77640533e-01 2.08537416e-01 2.70394824e-02 1.07036470e+02] [-2.08465449e-01 9.78014351e-01 -5.48505467e-03 -1.34161647e+01] [-2.75888410e-02 -2.74386063e-04 9.99619318e-01 -4.52993204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.06, Y:-13.42, Z:-4.53 [[ 9.77691301e-01 2.08332594e-01 2.67815445e-02 1.07064135e+02] [-2.08261952e-01 9.78058004e-01 -5.43141918e-03 -1.34225196e+01] [-2.73254456e-02 -2.67325450e-04 9.99626555e-01 -4.53123952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.09, Y:-13.43, Z:-4.53 [[ 9.77791262e-01 2.07890867e-01 2.65638003e-02 1.07091246e+02] [-2.07821238e-01 9.78151994e-01 -5.38610028e-03 -1.34268227e+01] [-2.71031552e-02 -2.54040064e-04 9.99632610e-01 -4.53361084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264000000001 meters Centerline goodness [0,1] 0.9999355600902159 Centerline is valid? [True, True] Translation: X:107.12, Y:-13.43, Z:-4.54 [[ 9.77878878e-01 2.07671036e-01 2.50128309e-02 1.07120043e+02] [-2.07609271e-01 9.78198694e-01 -5.07000321e-03 -1.34289849e+01] [-2.55204114e-02 -2.35046554e-04 9.99674274e-01 -4.53744716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.15, Y:-13.43, Z:-4.54 [[ 9.77877138e-01 2.07727780e-01 2.46063298e-02 1.07148040e+02] [-2.07668050e-01 9.78186646e-01 -4.98658782e-03 -1.34315488e+01] [-2.51054361e-02 -2.33678309e-04 9.99684782e-01 -4.54070187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.18, Y:-13.44, Z:-4.54 [[ 9.77870006e-01 2.07832582e-01 2.39972594e-02 1.07175973e+02] [-2.07775846e-01 9.78164385e-01 -4.86147909e-03 -1.34367743e+01] [-2.44836382e-02 -2.32156276e-04 9.99700204e-01 -4.54168709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.20, Y:-13.44, Z:-4.54 [[ 9.77901852e-01 2.07742953e-01 2.34698603e-02 1.07204136e+02] [-2.07688684e-01 9.78183426e-01 -4.75351579e-03 -1.34417125e+01] [-2.39453378e-02 -2.25952511e-04 9.99713244e-01 -4.54349409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.23, Y:-13.45, Z:-4.54 [[ 9.78067560e-01 2.06859891e-01 2.43481894e-02 1.07231226e+02] [-2.06801237e-01 9.78370554e-01 -4.93030572e-03 -1.34459917e+01] [-2.48414341e-02 -2.13063627e-04 9.99691381e-01 -4.54462832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67264 meters Centerline goodness [0,1] 0.9999786934844676 Centerline is valid? [True, True] Translation: X:107.26, Y:-13.45, Z:-4.54 [[ 9.78188446e-01 2.06138183e-01 2.55815028e-02 1.07258353e+02] [-2.06073233e-01 9.78522870e-01 -5.17838133e-03 -1.34517218e+01] [-2.60995477e-02 -2.06230198e-04 9.99659328e-01 -4.54414916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.29, Y:-13.46, Z:-4.54 [[ 9.78355748e-01 2.05258320e-01 2.62498069e-02 1.07286948e+02] [-2.05189671e-01 9.78707815e-01 -5.31153923e-03 -1.34578349e+01] [-2.67811288e-02 -1.89614315e-04 9.99641303e-01 -4.54243552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.31, Y:-13.47, Z:-4.54 [[ 9.78997397e-01 2.02216245e-01 2.59362116e-02 1.07314911e+02] [-2.02148192e-01 9.79340890e-01 -5.24685152e-03 -1.34660595e+01] [-2.64613912e-02 -1.06304290e-04 9.99649830e-01 -4.54267199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76264 meters Centerline goodness [0,1] 0.999935401907797 Centerline is valid? [True, True] Translation: X:107.34, Y:-13.47, Z:-4.55 [[ 9.79447512e-01 2.00127071e-01 2.51341741e-02 1.07342380e+02] [-2.00062505e-01 9.79769949e-01 -5.08339337e-03 -1.34740109e+01] [-2.56430331e-02 -4.94888466e-05 9.99671162e-01 -4.54629592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.37, Y:-13.48, Z:-4.55 [[ 9.79806212e-01 1.98337829e-01 2.53355803e-02 1.07369634e+02] [-1.98271660e-01 9.80133718e-01 -5.12282150e-03 -1.34825971e+01] [-2.58483058e-02 -3.95521935e-06 9.99665877e-01 -4.54603159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82264 meters Centerline goodness [0,1] 0.9998284844456832 Centerline is valid? [True, True] Translation: X:107.40, Y:-13.49, Z:-4.55 [[ 9.80629450e-01 1.94226781e-01 2.53345560e-02 1.07397097e+02] [-1.94159278e-01 9.80956649e-01 -5.12132357e-03 -1.34941222e+01] [-2.58467993e-02 1.03181630e-04 9.99665910e-01 -4.54921371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85264000000001 meters Centerline goodness [0,1] 0.999849711230865 Centerline is valid? [True, True] Translation: X:107.43, Y:-13.50, Z:-4.55 [[ 9.80929546e-01 1.92691835e-01 2.54378147e-02 1.07426047e+02] [-1.92623308e-01 9.81259311e-01 -5.14051347e-03 -1.35018125e+01] [-2.59516275e-02 1.42565520e-04 9.99663190e-01 -4.54981822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.45, Y:-13.51, Z:-4.55 [[ 9.81311934e-01 1.90758237e-01 2.52622770e-02 1.07454349e+02] [-1.90690028e-01 9.81637030e-01 -5.10440785e-03 -1.35110841e+01] [-2.57720944e-02 1.91752036e-04 9.99667826e-01 -4.55061368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.48, Y:-13.52, Z:-4.55 [[ 9.81468826e-01 1.89987914e-01 2.49707131e-02 1.07483173e+02] [-1.89921037e-01 9.81786407e-01 -5.04487918e-03 -1.35188716e+01] [-2.54743728e-02 2.08927915e-04 9.99675454e-01 -4.55286825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.51, Y:-13.53, Z:-4.55 [[ 9.81575516e-01 1.89454141e-01 2.48321310e-02 1.07511165e+02] [-1.89387844e-01 9.81889546e-01 -5.01646489e-03 -1.35256760e+01] [-2.53327998e-02 2.21135365e-04 9.99679049e-01 -4.55432254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.54, Y:-13.53, Z:-4.56 [[ 9.81471374e-01 1.90022354e-01 2.46058552e-02 1.07540394e+02] [-1.89957466e-01 9.81779743e-01 -4.96964534e-03 -1.35309191e+01] [-2.51018739e-02 2.03498733e-04 9.99684878e-01 -4.55645484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.57, Y:-13.54, Z:-4.56 [[ 9.81347649e-01 1.90718854e-01 2.41476605e-02 1.07568127e+02] [-1.90656581e-01 9.81644684e-01 -4.87672928e-03 -1.35366121e+01] [-2.46345068e-02 1.81856408e-04 9.99696508e-01 -4.55862746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.60, Y:-13.54, Z:-4.56 [[ 9.81138679e-01 1.91722519e-01 2.46853810e-02 1.07596512e+02] [-1.91657778e-01 9.81449158e-01 -4.98457448e-03 -1.35422275e+01] [-2.51831016e-02 1.59413554e-04 9.99682843e-01 -4.55869150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.63, Y:-13.55, Z:-4.56 [[ 9.80828946e-01 1.93247476e-01 2.50996279e-02 1.07625712e+02] [-1.93181080e-01 9.81150039e-01 -5.06676966e-03 -1.35458668e+01] [-2.56056413e-02 1.20861136e-04 9.99672115e-01 -4.55855587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.65, Y:-13.54, Z:-4.56 [[ 9.79964537e-01 1.97537274e-01 2.54662702e-02 1.07654970e+02] [-1.97470391e-01 9.80295376e-01 -5.14000882e-03 -1.35432984e+01] [-2.59798102e-02 8.19204786e-06 9.99662468e-01 -4.55938099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.68, Y:-13.55, Z:-4.56 [[ 9.79499706e-01 1.99793723e-01 2.57447801e-02 1.07683667e+02] [-1.99726181e-01 9.79837979e-01 -5.19494931e-03 -1.35464736e+01] [-2.62636316e-02 -5.34552761e-05 9.99655050e-01 -4.55996441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.71, Y:-13.55, Z:-4.56 [[ 9.79043094e-01 2.01970206e-01 2.61276900e-02 1.07710915e+02] [-2.01901444e-01 9.79391660e-01 -5.27107849e-03 -1.35500081e+01] [-2.66538425e-02 -1.14605339e-04 9.99644717e-01 -4.56083266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.74, Y:-13.55, Z:-4.56 [[ 9.78544818e-01 2.04345201e-01 2.63263567e-02 1.07739882e+02] [-2.04276296e-01 9.78898874e-01 -5.30936282e-03 -1.35522249e+01] [-2.68557837e-02 -1.82401147e-04 9.99639302e-01 -4.56117790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.77, Y:-13.55, Z:-4.56 [[ 9.77554135e-01 2.09073783e-01 2.60012638e-02 1.07769295e+02] [-2.09008267e-01 9.77899820e-01 -5.24278841e-03 -1.35501209e+01] [-2.65227607e-02 -3.09369579e-04 9.99648162e-01 -4.56112626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264000000001 meters Centerline goodness [0,1] 0.9999572695224869 Centerline is valid? [True, True] Translation: X:107.80, Y:-13.55, Z:-4.56 [[ 9.77132594e-01 2.11034830e-01 2.60037299e-02 1.07797145e+02] [-2.10970040e-01 9.77478474e-01 -5.24162304e-03 -1.35516442e+01] [-2.65242512e-02 -3.64247202e-04 9.99648104e-01 -4.56412462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:107.83, Y:-13.55, Z:-4.56 [[ 9.76176808e-01 2.15334709e-01 2.66421237e-02 1.07826558e+02] [-2.15268355e-01 9.76540177e-01 -5.36817170e-03 -1.35512757e+01] [-2.71730579e-02 -4.94921423e-04 9.99630622e-01 -4.56425438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264000000001 meters Centerline goodness [0,1] 0.9999787622647921 Centerline is valid? [True, True] Translation: X:107.86, Y:-13.55, Z:-4.56 [[ 9.75731517e-01 2.17335777e-01 2.67051943e-02 1.07855273e+02] [-2.17269879e-01 9.76096745e-01 -5.38006698e-03 -1.35532386e+01] [-2.72361343e-02 -5.52733423e-04 9.99628875e-01 -4.56496765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33264000000001 meters Centerline goodness [0,1] 0.9999575254316478 Centerline is valid? [True, True] Translation: X:107.88, Y:-13.56, Z:-4.57 [[ 9.75335231e-01 2.19166352e-01 2.62163664e-02 1.07884556e+02] [-2.19103539e-01 9.75687326e-01 -5.28034639e-03 -1.35550884e+01] [-2.67362507e-02 -5.93990789e-04 9.99642346e-01 -4.56640107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264000000001 meters Centerline goodness [0,1] 0.9999574603849836 Centerline is valid? [True, True] Translation: X:107.91, Y:-13.56, Z:-4.57 [[ 9.74823112e-01 2.21494021e-01 2.56963015e-02 1.07914516e+02] [-2.21434524e-01 9.75161515e-01 -5.17401977e-03 -1.35556483e+01] [-2.62040588e-02 -6.46294237e-04 9.99656406e-01 -4.56893517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39264000000001 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:107.94, Y:-13.56, Z:-4.57 [[ 9.74626471e-01 2.22381647e-01 2.54881174e-02 1.07943569e+02] [-2.22323420e-01 9.74959466e-01 -5.13185982e-03 -1.35592904e+01] [-2.59911127e-02 -6.64959006e-04 9.99661953e-01 -4.57035297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:107.97, Y:-13.56, Z:-4.57 [[ 9.74642156e-01 2.22312877e-01 2.54882869e-02 1.07970535e+02] [-2.22254649e-01 9.74975150e-01 -5.13101751e-03 -1.35645805e+01] [-2.59911376e-02 -6.63984294e-04 9.99661953e-01 -4.57149516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45264 meters Centerline goodness [0,1] 0.9998279051757518 Centerline is valid? [True, True] Translation: X:108.00, Y:-13.57, Z:-4.57 [[ 9.74530531e-01 2.22841326e-01 2.51393674e-02 1.07998979e+02] [-2.22784912e-01 9.74854498e-01 -5.05861301e-03 -1.35701537e+01] [-2.56344935e-02 -6.70898953e-04 9.99671157e-01 -4.57391402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48264 meters Centerline goodness [0,1] 0.99982974014089 Centerline is valid? [True, True] Translation: X:108.03, Y:-13.57, Z:-4.58 [[ 9.74412344e-01 2.23337442e-01 2.53174034e-02 1.08026610e+02] [-2.23280417e-01 9.74740946e-01 -5.09353018e-03 -1.35708164e+01] [-2.58154858e-02 -6.89681713e-04 9.99666487e-01 -4.57630857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51264 meters Centerline goodness [0,1] 0.9998715698445995 Centerline is valid? [True, True] Translation: X:108.06, Y:-13.57, Z:-4.57 [[ 9.74397774e-01 2.23199210e-01 2.70387041e-02 1.08055650e+02] [-2.23134185e-01 9.74772575e-01 -5.43723851e-03 -1.35735664e+01] [-2.75701745e-02 -7.35226080e-04 9.99619600e-01 -4.57438161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54264 meters Centerline goodness [0,1] 0.9997428755088922 Centerline is valid? [True, True] Translation: X:108.08, Y:-13.57, Z:-4.58 [[ 9.74605291e-01 2.22183532e-01 2.79106716e-02 1.08083684e+02] [-2.22113864e-01 9.75004587e-01 -5.61129436e-03 -1.35743716e+01] [-2.84597700e-02 -7.30549950e-04 9.99594672e-01 -4.57683203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57264 meters Centerline goodness [0,1] 0.9997447460222921 Centerline is valid? [True, True] Translation: X:108.11, Y:-13.58, Z:-4.58 [[ 9.74919560e-01 2.20818428e-01 2.77682124e-02 1.08110635e+02] [-2.20748966e-01 9.75314691e-01 -5.58091515e-03 -1.35794589e+01] [-2.83151144e-02 -6.88860841e-04 9.99598809e-01 -4.57792453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264000000001 meters Centerline goodness [0,1] 0.9999362719065321 Centerline is valid? [True, True] Translation: X:108.14, Y:-13.59, Z:-4.58 [[ 9.75933889e-01 2.16492884e-01 2.61510293e-02 1.08138192e+02] [-2.16429770e-01 9.76284051e-01 -5.25417417e-03 -1.35901223e+01] [-2.66683241e-02 -5.32134641e-04 9.99644195e-01 -4.57909769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.17, Y:-13.60, Z:-4.58 [[ 9.76587322e-01 2.13617608e-01 2.53913395e-02 1.08165984e+02] [-2.13557153e-01 9.76917255e-01 -5.10089045e-03 -1.35997722e+01] [-2.58948777e-02 -4.41037239e-04 9.99664574e-01 -4.57978784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264000000001 meters Centerline goodness [0,1] 0.9999785577974569 Centerline is valid? [True, True] Translation: X:108.19, Y:-13.61, Z:-4.58 [[ 9.77204272e-01 2.10800822e-01 2.51957220e-02 1.08192465e+02] [-2.10740387e-01 9.77528967e-01 -5.06051890e-03 -1.36074323e+01] [-2.56963096e-02 -3.64595498e-04 9.99669729e-01 -4.58209896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69264000000001 meters Centerline goodness [0,1] 0.9998714460180405 Centerline is valid? [True, True] Translation: X:108.22, Y:-13.62, Z:-4.59 [[ 9.78481071e-01 2.04854313e-01 2.46881396e-02 1.08219758e+02] [-2.04794443e-01 9.78792454e-01 -4.95665456e-03 -1.36200507e+01] [-2.51799568e-02 -2.06001132e-04 9.99682913e-01 -4.58604991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.25, Y:-13.63, Z:-4.59 [[ 9.79152526e-01 2.01632093e-01 2.45932776e-02 1.08247727e+02] [-2.01571683e-01 9.79461323e-01 -4.93689122e-03 -1.36278085e+01] [-2.50836000e-02 -1.23338851e-04 9.99685349e-01 -4.58508867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.27, Y:-13.63, Z:-4.59 [[ 9.79759989e-01 1.98622530e-01 2.48888357e-02 1.08274360e+02] [-1.98559716e-01 9.80076062e-01 -4.99510815e-03 -1.36349032e+01] [-2.53850931e-02 -4.79130238e-05 9.99677745e-01 -4.58657066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.30, Y:-13.65, Z:-4.59 [[ 9.80872264e-01 1.93095176e-01 2.45734488e-02 1.08300861e+02] [-1.93032252e-01 9.81180026e-01 -4.93004848e-03 -1.36481132e+01] [-2.50629457e-02 9.22796576e-05 9.99685871e-01 -4.58796917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.33, Y:-13.66, Z:-4.59 [[ 9.81385422e-01 1.90529771e-01 2.41051704e-02 1.08327724e+02] [-1.90468472e-01 9.81681406e-01 -4.83513467e-03 -1.36571833e+01] [-2.45848347e-02 1.53855693e-04 9.99697735e-01 -4.58978271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.36, Y:-13.66, Z:-4.59 [[ 9.81796491e-01 1.88392705e-01 2.41627612e-02 1.08355485e+02] [-1.88330498e-01 9.82093756e-01 -4.84533691e-03 -1.36631091e+01] [-2.46429231e-02 2.06549905e-04 9.99696296e-01 -4.58890767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.38, Y:-13.67, Z:-4.59 [[ 9.82059702e-01 1.86981590e-01 2.44259380e-02 1.08382603e+02] [-1.86917629e-01 9.82363388e-01 -4.89632974e-03 -1.36688369e+01] [-2.49106707e-02 2.42849718e-04 9.99689652e-01 -4.58987536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.41, Y:-13.68, Z:-4.59 [[ 9.82437214e-01 1.84850372e-01 2.54452353e-02 1.08409648e+02] [-1.84780297e-01 9.82766628e-01 -5.09865140e-03 -1.36770390e+01] [-2.59492157e-02 3.07326740e-04 9.99663215e-01 -4.59092566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93264 meters Centerline goodness [0,1] 0.9999787170646576 Centerline is valid? [True, True] Translation: X:108.44, Y:-13.68, Z:-4.59 [[ 9.82531036e-01 1.84262504e-01 2.60785803e-02 1.08437283e+02] [-1.84188740e-01 9.82877012e-01 -5.22365746e-03 -1.36838132e+01] [-2.65945613e-02 3.29024715e-04 9.99646248e-01 -4.59086168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.47, Y:-13.69, Z:-4.59 [[ 9.82628683e-01 1.83647308e-01 2.67308390e-02 1.08465840e+02] [-1.83569616e-01 9.82992137e-01 -5.35297658e-03 -1.36891048e+01] [-2.72592642e-02 3.53018484e-04 9.99628335e-01 -4.58998207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99264000000001 meters Centerline goodness [0,1] 0.9998070822258424 Centerline is valid? [True, True] Translation: X:108.49, Y:-13.70, Z:-4.59 [[ 9.82598156e-01 1.83616055e-01 2.80358393e-02 1.08493552e+02] [-1.83530625e-01 9.82997969e-01 -5.61265465e-03 -1.36953186e+01] [-2.85897466e-02 3.69548999e-04 9.99591161e-01 -4.59279411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.52, Y:-13.70, Z:-4.59 [[ 9.82582272e-01 1.83749601e-01 2.77157700e-02 1.08521546e+02] [-1.83666188e-01 9.82973018e-01 -5.54772545e-03 -1.37004819e+01] [-2.82632464e-02 3.60646861e-04 9.99600450e-01 -4.59050818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.55, Y:-13.71, Z:-4.59 [[ 9.82528559e-01 1.84071238e-01 2.74847076e-02 1.08548856e+02] [-1.83989383e-01 9.82912844e-01 -5.49981172e-03 -1.37073873e+01] [-2.80274292e-02 3.46827711e-04 9.99607094e-01 -4.59300826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264000000001 meters Centerline goodness [0,1] 0.9999143523970623 Centerline is valid? [True, True] Translation: X:108.58, Y:-13.71, Z:-4.60 [[ 9.82309394e-01 1.85439878e-01 2.60826909e-02 1.08577183e+02] [-1.85366651e-01 9.82655569e-01 -5.21902395e-03 -1.37112716e+01] [-2.65981166e-02 2.91835181e-04 9.99646165e-01 -4.59851076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.61, Y:-13.72, Z:-4.60 [[ 9.82170892e-01 1.86295608e-01 2.51850405e-02 1.08605548e+02] [-1.86227646e-01 9.82493705e-01 -5.03826195e-03 -1.37161549e+01] [-2.56827498e-02 2.58283424e-04 9.99670110e-01 -4.59890552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.63, Y:-13.72, Z:-4.60 [[ 9.81982759e-01 1.87305268e-01 2.50319154e-02 1.08633808e+02] [-1.87238489e-01 9.82301728e-01 -5.00641941e-03 -1.37214232e+01] [-2.55266225e-02 2.29279532e-04 9.99674116e-01 -4.60088828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17264000000002 meters Centerline goodness [0,1] 0.9997643782799615 Centerline is valid? [True, True] Translation: X:108.66, Y:-13.72, Z:-4.60 [[ 9.81448862e-01 1.89960330e-01 2.59462017e-02 1.08662412e+02] [-1.89889545e-01 9.81791753e-01 -5.18795023e-03 -1.37237712e+01] [-2.64592716e-02 1.64795422e-04 9.99649879e-01 -4.60280877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.69, Y:-13.73, Z:-4.60 [[ 9.81108624e-01 1.91685084e-01 2.61284715e-02 1.08690476e+02] [-1.91613940e-01 9.81456476e-01 -5.22333806e-03 -1.37267739e+01] [-2.66451935e-02 1.18082644e-04 9.99644947e-01 -4.60079047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.72, Y:-13.73, Z:-4.60 [[ 9.80763587e-01 1.93363164e-01 2.67109277e-02 1.08719810e+02] [-1.93289486e-01 9.81127251e-01 -5.33786824e-03 -1.37298299e+01] [-2.72389662e-02 7.22453043e-05 9.99628948e-01 -4.59881770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.75, Y:-13.73, Z:-4.60 [[ 9.80062795e-01 1.97000826e-01 2.58378257e-02 1.08747475e+02] [-1.96933178e-01 9.80403322e-01 -5.16232418e-03 -1.37311931e+01] [-2.63484723e-02 -2.89232641e-05 9.99652818e-01 -4.60319407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29264 meters Centerline goodness [0,1] 0.9999357890456112 Centerline is valid? [True, True] Translation: X:108.77, Y:-13.73, Z:-4.61 [[ 9.79782656e-01 1.98357276e-01 2.60832793e-02 1.08774020e+02] [-1.98288853e-01 9.80129780e-01 -5.21003014e-03 -1.37337230e+01] [-2.65984462e-02 -6.73263531e-05 9.99646196e-01 -4.60679532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.80, Y:-13.74, Z:-4.60 [[ 9.79501514e-01 1.99744303e-01 2.60575819e-02 1.08802786e+02] [-1.99676578e-01 9.79848050e-01 -5.20215936e-03 -1.37380660e+01] [-2.65715725e-02 -1.07565804e-04 9.99646908e-01 -4.60416421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.83, Y:-13.74, Z:-4.61 [[ 9.79366151e-01 2.00394171e-01 2.61556618e-02 1.08829270e+02] [-2.00326188e-01 9.79715346e-01 -5.22095255e-03 -1.37422130e+01] [-2.66713517e-02 -1.26439812e-04 9.99644248e-01 -4.60682522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.86, Y:-13.75, Z:-4.61 [[ 9.79374972e-01 2.00386762e-01 2.58806748e-02 1.08857202e+02] [-2.00320273e-01 9.79716862e-01 -5.16324589e-03 -1.37478006e+01] [-2.63903796e-02 -1.27670024e-04 9.99651705e-01 -4.60720260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.89, Y:-13.75, Z:-4.61 [[ 9.79505711e-01 1.99731561e-01 2.59974271e-02 1.08885246e+02] [-1.99664274e-01 9.79850647e-01 -5.18522601e-03 -1.37548674e+01] [-2.65092490e-02 -1.11798905e-04 9.99648562e-01 -4.60880650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.91, Y:-13.77, Z:-4.61 [[ 9.80027434e-01 1.97269786e-01 2.51169174e-02 1.08911013e+02] [-1.97206197e-01 9.80349239e-01 -5.00860990e-03 -1.37656412e+01] [-2.56113983e-02 -4.46366617e-05 9.99671973e-01 -4.61189794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.94, Y:-13.77, Z:-4.61 [[ 9.80279528e-01 1.96027366e-01 2.50063605e-02 1.08937958e+02] [-1.95963967e-01 9.80598425e-01 -4.98520192e-03 -1.37733698e+01] [-2.54984337e-02 -1.34542068e-05 9.99674862e-01 -4.61350163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.96, Y:-13.78, Z:-4.62 [[ 9.80641198e-01 1.94279410e-01 2.44612362e-02 1.08964614e+02] [-1.94218250e-01 9.80946232e-01 -4.87458290e-03 -1.37812941e+01] [-2.49421885e-02 2.93983436e-05 9.99688895e-01 -4.61556870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:108.99, Y:-13.79, Z:-4.62 [[ 9.81163963e-01 1.91621323e-01 2.44652036e-02 1.08991143e+02] [-1.91559358e-01 9.81468929e-01 -4.87367980e-03 -1.37931348e+01] [-2.49457382e-02 9.53402757e-05 9.99688802e-01 -4.61680612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.02, Y:-13.80, Z:-4.62 [[ 9.81395696e-01 1.90461714e-01 2.42244604e-02 1.09017702e+02] [-1.90400633e-01 9.81694617e-01 -4.82475691e-03 -1.38016192e+01] [-2.46999538e-02 1.22643071e-04 9.99694902e-01 -4.61868457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.05, Y:-13.81, Z:-4.62 [[ 9.81558911e-01 1.89648683e-01 2.39891873e-02 1.09045749e+02] [-1.89588580e-01 9.81852004e-01 -4.77627701e-03 -1.38088887e+01] [-2.44596463e-02 1.40121293e-04 9.99700808e-01 -4.61947097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62264 meters Centerline goodness [0,1] 0.9998494235071417 Centerline is valid? [True, True] Translation: X:109.07, Y:-13.82, Z:-4.62 [[ 9.81769815e-01 1.88475079e-01 2.46002999e-02 1.09073329e+02] [-1.88411536e-01 9.82077958e-01 -4.89674432e-03 -1.38170689e+01] [-2.50823266e-02 1.72495460e-04 9.99685374e-01 -4.62040885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.10, Y:-13.82, Z:-4.62 [[ 9.81448278e-01 1.90281819e-01 2.34969647e-02 1.09102317e+02] [-1.89994199e-01 9.81686234e-01 -1.39406506e-02 -1.38210823e+01] [-2.57192991e-02 9.21774054e-03 9.99626706e-01 -4.62120408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.13, Y:-13.84, Z:-4.62 [[ 9.81740136e-01 1.88487231e-01 2.56684502e-02 1.09128676e+02] [-1.88631574e-01 9.82042377e-01 3.30127261e-03 -1.38368569e+01] [-2.45852581e-02 -8.08287199e-03 9.99665060e-01 -4.61920171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71264000000001 meters Centerline goodness [0,1] 0.9998065015479877 Centerline is valid? [True, True] Translation: X:109.16, Y:-13.84, Z:-4.62 [[ 9.81419499e-01 1.90235892e-01 2.50214507e-02 1.09157098e+02] [-1.90170729e-01 9.81738401e-01 -4.98046736e-03 -1.38359444e+01] [-2.55119827e-02 1.29580248e-04 9.99674508e-01 -4.62286513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264000000001 meters Centerline goodness [0,1] 0.9998492548884487 Centerline is valid? [True, True] Translation: X:109.19, Y:-13.84, Z:-4.62 [[ 9.81230066e-01 1.91244406e-01 2.47615462e-02 1.09185424e+02] [-1.91180955e-01 9.81542443e-01 -4.92699797e-03 -1.38391510e+01] [-2.52467693e-02 1.00582490e-04 9.99681244e-01 -4.62219628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77264000000001 meters Centerline goodness [0,1] 0.9999140745832618 Centerline is valid? [True, True] Translation: X:109.21, Y:-13.84, Z:-4.62 [[ 9.80975069e-01 1.92553630e-01 2.47187061e-02 1.09213823e+02] [-1.92490846e-01 9.81286449e-01 -4.91721203e-03 -1.38435146e+01] [-2.52029584e-02 6.55377668e-05 9.99682353e-01 -4.62328918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.24, Y:-13.85, Z:-4.62 [[ 9.80754207e-01 1.93688933e-01 2.46126349e-02 1.09241078e+02] [-1.93627071e-01 9.81062993e-01 -4.89506594e-03 -1.38483027e+01] [-2.50946654e-02 3.51841194e-05 9.99685079e-01 -4.62413293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.27, Y:-13.85, Z:-4.63 [[ 9.80494160e-01 1.94992314e-01 2.46819588e-02 1.09268517e+02] [-1.94930556e-01 9.80804770e-01 -4.90723478e-03 -1.38531593e+01] [-2.51650560e-02 2.47106325e-07 9.99683310e-01 -4.62752678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.30, Y:-13.86, Z:-4.62 [[ 9.80376107e-01 1.95580017e-01 2.47213452e-02 1.09296977e+02] [-1.95518291e-01 9.80687747e-01 -4.91338242e-03 -1.38587013e+01] [-2.52048798e-02 -1.65124393e-05 9.99682306e-01 -4.62430846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.32, Y:-13.86, Z:-4.63 [[ 9.80055919e-01 1.97155440e-01 2.49023596e-02 1.09324455e+02] [-1.97093342e-01 9.80372240e-01 -4.94827307e-03 -1.38631569e+01] [-2.53891610e-02 -5.85049761e-05 9.99677642e-01 -4.62653297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.35, Y:-13.87, Z:-4.63 [[ 9.79796689e-01 1.98416943e-01 2.50831572e-02 1.09353598e+02] [-1.98354400e-01 9.80117701e-01 -4.98240913e-03 -1.38667210e+01] [-2.55730408e-02 -9.36066230e-05 9.99672952e-01 -4.62614677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.38, Y:-13.87, Z:-4.63 [[ 9.79498208e-01 1.99946363e-01 2.45909056e-02 1.09381983e+02] [-1.99886757e-01 9.79806835e-01 -4.88363024e-03 -1.38688290e+01] [-2.50708015e-02 -1.31889288e-04 9.99685669e-01 -4.62813123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98264 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:109.41, Y:-13.87, Z:-4.63 [[ 9.78777965e-01 2.03473375e-01 2.43368271e-02 1.09410412e+02] [-2.03416121e-01 9.79080455e-01 -4.83164831e-03 -1.38663966e+01] [-2.48108235e-02 -2.21392066e-04 9.99692140e-01 -4.63063440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01264 meters Centerline goodness [0,1] 0.9998923434674016 Centerline is valid? [True, True] Translation: X:109.44, Y:-13.87, Z:-4.63 [[ 9.78424840e-01 2.05065206e-01 2.51613568e-02 1.09439367e+02] [-2.05004580e-01 9.78748276e-01 -4.99348163e-03 -1.38692057e+01] [-2.56506239e-02 -2.72446930e-04 9.99670931e-01 -4.63213495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.47, Y:-13.87, Z:-4.63 [[ 9.77739164e-01 2.08243747e-01 2.57034815e-02 1.09465665e+02] [-2.08006838e-01 9.78058588e-01 -1.15997291e-02 -1.38676592e+01] [-2.75550819e-02 5.99500950e-03 9.99602310e-01 -4.63208016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07264 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:109.50, Y:-13.88, Z:-4.64 [[ 9.77775448e-01 2.08138081e-01 2.51736468e-02 1.09495158e+02] [-2.08244351e-01 9.78075445e-01 1.64725973e-03 -1.38755359e+01] [-2.42788683e-02 -6.85291987e-03 9.99681736e-01 -4.63518119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264000000001 meters Centerline goodness [0,1] 0.9999350016249594 Centerline is valid? [True, True] Translation: X:109.52, Y:-13.88, Z:-4.63 [[ 9.77627339e-01 2.08920448e-01 2.44342364e-02 1.09523640e+02] [-2.08864571e-01 9.77932570e-01 -4.84549211e-03 -1.38766120e+01] [-2.49073579e-02 -3.66360736e-04 9.99689697e-01 -4.63473064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.55, Y:-13.88, Z:-4.64 [[ 9.77515077e-01 2.09520973e-01 2.37747132e-02 1.09551719e+02] [-2.09468298e-01 9.77804082e-01 -4.71272185e-03 -1.38776232e+01] [-2.42344257e-02 -3.73292047e-04 9.99706233e-01 -4.63680962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264000000001 meters Centerline goodness [0,1] 0.99989350145903 Centerline is valid? [True, True] Translation: X:109.58, Y:-13.88, Z:-4.64 [[ 9.77537404e-01 2.09341475e-01 2.44289017e-02 1.09579712e+02] [-2.09285847e-01 9.77842524e-01 -4.84070205e-03 -1.38805604e+01] [-2.49009786e-02 -3.80656058e-04 9.99689850e-01 -4.64032104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.61, Y:-13.88, Z:-4.64 [[ 9.77667992e-01 2.08824395e-01 2.36150292e-02 1.09608151e+02] [-2.08772299e-01 9.77953089e-01 -4.67786187e-03 -1.38832266e+01] [-2.40712424e-02 -3.56768120e-04 9.99710182e-01 -4.64081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264000000001 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:109.64, Y:-13.89, Z:-4.64 [[ 9.77773382e-01 2.08334370e-01 2.35797416e-02 1.09635948e+02] [-2.08282310e-01 9.78057601e-01 -4.66993776e-03 -1.38877068e+01] [-2.40352541e-02 -3.45102211e-04 9.99711052e-01 -4.64215432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.66, Y:-13.89, Z:-4.64 [[ 9.77867836e-01 2.07883821e-01 2.36391904e-02 1.09664041e+02] [-2.07831406e-01 9.78153466e-01 -4.68008872e-03 -1.38932635e+01] [-2.40956708e-02 -3.36457931e-04 9.99709601e-01 -4.64269781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.69, Y:-13.90, Z:-4.64 [[ 9.77819231e-01 2.07467477e-01 2.87540918e-02 1.09689991e+02] [-2.07551583e-01 9.78224073e-01 -6.08787743e-05 -1.39006947e+01] [-2.81405751e-02 -5.90842884e-03 9.99586514e-01 -4.64374611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.72, Y:-13.90, Z:-4.64 [[ 9.77809150e-01 2.07649476e-01 2.77661814e-02 1.09717549e+02] [-2.07579878e-01 9.78203179e-01 -5.39769847e-03 -1.39027705e+01] [-2.82817962e-02 -4.85781586e-04 9.99599872e-01 -4.64478380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.75, Y:-13.90, Z:-4.65 [[ 9.78216167e-01 2.06505107e-01 2.11842161e-02 1.09748784e+02] [-2.06340693e-01 9.78432152e-01 -9.69752269e-03 -1.39039127e+01] [-2.27299061e-02 5.11510764e-03 9.99728557e-01 -4.64579024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.78, Y:-13.91, Z:-4.65 [[ 9.78510092e-01 2.05088639e-01 2.13693891e-02 1.09777018e+02] [-2.05045242e-01 9.78743373e-01 -4.22605037e-03 -1.39100091e+01] [-2.17818629e-02 -2.46458627e-04 9.99762717e-01 -4.64810323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.80, Y:-13.91, Z:-4.65 [[ 9.78733249e-01 2.04038733e-01 2.11996039e-02 1.09804977e+02] [-2.03995794e-01 9.78962791e-01 -4.19164102e-03 -1.39113129e+01] [-2.16088806e-02 -2.22131613e-04 9.99766476e-01 -4.65455023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.83, Y:-13.92, Z:-4.65 [[ 9.78979013e-01 2.02842659e-01 2.13295204e-02 1.09832945e+02] [-2.02798945e-01 9.79211324e-01 -4.21565951e-03 -1.39175310e+01] [-2.17412235e-02 -1.98562055e-04 9.99763612e-01 -4.65345404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.86, Y:-13.93, Z:-4.65 [[ 9.79688134e-01 1.99437906e-01 2.08729971e-02 1.09860778e+02] [-1.99395290e-01 9.79910459e-01 -4.12451211e-03 -1.39271350e+01] [-2.12762522e-02 -1.21241729e-04 9.99773628e-01 -4.65164223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.89, Y:-13.94, Z:-4.65 [[ 9.80127478e-01 1.97210099e-01 2.14080515e-02 1.09887499e+02] [-1.97164758e-01 9.80361245e-01 -4.22931522e-03 -1.39350226e+01] [-2.18216877e-02 -7.56452316e-05 9.99761876e-01 -4.65223087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.91, Y:-13.94, Z:-4.65 [[ 9.80614804e-01 1.94666762e-01 2.23485378e-02 1.09914347e+02] [-1.94616724e-01 9.80869436e-01 -4.41354761e-03 -1.39431058e+01] [-2.27801687e-02 -2.14090813e-05 9.99740498e-01 -4.65393783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55264000000001 meters Centerline goodness [0,1] 0.999978531097705 Centerline is valid? [True, True] Translation: X:109.94, Y:-13.96, Z:-4.65 [[ 9.81653737e-01 1.89219144e-01 2.34958598e-02 1.09941825e+02] [-1.89162318e-01 9.81934878e-01 -4.63826663e-03 -1.39554293e+01] [-2.39490531e-02 1.08640469e-04 9.99713174e-01 -4.65230588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:109.97, Y:-13.96, Z:-4.65 [[ 9.82164867e-01 1.86610378e-01 2.29943566e-02 1.09969495e+02] [-1.86555263e-01 9.82433987e-01 -4.53814339e-03 -1.39640548e+01] [-2.34373020e-02 1.67486752e-04 9.99725295e-01 -4.65135710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61264000000001 meters Centerline goodness [0,1] 0.9999783788458628 Centerline is valid? [True, True] Translation: X:110.00, Y:-13.97, Z:-4.65 [[ 9.82553978e-01 1.84538716e-01 2.30898750e-02 1.09995985e+02] [-1.84482591e-01 9.82825221e-01 -4.55614028e-03 -1.39719946e+01] [-2.35340958e-02 2.16973790e-04 9.99723011e-01 -4.65451087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.02, Y:-13.98, Z:-4.65 [[ 9.82828577e-01 1.83132927e-01 2.25902536e-02 1.10024278e+02] [-1.83078877e-01 9.83088130e-01 -4.45567346e-03 -1.39792206e+01] [-2.30241907e-02 2.43364944e-04 9.99734879e-01 -4.65376907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67264000000002 meters Centerline goodness [0,1] 0.9999784007948508 Centerline is valid? [True, True] Translation: X:110.05, Y:-13.99, Z:-4.66 [[ 9.83128282e-01 1.81504838e-01 2.26886426e-02 1.10050225e+02] [-1.81449905e-01 9.83390011e-01 -4.47412280e-03 -1.39889804e+01] [-2.31238595e-02 2.81784621e-04 9.99732568e-01 -4.65620278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.08, Y:-14.00, Z:-4.66 [[ 9.83190030e-01 1.81201235e-01 2.24383189e-02 1.10078005e+02] [-1.81147465e-01 9.83445998e-01 -4.42312894e-03 -1.39953754e+01] [-2.28683513e-02 2.84131685e-04 9.99738445e-01 -4.65632118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.11, Y:-14.00, Z:-4.66 [[ 9.83188715e-01 1.81165822e-01 2.27792602e-02 1.10105707e+02] [-1.81110424e-01 9.83452521e-01 -4.48914821e-03 -1.40020043e+01] [-2.32156011e-02 2.88118386e-04 9.99730440e-01 -4.65687865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.13, Y:-14.01, Z:-4.66 [[ 9.83033895e-01 1.81863085e-01 2.38784145e-02 1.10134084e+02] [-1.81802449e-01 9.83323821e-01 -4.70444533e-03 -1.40081086e+01] [-2.43357787e-02 2.83474991e-04 9.99703801e-01 -4.65570369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79264 meters Centerline goodness [0,1] 0.9999351407445842 Centerline is valid? [True, True] Translation: X:110.16, Y:-14.01, Z:-4.66 [[ 9.82936240e-01 1.82287480e-01 2.46499950e-02 1.10161543e+02] [-1.82223022e-01 9.83245237e-01 -4.85533831e-03 -1.40134314e+01] [-2.51220575e-02 2.80691409e-04 9.99684352e-01 -4.65885214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.19, Y:-14.02, Z:-4.66 [[ 9.82792460e-01 1.83240252e-01 2.32806948e-02 1.10189593e+02] [-1.83183061e-01 9.83068132e-01 -4.58410362e-03 -1.40185114e+01] [-2.37265015e-02 2.40593542e-04 9.99718458e-01 -4.65826401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.22, Y:-14.02, Z:-4.66 [[ 9.82422178e-01 1.85305935e-01 2.25471823e-02 1.10216941e+02] [-1.85252855e-01 9.82680862e-01 -4.43880565e-03 -1.40232706e+01] [-2.29792216e-02 1.83851223e-04 9.99735926e-01 -4.66142884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.24, Y:-14.03, Z:-4.66 [[ 9.82167213e-01 1.86615169e-01 2.28548692e-02 1.10244514e+02] [-1.86561020e-01 9.82433079e-01 -4.49787410e-03 -1.40281987e+01] [-2.32927510e-02 1.53836751e-04 9.99728675e-01 -4.66258741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.27, Y:-14.03, Z:-4.67 [[ 9.81865545e-01 1.88187954e-01 2.29204321e-02 1.10271411e+02] [-1.88133957e-01 9.82133026e-01 -4.50929615e-03 -1.40330066e+01] [-2.33595086e-02 1.15410939e-04 9.99727123e-01 -4.66531769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.30, Y:-14.04, Z:-4.66 [[ 9.81181181e-01 1.91740486e-01 2.27832270e-02 1.10300878e+02] [-1.91688128e-01 9.81445661e-01 -4.48067682e-03 -1.40351548e+01] [-2.32196264e-02 2.90816416e-05 9.99730388e-01 -4.66397399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.33, Y:-14.04, Z:-4.67 [[ 9.80840919e-01 1.93516920e-01 2.24118978e-02 1.10329430e+02] [-1.93466743e-01 9.81096938e-01 -4.40654297e-03 -1.40383125e+01] [-2.28409850e-02 -1.38392261e-05 9.99739111e-01 -4.66612051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.36, Y:-14.04, Z:-4.67 [[ 9.80523358e-01 1.95133816e-01 2.22876404e-02 1.10357786e+02] [-1.95084637e-01 9.80776627e-01 -4.38099655e-03 -1.40422968e+01] [-2.27140774e-02 -5.23068034e-05 9.99742001e-01 -4.66727792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.38, Y:-14.05, Z:-4.67 [[ 9.80264150e-01 1.96395214e-01 2.26078837e-02 1.10383934e+02] [-1.96344959e-01 9.80524815e-01 -4.44343690e-03 -1.40466818e+01] [-2.30402607e-02 -8.32021038e-05 9.99734534e-01 -4.66802050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.41, Y:-14.05, Z:-4.67 [[ 9.79900752e-01 1.98096408e-01 2.35017101e-02 1.10413066e+02] [-1.98042663e-01 9.80182532e-01 -4.61599608e-03 -1.40506053e+01] [-2.39503779e-02 -1.31123236e-04 9.99713140e-01 -4.66752492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.44, Y:-14.06, Z:-4.67 [[ 9.79781409e-01 1.98638759e-01 2.38963026e-02 1.10441036e+02] [-1.98583373e-01 9.80072763e-01 -4.69276949e-03 -1.40556057e+01] [-2.43522812e-02 -1.47520065e-04 9.99703428e-01 -4.66808256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.47, Y:-14.06, Z:-4.67 [[ 9.79571958e-01 1.99518353e-01 2.51238140e-02 1.10468432e+02] [-1.99457447e-01 9.79894073e-01 -4.93278365e-03 -1.40608762e+01] [-2.56028573e-02 -1.79115258e-04 9.99672177e-01 -4.66785546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.50, Y:-14.07, Z:-4.67 [[ 9.79442120e-01 2.00136941e-01 2.52653571e-02 1.10497097e+02] [-2.00075612e-01 9.79767914e-01 -4.95826408e-03 -1.40652945e+01] [-2.57465181e-02 -1.98649097e-04 9.99668484e-01 -4.66776863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.52, Y:-14.07, Z:-4.67 [[ 9.79291801e-01 2.00953356e-01 2.46031887e-02 1.10524929e+02] [-2.00895482e-01 9.79600787e-01 -4.82730657e-03 -1.40673919e+01] [-2.50713665e-02 -2.15327711e-04 9.99685641e-01 -4.67176667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.55, Y:-14.07, Z:-4.67 [[ 9.79141688e-01 2.01804416e-01 2.35909354e-02 1.10552978e+02] [-2.01751493e-01 9.79425814e-01 -4.62706154e-03 -1.40718235e+01] [-2.40393326e-02 -2.28957595e-04 9.99710987e-01 -4.67347255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264000000001 meters Centerline goodness [0,1] 0.999956457371767 Centerline is valid? [True, True] Translation: X:110.58, Y:-14.07, Z:-4.68 [[ 9.78638609e-01 2.04188070e-01 2.39521485e-02 1.10581668e+02] [-2.04134258e-01 9.78931635e-01 -4.69669451e-03 -1.40749691e+01] [-2.44065249e-02 -2.93087466e-04 9.99702073e-01 -4.67559867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27264000000001 meters Centerline goodness [0,1] 0.9998908034680819 Centerline is valid? [True, True] Translation: X:110.61, Y:-14.08, Z:-4.68 [[ 9.78308355e-01 2.05705747e-01 2.44521582e-02 1.10610579e+02] [-2.05650169e-01 9.78613831e-01 -4.79344159e-03 -1.40777798e+01] [-2.49152587e-02 -3.39126518e-04 9.99689509e-01 -4.67632280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.64, Y:-14.08, Z:-4.68 [[ 9.77948718e-01 2.07492994e-01 2.37268410e-02 1.10638880e+02] [-2.07441202e-01 9.78236433e-01 -4.65079326e-03 -1.40785433e+01] [-2.41754673e-02 -3.73687104e-04 9.99707661e-01 -4.67704723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33264000000001 meters Centerline goodness [0,1] 0.9999130831576889 Centerline is valid? [True, True] Translation: X:110.67, Y:-14.08, Z:-4.68 [[ 9.77492204e-01 2.09774303e-01 2.24439983e-02 1.10668848e+02] [-2.09728635e-01 9.77749750e-01 -4.39611363e-03 -1.40776839e+01] [-2.28668054e-02 -4.09982340e-04 9.99738436e-01 -4.68098892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264000000001 meters Centerline goodness [0,1] 0.9999146120183584 Centerline is valid? [True, True] Translation: X:110.70, Y:-14.08, Z:-4.68 [[ 9.77507523e-01 2.09696637e-01 2.25025176e-02 1.10695458e+02] [-2.09650697e-01 9.77766410e-01 -4.40815383e-03 -1.40808651e+01] [-2.29265809e-02 -4.08664975e-04 9.99737068e-01 -4.68355439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.72, Y:-14.09, Z:-4.68 [[ 9.77938477e-01 2.07558727e-01 2.35735244e-02 1.10723135e+02] [-2.07507758e-01 9.78222486e-01 -4.61502024e-03 -1.40899900e+01] [-2.40180394e-02 -3.78483343e-04 9.99711454e-01 -4.68210000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.75, Y:-14.10, Z:-4.68 [[ 9.78312045e-01 2.05772710e-01 2.37304598e-02 1.10751082e+02] [-2.05720565e-01 9.78599753e-01 -4.64453063e-03 -1.40978279e+01] [-2.41783398e-02 -3.38043333e-04 9.99707604e-01 -4.68231094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.78, Y:-14.10, Z:-4.68 [[ 9.78733114e-01 2.03779640e-01 2.35658576e-02 1.10778254e+02] [-2.03727661e-01 9.79016739e-01 -4.61133827e-03 -1.41047333e+01] [-2.40110659e-02 -2.87747580e-04 9.99711651e-01 -4.68421523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48264 meters Centerline goodness [0,1] 0.999870867768595 Centerline is valid? [True, True] Translation: X:110.81, Y:-14.11, Z:-4.69 [[ 9.79174041e-01 2.01533414e-01 2.45454633e-02 1.10805723e+02] [-2.01476365e-01 9.79481609e-01 -4.80116975e-03 -1.41124039e+01] [-2.50094260e-02 -2.44149928e-04 9.99687186e-01 -4.68600042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51264 meters Centerline goodness [0,1] 0.9999351729800982 Centerline is valid? [True, True] Translation: X:110.83, Y:-14.12, Z:-4.69 [[ 9.79645250e-01 1.99248143e-01 2.44000403e-02 1.10833635e+02] [-1.99191089e-01 9.79949051e-01 -4.77148778e-03 -1.41210505e+01] [-2.48615064e-02 -1.85905261e-04 9.99690888e-01 -4.68699944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54264 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:110.86, Y:-14.13, Z:-4.69 [[ 9.79748415e-01 1.98784695e-01 2.40351679e-02 1.10860882e+02] [-1.98729220e-01 9.80043170e-01 -4.69913589e-03 -1.41277034e+01] [-2.44896185e-02 -1.72519232e-04 9.99700069e-01 -4.68853466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.89, Y:-14.13, Z:-4.69 [[ 9.79698575e-01 1.99117398e-01 2.33015681e-02 1.10889287e+02] [-1.99065390e-01 9.79975628e-01 -4.55409023e-03 -1.41337358e+01] [-2.37417674e-02 -1.76900036e-04 9.99718109e-01 -4.68730796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.92, Y:-14.13, Z:-4.69 [[ 9.79257798e-01 2.01217411e-01 2.37848175e-02 1.10917105e+02] [-2.01163864e-01 9.79546578e-01 -4.64769173e-03 -1.41333306e+01] [-2.42335331e-02 -2.33357412e-04 9.99706298e-01 -4.69063845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63264000000001 meters Centerline goodness [0,1] 0.9999352163772999 Centerline is valid? [True, True] Translation: X:110.95, Y:-14.14, Z:-4.69 [[ 9.78953276e-01 2.02600805e-01 2.45641670e-02 1.10946060e+02] [-2.02544186e-01 9.79261373e-01 -4.79753568e-03 -1.41362553e+01] [-2.50267245e-02 -2.78765951e-04 9.99686744e-01 -4.69104406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:110.97, Y:-14.14, Z:-4.69 [[ 9.78502329e-01 2.04852408e-01 2.38470825e-02 1.10974730e+02] [-2.04799738e-01 9.78792820e-01 -4.65653886e-03 -1.41367321e+01] [-2.42952563e-02 -3.27442145e-04 9.99704773e-01 -4.69164626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.00, Y:-14.14, Z:-4.69 [[ 9.78118324e-01 2.06677702e-01 2.38510224e-02 1.11003907e+02] [-2.06625600e-01 9.78409008e-01 -4.65558291e-03 -1.41377048e+01] [-2.42982604e-02 -3.74520852e-04 9.99704684e-01 -4.69154540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.03, Y:-14.14, Z:-4.69 [[ 9.77321129e-01 2.10410096e-01 2.38956451e-02 1.11033996e+02] [-2.10358947e-01 9.77613099e-01 -4.66285518e-03 -1.41351796e+01] [-2.43418074e-02 -4.69555841e-04 9.99703584e-01 -4.69304798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75264000000001 meters Centerline goodness [0,1] 0.9999782116088548 Centerline is valid? [True, True] Translation: X:111.06, Y:-14.14, Z:-4.70 [[ 9.77120772e-01 2.11394775e-01 2.33933092e-02 1.11062737e+02] [-2.11346052e-01 9.77400642e-01 -4.56420156e-03 -1.41398118e+01] [-2.38294838e-02 -4.84307388e-04 9.99715920e-01 -4.69587158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.09, Y:-14.14, Z:-4.70 [[ 9.76920187e-01 2.12442860e-01 2.22481404e-02 1.11090347e+02] [-2.12399080e-01 9.77173370e-01 -4.33995460e-03 -1.41431296e+01] [-2.26622827e-02 -4.85695302e-04 9.99743060e-01 -4.69715296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81264 meters Centerline goodness [0,1] 0.9999348435158438 Centerline is valid? [True, True] Translation: X:111.12, Y:-14.14, Z:-4.70 [[ 9.76755117e-01 2.13168804e-01 2.25500068e-02 1.11118769e+02] [-2.13124057e-01 9.77015251e-01 -4.39733595e-03 -1.41409948e+01] [-2.29690754e-02 -5.10828542e-04 9.99736045e-01 -4.70090322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84264 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:111.15, Y:-14.14, Z:-4.70 [[ 9.76758038e-01 2.13175646e-01 2.23579580e-02 1.11147375e+02] [-2.13131692e-01 9.77013759e-01 -4.35846959e-03 -1.41416989e+01] [-2.27731522e-02 -5.08019212e-04 9.99740529e-01 -4.70274076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87264 meters Centerline goodness [0,1] 0.9999572348023179 Centerline is valid? [True, True] Translation: X:111.18, Y:-14.15, Z:-4.70 [[ 9.76884679e-01 2.12599584e-01 2.23101098e-02 1.11175726e+02] [-2.12555656e-01 9.77139281e-01 -4.34960365e-03 -1.41496771e+01] [-2.27248086e-02 -4.93078876e-04 9.99741637e-01 -4.70168714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90264 meters Centerline goodness [0,1] 0.9998713081526285 Centerline is valid? [True, True] Translation: X:111.20, Y:-14.15, Z:-4.70 [[ 9.77158559e-01 2.11286458e-01 2.27856069e-02 1.11203829e+02] [-2.11240418e-01 9.77424066e-01 -4.43638202e-03 -1.41545207e+01] [-2.32085480e-02 -4.78192466e-04 9.99730531e-01 -4.70491125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.23, Y:-14.16, Z:-4.71 [[ 9.77808633e-01 2.08302934e-01 2.23643506e-02 1.11231067e+02] [-2.08257809e-01 9.78064276e-01 -4.35403326e-03 -1.41606137e+01] [-2.27807303e-02 -4.00139350e-04 9.99740405e-01 -4.70605957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264000000001 meters Centerline goodness [0,1] 0.9999572183362211 Centerline is valid? [True, True] Translation: X:111.26, Y:-14.17, Z:-4.71 [[ 9.78248911e-01 2.06176288e-01 2.28124174e-02 1.11258479e+02] [-2.06128808e-01 9.78514797e-01 -4.43908376e-03 -1.41667754e+01] [-2.32375218e-02 -3.59767562e-04 9.99729908e-01 -4.70809876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.29, Y:-14.18, Z:-4.71 [[ 9.79088165e-01 2.02008347e-01 2.40622702e-02 1.11286735e+02] [-2.01954348e-01 9.79383760e-01 -4.67878211e-03 -1.41780559e+01] [-2.45113497e-02 -2.78539904e-04 9.99699513e-01 -4.70627329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264000000001 meters Centerline goodness [0,1] 0.9997866439086835 Centerline is valid? [True, True] Translation: X:111.31, Y:-14.18, Z:-4.71 [[ 9.79526200e-01 1.99793077e-01 2.47214272e-02 1.11313801e+02] [-1.99735375e-01 9.79838085e-01 -4.80689525e-03 -1.41841925e+01] [-2.51833803e-02 -2.29263685e-04 9.99682822e-01 -4.71061741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.34, Y:-14.19, Z:-4.71 [[ 9.79817082e-01 1.98487637e-01 2.36884845e-02 1.11341772e+02] [-1.98434313e-01 9.80103373e-01 -4.60448065e-03 -1.41916036e+01] [-2.41310961e-02 -1.89059370e-04 9.99708785e-01 -4.71023626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.37, Y:-14.20, Z:-4.71 [[ 9.80394368e-01 1.95755493e-01 2.25093325e-02 1.11369495e+02] [-1.95706648e-01 9.80652728e-01 -4.37429585e-03 -1.41991088e+01] [-2.29301308e-02 -1.16691014e-04 9.99737063e-01 -4.71387745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11264000000001 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:111.40, Y:-14.21, Z:-4.72 [[ 9.80599688e-01 1.94727108e-01 2.24856468e-02 1.11397909e+02] [-1.94678120e-01 9.80857454e-01 -4.36863242e-03 -1.42050266e+01] [-2.29059054e-02 -9.35838506e-05 9.99737621e-01 -4.71555047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.43, Y:-14.21, Z:-4.72 [[ 9.80696766e-01 1.94281305e-01 2.21049172e-02 1.11425571e+02] [-1.94233869e-01 9.80945854e-01 -4.29380296e-03 -1.42107895e+01] [-2.25179325e-02 -8.26048970e-05 9.99746436e-01 -4.71555993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17264000000002 meters Centerline goodness [0,1] 0.9998271727624274 Centerline is valid? [True, True] Translation: X:111.45, Y:-14.22, Z:-4.72 [[ 9.80870105e-01 1.93304005e-01 2.29651665e-02 1.11453490e+02] [-1.93252577e-01 9.81138908e-01 -4.45913113e-03 -1.42162317e+01] [-2.33939863e-02 -6.42491883e-05 9.99726321e-01 -4.71837426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20264 meters Centerline goodness [0,1] 0.9998271727624274 Centerline is valid? [True, True] Translation: X:111.48, Y:-14.22, Z:-4.72 [[ 9.80884343e-01 1.93231729e-01 2.29653006e-02 1.11480483e+02] [-1.93180297e-01 9.81153146e-01 -4.45844061e-03 -1.42213353e+01] [-2.33939891e-02 -6.32290074e-05 9.99726321e-01 -4.71951270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.51, Y:-14.23, Z:-4.72 [[ 9.81019675e-01 1.92571529e-01 2.27289240e-02 1.11507438e+02] [-1.92521019e-01 9.81282938e-01 -4.41061023e-03 -1.42273519e+01] [-2.31528633e-02 -4.89001883e-05 9.99731935e-01 -4.72088035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.53, Y:-14.23, Z:-4.72 [[ 9.81159923e-01 1.91867094e-01 2.26323608e-02 1.11533559e+02] [-1.91816849e-01 9.81420917e-01 -4.39080324e-03 -1.42332226e+01] [-2.30543230e-02 -3.31879780e-05 9.99734213e-01 -4.72362115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.56, Y:-14.24, Z:-4.72 [[ 9.81257108e-01 1.91412721e-01 2.22633801e-02 1.11561751e+02] [-1.91364039e-01 9.81509638e-01 -4.31683607e-03 -1.42396723e+01] [-2.26780195e-02 -2.44842608e-05 9.99742820e-01 -4.72067820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.59, Y:-14.24, Z:-4.72 [[ 9.81287581e-01 1.91237371e-01 2.24265858e-02 1.11588678e+02] [-1.91187920e-01 9.81543819e-01 -4.34873643e-03 -1.42445502e+01] [-2.28443176e-02 -2.03312492e-05 9.99739034e-01 -4.72247995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35264000000001 meters Centerline goodness [0,1] 0.9998044625980402 Centerline is valid? [True, True] Translation: X:111.62, Y:-14.25, Z:-4.72 [[ 9.81324640e-01 1.90849410e-01 2.40510757e-02 1.11615819e+02] [-1.90792531e-01 9.81619327e-01 -4.65916255e-03 -1.42483087e+01] [-2.44981991e-02 -1.66145878e-05 9.99699874e-01 -4.72477314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.64, Y:-14.25, Z:-4.72 [[ 9.81249771e-01 1.91212609e-01 2.42203479e-02 1.11643475e+02] [-1.91155070e-01 9.81548642e-01 -4.69061745e-03 -1.42545611e+01] [-2.46703548e-02 -2.71749977e-05 9.99695640e-01 -4.72229665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41264000000001 meters Centerline goodness [0,1] 0.9998918264030116 Centerline is valid? [True, True] Translation: X:111.67, Y:-14.26, Z:-4.73 [[ 9.81334386e-01 1.90696818e-01 2.48504829e-02 1.11671081e+02] [-1.90636140e-01 9.81648982e-01 -4.81029831e-03 -1.42601965e+01] [-2.53117599e-02 -1.68890018e-05 9.99679606e-01 -4.72611194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.70, Y:-14.27, Z:-4.72 [[ 9.81456996e-01 1.89977655e-01 2.55079378e-02 1.11697944e+02] [-1.89913510e-01 9.81788414e-01 -4.93640420e-03 -1.42687536e+01] [-2.59812043e-02 5.66437636e-07 9.99662432e-01 -4.72449110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.72, Y:-14.28, Z:-4.73 [[ 9.81549581e-01 1.89492302e-01 2.55555883e-02 1.11724905e+02] [-1.89427789e-01 9.81882206e-01 -4.94423571e-03 -1.42751877e+01] [-2.60294721e-02 1.20739045e-05 9.99661176e-01 -4.72536999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264000000001 meters Centerline goodness [0,1] 0.9998075195688438 Centerline is valid? [True, True] Translation: X:111.75, Y:-14.28, Z:-4.73 [[ 9.81649293e-01 1.88974644e-01 2.55587436e-02 1.11751870e+02] [-1.88909989e-01 9.81981967e-01 -4.94296211e-03 -1.42809908e+01] [-2.60323198e-02 2.39532996e-05 9.99661101e-01 -4.72977701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.78, Y:-14.29, Z:-4.73 [[ 9.81392745e-01 1.90478320e-01 2.42134121e-02 1.11780270e+02] [-1.90420800e-01 9.81691402e-01 -4.68076567e-03 -1.42863457e+01] [-2.46616829e-02 -1.70678435e-05 9.99695854e-01 -4.73004003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.81, Y:-14.29, Z:-4.73 [[ 9.81183554e-01 1.91554897e-01 2.41982596e-02 1.11809170e+02] [-1.91497805e-01 9.81481900e-01 -4.67666464e-03 -1.42906872e+01] [-2.46459918e-02 -4.52471674e-05 9.99696240e-01 -4.73149608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.84, Y:-14.29, Z:-4.73 [[ 9.80984161e-01 1.92570083e-01 2.42247397e-02 1.11836568e+02] [-1.92513201e-01 9.81283220e-01 -4.68078486e-03 -1.42943958e+01] [-2.46727097e-02 -7.18063658e-05 9.99695580e-01 -4.73370781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.86, Y:-14.30, Z:-4.73 [[ 9.80800200e-01 1.93529501e-01 2.40270522e-02 1.11864834e+02] [-1.93473871e-01 9.81094452e-01 -4.64096366e-03 -1.42987523e+01] [-2.44709710e-02 -9.67487092e-05 9.99700536e-01 -4.73388320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.89, Y:-14.30, Z:-4.73 [[ 9.80543836e-01 1.94668099e-01 2.52609708e-02 1.11892986e+02] [-1.94607005e-01 9.80869162e-01 -4.87853125e-03 -1.43015734e+01] [-2.57274017e-02 -1.32348113e-04 9.99668987e-01 -4.73421445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68264 meters Centerline goodness [0,1] 0.9999783554468518 Centerline is valid? [True, True] Translation: X:111.92, Y:-14.31, Z:-4.73 [[ 9.80478724e-01 1.94843029e-01 2.64133776e-02 1.11921264e+02] [-1.94776376e-01 9.80834427e-01 -5.09808769e-03 -1.43077417e+01] [-2.69004769e-02 -1.46135459e-04 9.99638106e-01 -4.73125683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.95, Y:-14.31, Z:-4.73 [[ 9.80516040e-01 1.94639281e-01 2.65300938e-02 1.11947873e+02] [-1.94571986e-01 9.80874880e-01 -5.11977332e-03 -1.43127341e+01] [-2.70192116e-02 -1.41993198e-04 9.99634904e-01 -4.73463392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:111.98, Y:-14.32, Z:-4.74 [[ 9.80632792e-01 1.94095628e-01 2.61956915e-02 1.11975545e+02] [-1.94029904e-01 9.80982605e-01 -5.05230653e-03 -1.43195830e+01] [-2.66781483e-02 -1.28290044e-04 9.99644067e-01 -4.73646991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.00, Y:-14.33, Z:-4.74 [[ 9.81000224e-01 1.92300258e-01 2.56743385e-02 1.12002018e+02] [-1.92236531e-01 9.81336132e-01 -4.95090947e-03 -1.43290004e+01] [-2.61472172e-02 -7.87024763e-05 9.99658100e-01 -4.73945464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.03, Y:-14.34, Z:-4.74 [[ 9.81253056e-01 1.91073764e-01 2.51645768e-02 1.12029819e+02] [-1.91012195e-01 9.81575679e-01 -4.85044204e-03 -1.43362977e+01] [-2.56277288e-02 -4.72299807e-05 9.99671555e-01 -4.74146756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83264000000001 meters Centerline goodness [0,1] 0.9998066719652868 Centerline is valid? [True, True] Translation: X:112.06, Y:-14.34, Z:-4.75 [[ 9.81542494e-01 1.89630801e-01 2.47889515e-02 1.12056230e+02] [-1.89570613e-01 9.81855468e-01 -4.77738377e-03 -1.43427194e+01] [-2.52451067e-02 -1.00515447e-05 9.99681291e-01 -4.74668003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.08, Y:-14.36, Z:-4.74 [[ 9.82018060e-01 1.87195458e-01 2.44620161e-02 1.12082891e+02] [-1.87136153e-01 9.82322685e-01 -4.71191817e-03 -1.43552516e+01] [-2.49116431e-02 4.94611341e-05 9.99689656e-01 -4.74374608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.11, Y:-14.36, Z:-4.75 [[ 9.82251589e-01 1.85899882e-01 2.49609881e-02 1.12109332e+02] [-1.85837740e-01 9.82568688e-01 -4.80698920e-03 -1.43639112e+01] [-2.54195040e-02 8.29791622e-05 9.99676869e-01 -4.74584605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.14, Y:-14.37, Z:-4.74 [[ 9.82417132e-01 1.85020673e-01 2.49785921e-02 1.12137309e+02] [-1.84958211e-01 9.82734623e-01 -4.80840127e-03 -1.43705805e+01] [-2.54369809e-02 1.03860093e-04 9.99676422e-01 -4.74431441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.16, Y:-14.38, Z:-4.75 [[ 9.82500602e-01 1.84542912e-01 2.52285612e-02 1.12164760e+02] [-1.84479063e-01 9.82824450e-01 -4.85541069e-03 -1.43766131e+01] [-2.56912784e-02 1.16302596e-04 9.99669918e-01 -4.74656221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.19, Y:-14.38, Z:-4.75 [[ 9.82651892e-01 1.83752203e-01 2.51075071e-02 1.12193159e+02] [-1.83688753e-01 9.82972589e-01 -4.83034014e-03 -1.43839443e+01] [-2.55675768e-02 1.34576219e-04 9.99673087e-01 -4.74735078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.22, Y:-14.39, Z:-4.75 [[ 9.82776415e-01 1.83108763e-01 2.49339097e-02 1.12220613e+02] [-1.83046012e-01 9.83092650e-01 -4.79570602e-03 -1.43913163e+01] [-2.53904792e-02 1.49054026e-04 9.99677599e-01 -4.74888357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04264 meters Centerline goodness [0,1] 0.9999137150006472 Centerline is valid? [True, True] Translation: X:112.25, Y:-14.40, Z:-4.75 [[ 9.82936318e-01 1.82298034e-01 2.45687306e-02 1.12248682e+02] [-1.82236885e-01 9.83243306e-01 -4.72424931e-03 -1.43982104e+01] [-2.50182612e-02 1.66307301e-04 9.99686980e-01 -4.75274786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.27, Y:-14.41, Z:-4.75 [[ 9.83109112e-01 1.81282234e-01 2.51639842e-02 1.12274732e+02] [-1.81217782e-01 9.83431092e-01 -4.83756173e-03 -1.44087276e+01] [-2.56240084e-02 1.95689620e-04 9.99671632e-01 -4.75179774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264000000001 meters Centerline goodness [0,1] 0.9999358480882731 Centerline is valid? [True, True] Translation: X:112.30, Y:-14.42, Z:-4.76 [[ 9.83206986e-01 1.80790768e-01 2.48741084e-02 1.12301103e+02] [-1.80727675e-01 9.83521559e-01 -4.78027257e-03 -1.44167346e+01] [-2.53284511e-02 2.04557586e-04 9.99679162e-01 -4.75702156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.33, Y:-14.42, Z:-4.76 [[ 9.83294281e-01 1.80362919e-01 2.45270181e-02 1.12328076e+02] [-1.80301479e-01 9.83600108e-01 -4.71208991e-03 -1.44249694e+01] [-2.49746640e-02 2.11113412e-04 9.99688062e-01 -4.75759131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264000000001 meters Centerline goodness [0,1] 0.9999347414674469 Centerline is valid? [True, True] Translation: X:112.36, Y:-14.43, Z:-4.76 [[ 9.83352980e-01 1.80116769e-01 2.39763522e-02 1.12356890e+02] [-1.80058028e-01 9.83645213e-01 -4.60452714e-03 -1.44302550e+01] [-2.44135766e-02 2.10740799e-04 9.99701922e-01 -4.75836094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19264000000001 meters Centerline goodness [0,1] 0.9998706032047273 Centerline is valid? [True, True] Translation: X:112.38, Y:-14.44, Z:-4.76 [[ 9.83106526e-01 1.81374592e-01 2.45929866e-02 1.12383725e+02] [-1.81313211e-01 9.83414065e-01 -4.72183647e-03 -1.44375454e+01] [-2.50415101e-02 1.83034874e-04 9.99686395e-01 -4.76003648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.41, Y:-14.45, Z:-4.76 [[ 9.82906039e-01 1.82387909e-01 2.51071599e-02 1.12411064e+02] [-1.82324312e-01 9.83226640e-01 -4.81869902e-03 -1.44453390e+01] [-2.55649009e-02 1.58682710e-04 9.99673152e-01 -4.76111712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25264000000001 meters Centerline goodness [0,1] 0.9999354005167959 Centerline is valid? [True, True] Translation: X:112.44, Y:-14.45, Z:-4.76 [[ 9.82668509e-01 1.83698136e-01 2.48514964e-02 1.12439789e+02] [-1.83636283e-01 9.82982696e-01 -4.76818778e-03 -1.44507538e+01] [-2.53044981e-02 1.21911543e-04 9.99679782e-01 -4.76388482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.47, Y:-14.46, Z:-4.76 [[ 9.82223604e-01 1.85919796e-01 2.58963515e-02 1.12468380e+02] [-1.85853425e-01 9.82564921e-01 -4.96784266e-03 -1.44563552e+01] [-2.63684668e-02 6.66067020e-05 9.99652289e-01 -4.76123532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.50, Y:-14.46, Z:-4.76 [[ 9.82079478e-01 1.86592755e-01 2.65149436e-02 1.12496224e+02] [-1.86523456e-01 9.82437347e-01 -5.08518371e-03 -1.44621520e+01] [-2.69981293e-02 4.83956646e-05 9.99635483e-01 -4.76068854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.52, Y:-14.47, Z:-4.76 [[ 9.81972785e-01 1.87139408e-01 2.66137525e-02 1.12524028e+02] [-1.87069827e-01 9.82333366e-01 -5.10281660e-03 -1.44690667e+01] [-2.70985151e-02 3.21969497e-05 9.99632767e-01 -4.76157710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37264 meters Centerline goodness [0,1] 0.9999354630525976 Centerline is valid? [True, True] Translation: X:112.55, Y:-14.48, Z:-4.77 [[ 9.81853864e-01 1.87888376e-01 2.57088991e-02 1.12551251e+02] [-1.87823736e-01 9.82190388e-01 -4.92809563e-03 -1.44777667e+01] [-2.61769655e-02 9.92825477e-06 9.99657324e-01 -4.76596623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40264 meters Centerline goodness [0,1] 0.9998915707067422 Centerline is valid? [True, True] Translation: X:112.58, Y:-14.48, Z:-4.77 [[ 9.81815436e-01 1.88162744e-01 2.51640953e-02 1.12579636e+02] [-1.88100936e-01 9.82137863e-01 -4.82245033e-03 -1.44846647e+01] [-2.56220163e-02 1.36630146e-06 9.99671702e-01 -4.76782526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43264 meters Centerline goodness [0,1] 0.9999783493548108 Centerline is valid? [True, True] Translation: X:112.61, Y:-14.49, Z:-4.77 [[ 9.81709558e-01 1.88781498e-01 2.46554213e-02 1.12606674e+02] [-1.88722384e-01 9.82019117e-01 -4.72394979e-03 -1.44902520e+01] [-2.51038894e-02 -1.54832450e-05 9.99684848e-01 -4.76979543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.63, Y:-14.50, Z:-4.77 [[ 9.81282176e-01 1.90871771e-01 2.55589240e-02 1.12634723e+02] [-1.90809003e-01 9.81614976e-01 -4.89517790e-03 -1.44959862e+01] [-2.60233738e-02 -7.33219840e-05 9.99661332e-01 -4.76821192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.66, Y:-14.50, Z:-4.77 [[ 9.80971342e-01 1.92425792e-01 2.58368259e-02 1.12662168e+02] [-1.92362221e-01 9.81311521e-01 -4.94723341e-03 -1.45006330e+01] [-2.63059502e-02 -1.16935016e-04 9.99653932e-01 -4.76911147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.69, Y:-14.50, Z:-4.77 [[ 9.80644628e-01 1.94083656e-01 2.58388891e-02 1.12691045e+02] [-1.94020698e-01 9.80984968e-01 -4.94578381e-03 -1.45048025e+01] [-2.63074576e-02 -1.63222979e-04 9.99653886e-01 -4.76995997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55264000000001 meters Centerline goodness [0,1] 0.9998479649016115 Centerline is valid? [True, True] Translation: X:112.72, Y:-14.51, Z:-4.77 [[ 9.80256792e-01 1.96089850e-01 2.54045624e-02 1.12720052e+02] [-1.96029698e-01 9.80585909e-01 -4.86139547e-03 -1.45075508e+01] [-2.58646262e-02 -2.14632757e-04 9.99665432e-01 -4.77315577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264000000001 meters Centerline goodness [0,1] 0.9999571651924354 Centerline is valid? [True, True] Translation: X:112.75, Y:-14.51, Z:-4.77 [[ 9.79323322e-01 2.00467506e-01 2.71773857e-02 1.12748748e+02] [-2.00400385e-01 9.79700288e-01 -5.19927091e-03 -1.45053868e+01] [-2.76679775e-02 -3.54591295e-04 9.99617105e-01 -4.77230629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61264000000001 meters Centerline goodness [0,1] 0.9998057539982302 Centerline is valid? [True, True] Translation: X:112.78, Y:-14.51, Z:-4.77 [[ 9.78891715e-01 2.02568503e-01 2.71479526e-02 1.12777163e+02] [-2.02502383e-01 9.79268007e-01 -5.19190648e-03 -1.45081523e+01] [-2.76368381e-02 -4.15210844e-04 9.99617943e-01 -4.77229657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264000000001 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:112.81, Y:-14.51, Z:-4.77 [[ 9.78507018e-01 2.04245819e-01 2.84193887e-02 1.12806402e+02] [-2.04174126e-01 9.78919511e-01 -5.43298710e-03 -1.45115469e+01] [-2.89299590e-02 -4.86287855e-04 9.99581323e-01 -4.77020736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67264000000002 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:112.83, Y:-14.51, Z:-4.77 [[ 9.78156438e-01 2.05784773e-01 2.93702258e-02 1.12834616e+02] [-2.05708937e-01 9.78597120e-01 -5.61332139e-03 -1.45123839e+01] [-2.98967544e-02 -5.51011482e-04 9.99552840e-01 -4.77189101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70264 meters Centerline goodness [0,1] 0.9998719344304284 Centerline is valid? [True, True] Translation: X:112.86, Y:-14.52, Z:-4.77 [[ 9.77860891e-01 2.07228693e-01 2.90576344e-02 1.12863162e+02] [-2.07155159e-01 9.78292349e-01 -5.55161334e-03 -1.45177884e+01] [-2.95773150e-02 -5.90733304e-04 9.99562321e-01 -4.77369483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73264 meters Centerline goodness [0,1] 0.9999574323173847 Centerline is valid? [True, True] Translation: X:112.89, Y:-14.52, Z:-4.77 [[ 9.77964642e-01 2.06750201e-01 2.89743494e-02 1.12890819e+02] [-2.06676917e-01 9.78393593e-01 -5.53436814e-03 -1.45217356e+01] [-2.94925495e-02 -5.75912859e-04 9.99564834e-01 -4.77467650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76264 meters Centerline goodness [0,1] 0.9999785990968819 Centerline is valid? [True, True] Translation: X:112.92, Y:-14.53, Z:-4.78 [[ 9.78132245e-01 2.05938610e-01 2.90963962e-02 1.12918926e+02] [-2.05864408e-01 9.78564755e-01 -5.55568143e-03 -1.45281520e+01] [-2.96168372e-02 -5.55721229e-04 9.99561171e-01 -4.77536085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.95, Y:-14.53, Z:-4.78 [[ 9.78728179e-01 2.02986406e-01 2.97938021e-02 1.12945844e+02] [-2.02907279e-01 9.79181438e-01 -5.68741737e-03 -1.45348586e+01] [-3.03280064e-02 -4.78943668e-04 9.99539885e-01 -4.77599714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:112.97, Y:-14.54, Z:-4.78 [[ 9.79125790e-01 2.01070891e-01 2.97183965e-02 1.12973616e+02] [-2.00991343e-01 9.79576602e-01 -5.67101472e-03 -1.45434604e+01] [-3.02517218e-02 -4.20503635e-04 9.99542223e-01 -4.77684240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.00, Y:-14.55, Z:-4.78 [[ 9.79519975e-01 1.99207672e-01 2.92732203e-02 1.13001974e+02] [-1.99129704e-01 9.79957231e-01 -5.58448047e-03 -1.45513359e+01] [-2.97989753e-02 -3.59057520e-04 9.99555847e-01 -4.77798291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264000000001 meters Centerline goodness [0,1] 0.9999571945294609 Centerline is valid? [True, True] Translation: X:113.03, Y:-14.56, Z:-4.78 [[ 9.80125148e-01 1.96414527e-01 2.78572723e-02 1.13029112e+02] [-1.96342811e-01 9.80520915e-01 -5.31368920e-03 -1.45587193e+01] [-2.83583239e-02 -2.61494743e-04 9.99597788e-01 -4.78226081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.06, Y:-14.57, Z:-4.78 [[ 9.80346390e-01 1.95268592e-01 2.81270949e-02 1.13057253e+02] [-1.95195065e-01 9.80749776e-01 -5.36318117e-03 -1.45659004e+01] [-2.86329029e-02 -2.32494826e-04 9.99589967e-01 -4.78241456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.09, Y:-14.57, Z:-4.78 [[ 9.80494633e-01 1.94536604e-01 2.80318309e-02 1.13085758e+02] [-1.94463316e-01 9.80895236e-01 -5.34358359e-03 -1.45723680e+01] [-2.85358120e-02 -2.11807749e-04 9.99592748e-01 -4.78398632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.11, Y:-14.58, Z:-4.79 [[ 9.80732893e-01 1.93347270e-01 2.79253647e-02 1.13114118e+02] [-1.93274096e-01 9.81130369e-01 -5.32187009e-03 -1.45794784e+01] [-2.84273925e-02 -1.77916572e-04 9.99595844e-01 -4.78517337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.14, Y:-14.58, Z:-4.79 [[ 9.80809885e-01 1.93028467e-01 2.74222518e-02 1.13141054e+02] [-1.92957813e-01 9.81193143e-01 -5.22486722e-03 -1.45845520e+01] [-2.79150735e-02 -1.66736323e-04 9.99610284e-01 -4.78747585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.17, Y:-14.59, Z:-4.79 [[ 9.80898665e-01 1.92655008e-01 2.68673986e-02 1.13168382e+02] [-1.92587096e-01 9.81266541e-01 -5.11727190e-03 -1.45894299e+01] [-2.73499473e-02 -1.54789094e-04 9.99625908e-01 -4.79079541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters Centerline goodness [0,1] 0.9999567913236977 Centerline is valid? [True, True] Translation: X:113.20, Y:-14.60, Z:-4.80 [[ 9.81044488e-01 1.92169346e-01 2.49530596e-02 1.13196485e+02] [-1.92110651e-01 9.81361771e-01 -4.75109651e-03 -1.45956152e+01] [-2.54009938e-02 -1.32711472e-04 9.99677334e-01 -4.79513405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.23, Y:-14.60, Z:-4.79 [[ 9.81132415e-01 1.91629091e-01 2.56412927e-02 1.13225039e+02] [-1.91566964e-01 9.81467410e-01 -4.88077669e-03 -1.46023351e+01] [-2.61013919e-02 -1.23336387e-04 9.99659293e-01 -4.79478184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.25, Y:-14.61, Z:-4.80 [[ 9.81282907e-01 1.90775613e-01 2.62396854e-02 1.13252000e+02] [-1.90710279e-01 9.81633666e-01 -4.99348031e-03 -1.46085094e+01] [-2.67103928e-02 -1.04160853e-04 9.99643208e-01 -4.79619772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.28, Y:-14.61, Z:-4.80 [[ 9.81291924e-01 1.90729184e-01 2.62400264e-02 1.13279827e+02] [-1.90663881e-01 9.81642688e-01 -4.99168761e-03 -1.46137102e+01] [-2.67103905e-02 -1.04722539e-04 9.99643208e-01 -4.79737074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.31, Y:-14.62, Z:-4.80 [[ 9.81436921e-01 1.89894770e-01 2.68616152e-02 1.13308301e+02] [-1.89826066e-01 9.81804445e-01 -5.10840767e-03 -1.46212914e+01] [-2.73429131e-02 -8.54548374e-05 9.99626109e-01 -4.79680227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.34, Y:-14.63, Z:-4.80 [[ 9.81518415e-01 1.89354210e-01 2.76872478e-02 1.13335287e+02] [-1.89281023e-01 9.81908844e-01 -5.26466611e-03 -1.46293109e+01] [-2.81832402e-02 -7.33038477e-05 9.99602771e-01 -4.79638456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.36, Y:-14.63, Z:-4.80 [[ 9.81451126e-01 1.89702070e-01 2.76913687e-02 1.13363624e+02] [-1.89629052e-01 9.81841697e-01 -5.26359214e-03 -1.46343460e+01] [-2.81870548e-02 -8.51295578e-05 9.99602662e-01 -4.79620936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.39, Y:-14.64, Z:-4.80 [[ 9.80930961e-01 1.92464078e-01 2.70560219e-02 1.13391681e+02] [-1.92395454e-01 9.81304006e-01 -5.14166924e-03 -1.46351627e+01] [-2.75397693e-02 -1.61833085e-04 9.99620696e-01 -4.80019881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.42, Y:-14.64, Z:-4.80 [[ 9.80583708e-01 1.94225587e-01 2.70557549e-02 1.13420499e+02] [-1.94157686e-01 9.80956868e-01 -5.13975704e-03 -1.46395900e+01] [-2.75388010e-02 -2.13120753e-04 9.99620713e-01 -4.80013143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.45, Y:-14.64, Z:-4.80 [[ 9.80172373e-01 1.96245627e-01 2.73819790e-02 1.13448180e+02] [-1.96176900e-01 9.80554730e-01 -5.20047933e-03 -1.46417158e+01] [-2.78701004e-02 -2.74345609e-04 9.99611516e-01 -4.80162249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.48, Y:-14.64, Z:-4.80 [[ 9.79736464e-01 1.98396202e-01 2.74846913e-02 1.13476237e+02] [-1.98327854e-01 9.80121846e-01 -5.21821493e-03 -1.46428294e+01] [-2.79736203e-02 -3.38504400e-04 9.99608604e-01 -4.80316293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39264000000001 meters Centerline goodness [0,1] 0.9997835357274282 Centerline is valid? [True, True] Translation: X:113.50, Y:-14.64, Z:-4.81 [[ 9.79302407e-01 2.00606210e-01 2.69062102e-02 1.13504897e+02] [-2.00541591e-01 9.79671880e-01 -5.10662092e-03 -1.46440293e+01] [-2.73836774e-02 -3.94888050e-04 9.99624919e-01 -4.80627792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.53, Y:-14.64, Z:-4.81 [[ 9.78488865e-01 2.04577292e-01 2.66021346e-02 1.13534650e+02] [-2.04515631e-01 9.78850285e-01 -5.04743285e-03 -1.46405312e+01] [-2.70720972e-02 -5.01695521e-04 9.99633358e-01 -4.80767444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45264 meters Centerline goodness [0,1] 0.9998497209102619 Centerline is valid? [True, True] Translation: X:113.56, Y:-14.64, Z:-4.81 [[ 9.78092094e-01 2.06554667e-01 2.59041611e-02 1.13563159e+02] [-2.06496912e-01 9.78434911e-01 -4.91425503e-03 -1.46429884e+01] [-2.63605979e-02 -5.42535288e-04 9.99652352e-01 -4.81049365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48264 meters Centerline goodness [0,1] 0.9999567987903661 Centerline is valid? [True, True] Translation: X:113.59, Y:-14.64, Z:-4.81 [[ 9.77740658e-01 2.08254123e-01 2.55622066e-02 1.13592231e+02] [-2.08198495e-01 9.78074579e-01 -4.84815959e-03 -1.46444776e+01] [-2.60113937e-02 -5.81770200e-04 9.99661477e-01 -4.81065800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51264 meters Centerline goodness [0,1] 0.9998712833054447 Centerline is valid? [True, True] Translation: X:113.62, Y:-14.64, Z:-4.81 [[ 9.77114497e-01 2.11234017e-01 2.50489483e-02 1.13621931e+02] [-2.11181614e-01 9.77435302e-01 -4.74944790e-03 -1.46436422e+01] [-2.54869713e-02 -6.49122915e-04 9.99674944e-01 -4.81265400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54264 meters Centerline goodness [0,1] 0.9999568668046929 Centerline is valid? [True, True] Translation: X:113.65, Y:-14.65, Z:-4.81 [[ 9.76964870e-01 2.11956609e-01 2.47798083e-02 1.13649728e+02] [-2.11905571e-01 9.77278854e-01 -4.69793723e-03 -1.46490189e+01] [-2.52125415e-02 -6.61259789e-04 9.99681895e-01 -4.81330090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57264 meters Centerline goodness [0,1] 0.9996571820363387 Centerline is valid? [True, True] Translation: X:113.68, Y:-14.65, Z:-4.82 [[ 9.76740721e-01 2.13010629e-01 2.45771411e-02 1.13677889e+02] [-2.12960793e-01 9.77049642e-01 -4.65797802e-03 -1.46480804e+01] [-2.50052857e-02 -6.84330644e-04 9.99687085e-01 -4.81837075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264000000001 meters Centerline goodness [0,1] 0.999957040060144 Centerline is valid? [True, True] Translation: X:113.71, Y:-14.65, Z:-4.81 [[ 9.76674812e-01 2.13210473e-01 2.54481019e-02 1.13706373e+02] [-2.13157160e-01 9.77006030e-01 -4.82114773e-03 -1.46545002e+01] [-2.58908682e-02 -7.15751569e-04 9.99664519e-01 -4.81437486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63264000000001 meters Centerline goodness [0,1] 0.9999786315654515 Centerline is valid? [True, True] Translation: X:113.74, Y:-14.65, Z:-4.81 [[ 9.76450029e-01 2.13987949e-01 2.74681435e-02 1.13736250e+02] [-2.13926185e-01 9.76835976e-01 -5.20230423e-03 -1.46526703e+01] [-2.79451012e-02 -7.96365030e-04 9.99609142e-01 -4.81146974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264000000001 meters Centerline goodness [0,1] 0.9999354477772519 Centerline is valid? [True, True] Translation: X:113.76, Y:-14.65, Z:-4.81 [[ 9.76452858e-01 2.13883936e-01 2.81687509e-02 1.13764249e+02] [-2.13818976e-01 9.76858740e-01 -5.33366990e-03 -1.46548657e+01] [-2.86576768e-02 -8.14936251e-04 9.99588952e-01 -4.81227706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69264000000001 meters Centerline goodness [0,1] 0.9997863019553371 Centerline is valid? [True, True] Translation: X:113.79, Y:-14.66, Z:-4.81 [[ 9.76524433e-01 2.13510989e-01 2.85147111e-02 1.13791953e+02] [-2.13444318e-01 9.76940322e-01 -5.39733238e-03 -1.46574484e+01] [-2.90095608e-02 -8.15676108e-04 9.99578801e-01 -4.81393395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264000000001 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:113.82, Y:-14.66, Z:-4.81 [[ 9.77031850e-01 2.11244682e-01 2.80079983e-02 1.13820322e+02] [-2.11179485e-01 9.77432934e-01 -5.29941319e-03 -1.46649883e+01] [-2.84954128e-02 -7.37019176e-04 9.99593652e-01 -4.81348264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75264000000001 meters Centerline goodness [0,1] 0.9999787663233889 Centerline is valid? [True, True] Translation: X:113.85, Y:-14.67, Z:-4.81 [[ 9.77335571e-01 2.09817608e-01 2.81381054e-02 1.13848432e+02] [-2.09751235e-01 9.77740294e-01 -5.32327419e-03 -1.46677923e+01] [-2.86286761e-02 -6.99377147e-04 9.99589871e-01 -4.81496692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264000000001 meters Centerline goodness [0,1] 0.9998928556122231 Centerline is valid? [True, True] Translation: X:113.88, Y:-14.67, Z:-4.82 [[ 9.77684500e-01 2.08210164e-01 2.79561352e-02 1.13876728e+02] [-2.08144044e-01 9.78083895e-01 -5.28694845e-03 -1.46734548e+01] [-2.84442420e-02 -6.49935487e-04 9.99595169e-01 -4.81761258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81264 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:113.90, Y:-14.68, Z:-4.82 [[ 9.78908298e-01 2.02296803e-01 2.85402746e-02 1.13904814e+02] [-2.02225428e-01 9.79324136e-01 -5.39561882e-03 -1.46813656e+01] [-2.90416962e-02 -4.89753192e-04 9.99578081e-01 -4.81800669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.93, Y:-14.69, Z:-4.82 [[ 9.79540933e-01 1.99300181e-01 2.79105425e-02 1.13932632e+02] [-1.99230716e-01 9.79938408e-01 -5.27618582e-03 -1.46861853e+01] [-2.84021574e-02 -3.92397384e-04 9.99596500e-01 -4.82272881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.96, Y:-14.70, Z:-4.82 [[ 9.80221497e-01 1.96065348e-01 2.69108749e-02 1.13960297e+02] [-1.95999589e-01 9.80590789e-01 -5.08581828e-03 -1.46976860e+01] [-2.73857087e-02 -2.89291996e-04 9.99624899e-01 -4.82234023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:113.99, Y:-14.71, Z:-4.82 [[ 9.81324967e-01 1.90511290e-01 2.65849063e-02 1.13987181e+02] [-1.90445096e-01 9.81684996e-01 -5.02340955e-03 -1.47085210e+01] [-2.70550199e-02 -1.33367841e-04 9.99633937e-01 -4.82328509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.02, Y:-14.72, Z:-4.82 [[ 9.81671814e-01 1.88693992e-01 2.67399849e-02 1.14015054e+02] [-1.88626387e-01 9.82035931e-01 -5.05134506e-03 -1.47152642e+01] [-2.72127844e-02 -8.51036607e-05 9.99629660e-01 -4.82374735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264000000001 meters Centerline goodness [0,1] 0.9999134854547421 Centerline is valid? [True, True] Translation: X:114.04, Y:-14.72, Z:-4.83 [[ 9.82124883e-01 1.86414238e-01 2.60853748e-02 1.14043045e+02] [-1.86349132e-01 9.82471237e-01 -4.92642746e-03 -1.47214322e+01] [-2.65464866e-02 -2.26199627e-05 9.99647580e-01 -4.82614582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99264000000001 meters Centerline goodness [0,1] 0.999956942949408 Centerline is valid? [True, True] Translation: X:114.07, Y:-14.73, Z:-4.83 [[ 9.82320771e-01 1.85380033e-01 2.60796245e-02 1.14070688e+02] [-1.85314622e-01 9.82666904e-01 -4.92419355e-03 -1.47270912e+01] [-2.65404311e-02 4.20185253e-06 9.99647741e-01 -4.82811922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.10, Y:-14.73, Z:-4.83 [[ 9.82525501e-01 1.84272871e-01 2.62135200e-02 1.14097566e+02] [-1.84206428e-01 9.82875123e-01 -4.94811594e-03 -1.47324946e+01] [-2.66764202e-02 3.29512105e-05 9.99644120e-01 -4.82815337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.13, Y:-14.74, Z:-4.83 [[ 9.82655090e-01 1.83565840e-01 2.63164661e-02 1.14125601e+02] [-1.83498685e-01 9.83007416e-01 -4.96512462e-03 -1.47370397e+01] [-2.67807086e-02 4.99680509e-05 9.99641331e-01 -4.82862194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.15, Y:-14.74, Z:-4.83 [[ 9.82889891e-01 1.82329179e-01 2.61444764e-02 1.14153909e+02] [-1.82262521e-01 9.83237542e-01 -4.93045740e-03 -1.47411199e+01] [-2.66051970e-02 8.09385439e-05 9.99646016e-01 -4.82871481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.18, Y:-14.75, Z:-4.83 [[ 9.83005512e-01 1.81714640e-01 2.60759236e-02 1.14181340e+02] [-1.81648143e-01 9.83351301e-01 -4.91647694e-03 -1.47477768e+01] [-2.65351892e-02 9.62808221e-05 9.99647875e-01 -4.83174436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.21, Y:-14.75, Z:-4.83 [[ 9.83136507e-01 1.81071305e-01 2.56083994e-02 1.14209060e+02] [-1.81007006e-01 9.83469964e-01 -4.82634364e-03 -1.47539792e+01] [-2.60590040e-02 1.09654938e-04 9.99660400e-01 -4.83367486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.24, Y:-14.76, Z:-4.83 [[ 9.83201202e-01 1.80816395e-01 2.49164113e-02 1.14237275e+02] [-1.80755471e-01 9.83516862e-01 -4.69480560e-03 -1.47588195e+01] [-2.53546084e-02 1.12160865e-04 9.99678514e-01 -4.83370050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.26, Y:-14.76, Z:-4.84 [[ 9.83204077e-01 1.80960971e-01 2.37248677e-02 1.14264655e+02] [-1.80905798e-01 9.83490273e-01 -4.46940651e-03 -1.47623714e+01] [-2.41419648e-02 1.02372577e-04 9.99708535e-01 -4.83696440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23264 meters Centerline goodness [0,1] 0.9999141722991095 Centerline is valid? [True, True] Translation: X:114.29, Y:-14.77, Z:-4.84 [[ 9.83097820e-01 1.81539552e-01 2.37079804e-02 1.14290828e+02] [-1.81484652e-01 9.83383640e-01 -4.46516366e-03 -1.47661460e+01] [-2.41246439e-02 8.70580911e-05 9.99708955e-01 -4.84071526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.32, Y:-14.77, Z:-4.84 [[ 9.83093371e-01 1.81611298e-01 2.33401026e-02 1.14319351e+02] [-1.81558171e-01 9.83370393e-01 -4.39326178e-03 -1.47714953e+01] [-2.37498318e-02 8.14001999e-05 9.99717930e-01 -4.83957528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.35, Y:-14.78, Z:-4.84 [[ 9.83098400e-01 1.81589595e-01 2.32970775e-02 1.14347227e+02] [-1.81536686e-01 9.83374401e-01 -4.38399278e-03 -1.47773489e+01] [-2.37058371e-02 8.06220584e-05 9.99718974e-01 -4.84032749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32264 meters Centerline goodness [0,1] 0.9999564251165628 Centerline is valid? [True, True] Translation: X:114.37, Y:-14.78, Z:-4.84 [[ 9.82959430e-01 1.82202454e-01 2.43520784e-02 1.14374451e+02] [-1.82144860e-01 9.83261034e-01 -4.58138971e-03 -1.47817067e+01] [-2.47791902e-02 6.77143266e-05 9.99692946e-01 -4.84134570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.40, Y:-14.79, Z:-4.84 [[ 9.82888234e-01 1.82579685e-01 2.44003659e-02 1.14401044e+02] [-1.82522006e-01 9.83191057e-01 -4.58932577e-03 -1.47852832e+01] [-2.48281392e-02 5.71905687e-05 9.99691733e-01 -4.84206514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.43, Y:-14.79, Z:-4.84 [[ 9.82702636e-01 1.83713035e-01 2.33463044e-02 1.14429504e+02] [-1.83660613e-01 9.82979918e-01 -4.38854493e-03 -1.47883840e+01] [-2.37551813e-02 2.48381080e-05 9.99717806e-01 -4.84242327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.46, Y:-14.79, Z:-4.84 [[ 9.82522308e-01 1.84642415e-01 2.36028103e-02 1.14456404e+02] [-1.84589126e-01 9.82805768e-01 -4.43575719e-03 -1.47932318e+01] [-2.40160071e-02 1.40825087e-06 9.99711574e-01 -4.84492650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.48, Y:-14.80, Z:-4.85 [[ 9.82332809e-01 1.85654170e-01 2.35537875e-02 1.14483643e+02] [-1.85601424e-01 9.82615148e-01 -4.42524563e-03 -1.47973764e+01] [-2.39658737e-02 -2.45525384e-05 9.99712777e-01 -4.84533602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.51, Y:-14.80, Z:-4.85 [[ 9.82088876e-01 1.86958562e-01 2.34080455e-02 1.14512730e+02] [-1.86906888e-01 9.82367799e-01 -4.39572851e-03 -1.48004964e+01] [-2.38171292e-02 -5.81288585e-05 9.99716330e-01 -4.84573224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.54, Y:-14.80, Z:-4.85 [[ 9.81538040e-01 1.89898629e-01 2.28382751e-02 1.14541876e+02] [-1.89850261e-01 9.81803694e-01 -4.28763851e-03 -1.48009219e+01] [-2.32369196e-02 -1.27372198e-04 9.99729978e-01 -4.84705042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.57, Y:-14.80, Z:-4.85 [[ 9.81272653e-01 1.91262897e-01 2.28579332e-02 1.14569324e+02] [-1.91214838e-01 9.81538832e-01 -4.29038171e-03 -1.48032339e+01] [-2.32565399e-02 -1.60741747e-04 9.99729517e-01 -4.85079593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters Centerline goodness [0,1] 0.9998502257312194 Centerline is valid? [True, True] Translation: X:114.60, Y:-14.81, Z:-4.85 [[ 9.80944245e-01 1.92869900e-01 2.34433509e-02 1.14598029e+02] [-1.92819849e-01 9.81224316e-01 -4.39849229e-03 -1.48069133e+01] [-2.38515227e-02 -2.05667669e-04 9.99715491e-01 -4.85165827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.63, Y:-14.81, Z:-4.85 [[ 9.80386689e-01 1.95611445e-01 2.40437568e-02 1.14627495e+02] [-1.95559651e-01 9.80681439e-01 -4.50986966e-03 -1.48073457e+01] [-2.44614482e-02 -2.80572518e-04 9.99700735e-01 -4.84852806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.66, Y:-14.81, Z:-4.85 [[ 9.80152213e-01 1.96749105e-01 2.43193292e-02 1.14656305e+02] [-1.96696498e-01 9.80453819e-01 -4.56030702e-03 -1.48104630e+01] [-2.47412155e-02 -3.13731876e-04 9.99693840e-01 -4.84833667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65264 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:114.68, Y:-14.81, Z:-4.85 [[ 9.79931984e-01 1.97813436e-01 2.45591180e-02 1.14684493e+02] [-1.97760148e-01 9.80239626e-01 -4.60417933e-03 -1.48120377e+01] [-2.49845892e-02 -3.45032235e-04 9.99687777e-01 -4.85025620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.71, Y:-14.81, Z:-4.85 [[ 9.79747896e-01 1.98809368e-01 2.38515198e-02 1.14712824e+02] [-1.98759437e-01 9.80038114e-01 -4.47004149e-03 -1.48126439e+01] [-2.42640846e-02 -3.61200922e-04 9.99705519e-01 -4.85424728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.74, Y:-14.82, Z:-4.86 [[ 9.79775759e-01 1.98714213e-01 2.34973196e-02 1.14741427e+02] [-1.98665767e-01 9.80057414e-01 -4.40200085e-03 -1.48188186e+01] [-2.39034624e-02 -3.55139285e-04 9.99714208e-01 -4.85518373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.77, Y:-14.83, Z:-4.86 [[ 9.79884266e-01 1.98206694e-01 2.32579276e-02 1.14769566e+02] [-1.98159114e-01 9.80160186e-01 -4.35602175e-03 -1.48252064e+01] [-2.36598873e-02 -3.40373144e-04 9.99720008e-01 -4.85654762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.80, Y:-14.83, Z:-4.86 [[ 9.80040553e-01 1.97387024e-01 2.36405886e-02 1.14797684e+02] [-1.97337657e-01 9.80325587e-01 -4.42647217e-03 -1.48320759e+01] [-2.40492021e-02 -3.27056123e-04 9.99710723e-01 -4.85626037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264000000001 meters Centerline goodness [0,1] 0.999871690689021 Centerline is valid? [True, True] Translation: X:114.83, Y:-14.83, Z:-4.86 [[ 9.80057244e-01 1.97119432e-01 2.51342046e-02 1.14825539e+02] [-1.97063572e-01 9.80379423e-01 -4.70490556e-03 -1.48344529e+01] [-2.55684853e-02 -3.41959362e-04 9.99673014e-01 -4.86063049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83264000000001 meters Centerline goodness [0,1] 0.9998930298232853 Centerline is valid? [True, True] Translation: X:114.85, Y:-14.84, Z:-4.86 [[ 9.80066560e-01 1.96996188e-01 2.57301505e-02 1.14853758e+02] [-1.96937654e-01 9.80404192e-01 -4.81455920e-03 -1.48413628e+01] [-2.61743972e-02 -3.48647014e-04 9.99657331e-01 -4.85812282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.88, Y:-14.84, Z:-4.86 [[ 9.80075227e-01 1.97007827e-01 2.53074046e-02 1.14881155e+02] [-1.96951232e-01 9.80401855e-01 -4.73440051e-03 -1.48449586e+01] [-2.57441404e-02 -3.44255866e-04 9.99668505e-01 -4.85819788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.91, Y:-14.85, Z:-4.86 [[ 9.80147108e-01 1.96725185e-01 2.47153614e-02 1.14909543e+02] [-1.96671160e-01 9.80458613e-01 -4.62194145e-03 -1.48492719e+01] [-2.51416412e-02 -3.30616247e-04 9.99683844e-01 -4.86074124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.94, Y:-14.85, Z:-4.86 [[ 9.80196603e-01 1.96494499e-01 2.45872052e-02 1.14937357e+02] [-1.96440981e-01 9.80504873e-01 -4.59717079e-03 -1.48539259e+01] [-2.50111933e-02 -3.23803514e-04 9.99687119e-01 -4.86208856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95264 meters Centerline goodness [0,1] 0.9999139840440402 Centerline is valid? [True, True] Translation: X:114.97, Y:-14.86, Z:-4.86 [[ 9.80292854e-01 1.95914696e-01 2.53644005e-02 1.14965038e+02] [-1.95857603e-01 9.80620890e-01 -4.74028668e-03 -1.48580323e+01] [-2.58015528e-02 -3.20941524e-04 9.99667033e-01 -4.86478178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:114.99, Y:-14.86, Z:-4.87 [[ 9.80295755e-01 1.95944365e-01 2.50207642e-02 1.14993000e+02] [-1.95888845e-01 9.80614962e-01 -4.67501802e-03 -1.48618328e+01] [-2.54517792e-02 -3.18388284e-04 9.99676000e-01 -4.86553252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.02, Y:-14.87, Z:-4.87 [[ 9.80305319e-01 1.95903528e-01 2.49657639e-02 1.15020648e+02] [-1.95848305e-01 9.80623121e-01 -4.66214781e-03 -1.48668163e+01] [-2.53953365e-02 -3.19174241e-04 9.99677435e-01 -4.86641285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.05, Y:-14.87, Z:-4.87 [[ 9.80319094e-01 1.95834543e-01 2.49660932e-02 1.15047677e+02] [-1.95779343e-01 9.80636900e-01 -4.66038319e-03 -1.48717221e+01] [-2.53953363e-02 -3.19182689e-04 9.99677435e-01 -4.86755138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.08, Y:-14.88, Z:-4.87 [[ 9.80223309e-01 1.96290346e-01 2.51468675e-02 1.15075973e+02] [-1.96234550e-01 9.80545760e-01 -4.69190509e-03 -1.48771283e+01] [-2.55786300e-02 -3.35569502e-04 9.99672757e-01 -4.86792348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.10, Y:-14.88, Z:-4.87 [[ 9.80140598e-01 1.96749690e-01 2.47783778e-02 1.15104661e+02] [-1.96695693e-01 9.80453692e-01 -4.62198093e-03 -1.48810254e+01] [-2.52034253e-02 -3.43609052e-04 9.99682284e-01 -4.86866420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.13, Y:-14.88, Z:-4.87 [[ 9.80042185e-01 1.97273379e-01 2.45057074e-02 1.15132435e+02] [-1.97220753e-01 9.80348453e-01 -4.57011787e-03 -1.48833500e+01] [-2.49256949e-02 -3.54125763e-04 9.99689244e-01 -4.87054372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.16, Y:-14.89, Z:-4.87 [[ 9.79887610e-01 1.97970963e-01 2.50553376e-02 1.15161679e+02] [-1.97916223e-01 9.80207811e-01 -4.67083816e-03 -1.48858542e+01] [-2.54841280e-02 -3.81961350e-04 9.99675154e-01 -4.87071400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19264000000001 meters Centerline goodness [0,1] 0.9998918708505439 Centerline is valid? [True, True] Translation: X:115.19, Y:-14.89, Z:-4.87 [[ 9.79899766e-01 1.97813306e-01 2.58136647e-02 1.15190525e+02] [-1.97755183e-01 9.80239636e-01 -4.81084938e-03 -1.48903945e+01] [-2.62552273e-02 -3.90635793e-04 9.99655196e-01 -4.87351101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.22, Y:-14.90, Z:-4.87 [[ 9.79939805e-01 1.97627532e-01 2.57164808e-02 1.15218489e+02] [-1.97569805e-01 9.80277109e-01 -4.79183545e-03 -1.48956318e+01] [-2.61562761e-02 -3.85089803e-04 9.99657792e-01 -4.87231367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.25, Y:-14.90, Z:-4.87 [[ 9.80233371e-01 1.96119124e-01 2.60735002e-02 1.15245404e+02] [-1.96059309e-01 9.80580015e-01 -4.85613666e-03 -1.49023298e+01] [-2.65195344e-02 -3.51805212e-04 9.99648233e-01 -4.87458210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.27, Y:-14.91, Z:-4.87 [[ 9.80408515e-01 1.95233881e-01 2.61318715e-02 1.15273826e+02] [-1.95173533e-01 9.80756658e-01 -4.86515981e-03 -1.49092793e+01] [-2.65788510e-02 -3.30405579e-04 9.99646665e-01 -4.87492484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31264000000002 meters Centerline goodness [0,1] 0.999978309908034 Centerline is valid? [True, True] Translation: X:115.30, Y:-14.92, Z:-4.88 [[ 9.80606831e-01 1.94302313e-01 2.56291580e-02 1.15302239e+02] [-1.94243978e-01 9.80941650e-01 -4.77033626e-03 -1.49156472e+01] [-2.60675959e-02 -3.00485287e-04 9.99660137e-01 -4.87715011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.33, Y:-14.92, Z:-4.88 [[ 9.80802039e-01 1.93384268e-01 2.50975155e-02 1.15328700e+02] [-1.93328044e-01 9.81123056e-01 -4.67072647e-03 -1.49195866e+01] [-2.55269961e-02 -2.70995552e-04 9.99674096e-01 -4.87984985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.36, Y:-14.93, Z:-4.88 [[ 9.81198157e-01 1.91293176e-01 2.56339145e-02 1.15356859e+02] [-1.91233885e-01 9.81532919e-01 -4.76763608e-03 -1.49281626e+01] [-2.60725472e-02 -2.24077339e-04 9.99660028e-01 -4.87880151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40264 meters Centerline goodness [0,1] 0.9997619614377529 Centerline is valid? [True, True] Translation: X:115.38, Y:-14.93, Z:-4.88 [[ 9.81378189e-01 1.90242749e-01 2.65432862e-02 1.15384940e+02] [-1.90178831e-01 9.81737060e-01 -4.93533275e-03 -1.49346729e+01] [-2.69974390e-02 -2.04543220e-04 9.99635482e-01 -4.88095738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43264 meters Centerline goodness [0,1] 0.999978483518375 Centerline is valid? [True, True] Translation: X:115.41, Y:-14.94, Z:-4.88 [[ 9.81573025e-01 1.89281555e-01 2.62085724e-02 1.15411357e+02] [-1.89218917e-01 9.81922839e-01 -4.87233303e-03 -1.49405859e+01] [-2.66570386e-02 -1.76607001e-04 9.99644622e-01 -4.88259179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.44, Y:-14.95, Z:-4.88 [[ 9.81892332e-01 1.87741333e-01 2.53108820e-02 1.15439804e+02] [-1.87682472e-01 9.82218496e-01 -4.70270956e-03 -1.49471073e+01] [-2.57437094e-02 -1.32854449e-04 9.99668567e-01 -4.88347937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.47, Y:-14.95, Z:-4.88 [[ 9.81956836e-01 1.87317877e-01 2.59381129e-02 1.15467437e+02] [-1.87255934e-01 9.82299342e-01 -4.81847814e-03 -1.49524685e+01] [-2.63815784e-02 -1.25528021e-04 9.99651938e-01 -4.88446538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.50, Y:-14.96, Z:-4.88 [[ 9.82050046e-01 1.86678828e-01 2.69948488e-02 1.15495983e+02] [-1.86611580e-01 9.82420990e-01 -5.01162577e-03 -1.49590743e+01] [-2.74558705e-02 -1.15884064e-04 9.99623010e-01 -4.88462625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.52, Y:-14.97, Z:-4.88 [[ 9.82121107e-01 1.86181477e-01 2.78314347e-02 1.15524371e+02] [-1.86109836e-01 9.82515367e-01 -5.16553004e-03 -1.49662134e+01] [-2.83065383e-02 -1.06527660e-04 9.99599284e-01 -4.88299311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.55, Y:-14.97, Z:-4.88 [[ 9.82191446e-01 1.85807071e-01 2.78513008e-02 1.15550869e+02] [-1.85735204e-01 9.82586242e-01 -5.16827721e-03 -1.49693276e+01] [-2.83266074e-02 -9.67293648e-05 9.99598716e-01 -4.88432383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.58, Y:-14.97, Z:-4.89 [[ 9.82242383e-01 1.85518882e-01 2.79758033e-02 1.15578836e+02] [-1.85446330e-01 9.82640695e-01 -5.18870711e-03 -1.49736714e+01] [-2.84527659e-02 -9.14420126e-05 9.99595134e-01 -4.88525412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.61, Y:-14.98, Z:-4.89 [[ 9.82220656e-01 1.85559479e-01 2.84651314e-02 1.15607238e+02] [-1.85484456e-01 9.82633029e-01 -5.27693272e-03 -1.49793787e+01] [-2.89499632e-02 -9.67271097e-05 9.99580857e-01 -4.88548785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.64, Y:-14.99, Z:-4.89 [[ 9.82301629e-01 1.84982693e-01 2.94094086e-02 1.15635105e+02] [-1.84902397e-01 9.82741775e-01 -5.45043635e-03 -1.49882976e+01] [-2.99100908e-02 -8.38976335e-05 9.99552590e-01 -4.88510561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.66, Y:-14.99, Z:-4.89 [[ 9.82368021e-01 1.84655744e-01 2.92459954e-02 1.15662676e+02] [-1.84576228e-01 9.82803261e-01 -5.41896719e-03 -1.49948197e+01] [-2.97437031e-02 -7.46954553e-05 9.99557555e-01 -4.88652294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73264 meters Centerline goodness [0,1] 0.9999141667739582 Centerline is valid? [True, True] Translation: X:115.69, Y:-15.00, Z:-4.89 [[ 9.82484508e-01 1.83943304e-01 2.98169996e-02 1.15690106e+02] [-1.83860404e-01 9.82936853e-01 -5.52213957e-03 -1.50018643e+01] [-3.03239883e-02 -5.67490123e-05 9.99540121e-01 -4.88919307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.72, Y:-15.01, Z:-4.89 [[ 9.82767577e-01 1.82204659e-01 3.11344095e-02 1.15717288e+02] [-1.82113451e-01 9.83260628e-01 -5.76444445e-03 -1.50113869e+01] [-3.16635476e-02 -4.88565579e-06 9.99498584e-01 -4.88646740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.75, Y:-15.02, Z:-4.89 [[ 9.82917654e-01 1.81274255e-01 3.18202633e-02 1.15745385e+02] [-1.81178548e-01 9.83432582e-01 -5.88978400e-03 -1.50181620e+01] [-3.23607499e-02 2.40235522e-05 9.99476253e-01 -4.88660838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.77, Y:-15.02, Z:-4.89 [[ 9.83046937e-01 1.80532184e-01 3.20445114e-02 1.15773617e+02] [-1.80434782e-01 9.83569076e-01 -5.92970274e-03 -1.50247781e+01] [-3.25884927e-02 4.72316924e-05 9.99468853e-01 -4.88742994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.80, Y:-15.03, Z:-4.89 [[ 9.83266820e-01 1.79452407e-01 3.13559324e-02 1.15801010e+02] [-1.79358647e-01 9.83766653e-01 -5.80074920e-03 -1.50345185e+01] [-3.18878791e-02 7.97266098e-05 9.99491449e-01 -4.89011836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.83, Y:-15.04, Z:-4.89 [[ 9.83353710e-01 1.79025292e-01 3.10712955e-02 1.15827611e+02] [-1.78933058e-01 9.83844468e-01 -5.74666562e-03 -1.50426349e+01] [-3.15981207e-02 9.13230323e-05 9.99500651e-01 -4.89235559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.86, Y:-15.05, Z:-4.89 [[ 9.83296611e-01 1.79338224e-01 3.10737334e-02 1.15855096e+02] [-1.79246197e-01 9.83787475e-01 -5.74506373e-03 -1.50507191e+01] [-3.16002593e-02 7.92531587e-05 9.99500584e-01 -4.89363893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264000000001 meters Centerline goodness [0,1] 0.9999783380989515 Centerline is valid? [True, True] Translation: X:115.88, Y:-15.06, Z:-4.90 [[ 9.83193017e-01 1.79940009e-01 3.08720687e-02 1.15883399e+02] [-1.79849517e-01 9.83677584e-01 -5.70624642e-03 -1.50559410e+01] [-3.13949440e-02 5.80149842e-05 9.99507056e-01 -4.89631633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.91, Y:-15.06, Z:-4.90 [[ 9.83078420e-01 1.80703103e-01 3.00534298e-02 1.15911085e+02] [-1.80617746e-01 9.83537690e-01 -5.55359023e-03 -1.50609038e+01] [-3.05622319e-02 3.14319579e-05 9.99532865e-01 -4.89767551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.94, Y:-15.07, Z:-4.90 [[ 9.82894778e-01 1.81780734e-01 2.95570679e-02 1.15939420e+02] [-1.81698720e-01 9.83339089e-01 -5.45990355e-03 -1.50650912e+01] [-3.00571255e-02 -3.97071106e-06 9.99548183e-01 -4.89970807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:115.97, Y:-15.07, Z:-4.90 [[ 9.82638037e-01 1.83153269e-01 2.96204010e-02 1.15966645e+02] [-1.83071565e-01 9.83084370e-01 -5.47028781e-03 -1.50690633e+01] [-3.01212544e-02 -4.73403042e-05 9.99546251e-01 -4.90361406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264000000002 meters Centerline goodness [0,1] 0.9999572740867336 Centerline is valid? [True, True] Translation: X:115.99, Y:-15.08, Z:-4.91 [[ 9.82282722e-01 1.85110082e-01 2.92388633e-02 1.15994532e+02] [-1.85031402e-01 9.82717785e-01 -5.39765289e-03 -1.50755386e+01] [-2.97327110e-02 -1.08086692e-04 9.99557879e-01 -4.90578629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09264 meters Centerline goodness [0,1] 0.9998061932038417 Centerline is valid? [True, True] Translation: X:116.02, Y:-15.08, Z:-4.91 [[ 9.82175021e-01 1.85732042e-01 2.89108297e-02 1.16022200e+02] [-1.85655429e-01 9.82600424e-01 -5.33566511e-03 -1.50813876e+01] [-2.93987975e-02 -1.26895487e-04 9.99567754e-01 -4.90846672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12264 meters Centerline goodness [0,1] 0.9998722779232391 Centerline is valid? [True, True] Translation: X:116.05, Y:-15.09, Z:-4.91 [[ 9.82050872e-01 1.86536843e-01 2.79301201e-02 1.16049175e+02] [-1.86465696e-01 9.82447955e-01 -5.15359969e-03 -1.50865231e+01] [-2.84012256e-02 -1.46912220e-04 9.99596593e-01 -4.91175627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.08, Y:-15.09, Z:-4.91 [[ 9.81993783e-01 1.86957039e-01 2.71159701e-02 1.16076785e+02] [-1.86890194e-01 9.82368078e-01 -5.00140782e-03 -1.50911519e+01] [-2.75729119e-02 -1.56357538e-04 9.99619783e-01 -4.91349152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18264 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:116.10, Y:-15.10, Z:-4.92 [[ 9.81936681e-01 1.87309147e-01 2.67514023e-02 1.16104595e+02] [-1.87244267e-01 9.82301001e-01 -4.93236200e-03 -1.50965498e+01] [-2.72018057e-02 -1.65779549e-04 9.99629949e-01 -4.91596083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21264000000001 meters Centerline goodness [0,1] 0.9997646454704952 Centerline is valid? [True, True] Translation: X:116.13, Y:-15.11, Z:-4.92 [[ 9.82016211e-01 1.86847305e-01 2.70600582e-02 1.16132172e+02] [-1.86780783e-01 9.82388956e-01 -4.98788880e-03 -1.51054053e+01] [-2.75154758e-02 -1.56111184e-04 9.99621365e-01 -4.91689921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.16, Y:-15.11, Z:-4.92 [[ 9.82089574e-01 1.86366117e-01 2.77080909e-02 1.16160449e+02] [-1.86296219e-01 9.82480355e-01 -5.10588700e-03 -1.51136395e+01] [-2.81742193e-02 -1.47474180e-04 9.99603017e-01 -4.91535666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27264000000001 meters Centerline goodness [0,1] 0.999849326273193 Centerline is valid? [True, True] Translation: X:116.19, Y:-15.12, Z:-4.92 [[ 9.82282258e-01 1.85117102e-01 2.92100016e-02 1.16187703e+02] [-1.85038914e-01 9.82716462e-01 -5.38106929e-03 -1.51236377e+01] [-2.97012774e-02 -1.19258072e-04 9.99558813e-01 -4.91610198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264000000001 meters Centerline goodness [0,1] 0.9998696077366076 Centerline is valid? [True, True] Translation: X:116.22, Y:-15.13, Z:-4.91 [[ 9.82404334e-01 1.84413232e-01 2.95547856e-02 1.16215556e+02] [-1.84332913e-01 9.82848793e-01 -5.44310207e-03 -1.51313846e+01] [-3.00516654e-02 -1.00592663e-04 9.99548342e-01 -4.91497157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33264000000001 meters Centerline goodness [0,1] 0.9998708260672996 Centerline is valid? [True, True] Translation: X:116.24, Y:-15.14, Z:-4.92 [[ 9.82513014e-01 1.83854695e-01 2.94215774e-02 1.16242320e+02] [-1.83774889e-01 9.82953429e-01 -5.41721924e-03 -1.51365367e+01] [-2.99160216e-02 -8.44587234e-05 9.99552412e-01 -4.92049772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.27, Y:-15.14, Z:-4.92 [[ 9.82609796e-01 1.83347080e-01 2.93570691e-02 1.16270471e+02] [-1.83267466e-01 9.83048241e-01 -5.40301207e-03 -1.51440746e+01] [-2.98500416e-02 -7.11430805e-05 9.99554386e-01 -4.91812385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39264000000001 meters Centerline goodness [0,1] 0.9998925516826407 Centerline is valid? [True, True] Translation: X:116.30, Y:-15.15, Z:-4.92 [[ 9.82788107e-01 1.82297010e-01 2.99221757e-02 1.16297562e+02] [-1.82213860e-01 9.83243509e-01 -5.50551939e-03 -1.51535817e+01] [-3.04244247e-02 -4.14761530e-05 9.99537069e-01 -4.92003988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.32, Y:-15.16, Z:-4.92 [[ 9.82881318e-01 1.81783471e-01 2.99847340e-02 1.16324201e+02] [-1.81699776e-01 9.83338583e-01 -5.51567244e-03 -1.51617658e+01] [-3.04878039e-02 -2.69680375e-05 9.99535138e-01 -4.92022944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.35, Y:-15.17, Z:-4.92 [[ 9.82969289e-01 1.81307634e-01 2.99819910e-02 1.16352595e+02] [-1.81223800e-01 9.83426429e-01 -5.51293499e-03 -1.51692858e+01] [-3.04846195e-02 -1.44045585e-05 9.99535236e-01 -4.91965987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.38, Y:-15.18, Z:-4.92 [[ 9.83008174e-01 1.81107264e-01 2.99180172e-02 1.16380497e+02] [-1.81023714e-01 9.83463349e-01 -5.50054936e-03 -1.51752566e+01] [-3.04194629e-02 -8.78562160e-06 9.99537221e-01 -4.92124992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.41, Y:-15.18, Z:-4.92 [[ 9.83097200e-01 1.80628343e-01 2.98880639e-02 1.16408138e+02] [-1.80544775e-01 9.83551423e-01 -5.49389302e-03 -1.51816985e+01] [-3.03888005e-02 4.89709359e-06 9.99538154e-01 -4.92308514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.44, Y:-15.19, Z:-4.92 [[ 9.83189343e-01 1.80080940e-01 3.01590855e-02 1.16436785e+02] [-1.79995630e-01 9.83651795e-01 -5.54244687e-03 -1.51885066e+01] [-3.06641276e-02 2.07711042e-05 9.99529745e-01 -4.92409344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57264 meters Centerline goodness [0,1] 0.9999786219723368 Centerline is valid? [True, True] Translation: X:116.47, Y:-15.20, Z:-4.93 [[ 9.83318643e-01 1.79402800e-01 2.99846762e-02 1.16465332e+02] [-1.79318181e-01 9.83775703e-01 -5.50966593e-03 -1.51961838e+01] [-3.04866454e-02 4.09596368e-05 9.99535173e-01 -4.92681585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.49, Y:-15.21, Z:-4.93 [[ 9.83574485e-01 1.78162827e-01 2.89696321e-02 1.16494597e+02] [-1.78083332e-01 9.84001017e-01 -5.32218687e-03 -1.52071831e+01] [-2.94543633e-02 7.57586074e-05 9.99566123e-01 -4.92787349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.52, Y:-15.21, Z:-4.93 [[ 9.83668102e-01 1.77675162e-01 2.87854366e-02 1.16523546e+02] [-1.77596461e-01 9.84089187e-01 -5.28849750e-03 -1.52144159e+01] [-2.92670716e-02 8.99346219e-05 9.99571623e-01 -4.92985132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.55, Y:-15.22, Z:-4.93 [[ 9.83699667e-01 1.77472101e-01 2.89589176e-02 1.16552436e+02] [-1.77392372e-01 9.84125827e-01 -5.32000017e-03 -1.52209587e+01] [-2.94433704e-02 9.61913077e-05 9.99566445e-01 -4.93123042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69264000000001 meters Centerline goodness [0,1] 0.9998075319176236 Centerline is valid? [True, True] Translation: X:116.58, Y:-15.23, Z:-4.94 [[ 9.83805455e-01 1.76871717e-01 2.90383035e-02 1.16581454e+02] [-1.76791299e-01 9.84233907e-01 -5.33421784e-03 -1.52277364e+01] [-2.95239552e-02 1.14113221e-04 9.99564067e-01 -4.93504369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.61, Y:-15.23, Z:-4.93 [[ 9.83884765e-01 1.76317571e-01 2.97133364e-02 1.16611873e+02] [-1.76233133e-01 9.84333326e-01 -5.45770990e-03 -1.52343509e+01] [-3.02101174e-02 1.33283263e-04 9.99543561e-01 -4.93163168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.64, Y:-15.24, Z:-4.93 [[ 9.83977285e-01 1.75586263e-01 3.09542547e-02 1.16641316e+02] [-1.75494265e-01 9.84464036e-01 -5.68551742e-03 -1.52416513e+01] [-3.14716492e-02 1.62125830e-04 9.99504632e-01 -4.93127483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.67, Y:-15.25, Z:-4.93 [[ 9.84319346e-01 1.73501271e-01 3.18234723e-02 1.16671885e+02] [-1.73402976e-01 9.84833617e-01 -5.84413833e-03 -1.52520904e+01] [-3.23547907e-02 2.34213630e-04 9.99476419e-01 -4.93129966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.70, Y:-15.26, Z:-4.93 [[ 9.84495090e-01 1.72689346e-01 3.07864737e-02 1.16701879e+02] [-1.72596770e-01 9.84976306e-01 -5.65966636e-03 -1.52597019e+01] [-3.13013113e-02 2.58267800e-04 9.99509961e-01 -4.93415285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.73, Y:-15.27, Z:-4.94 [[ 9.84680448e-01 1.71790774e-01 2.98721406e-02 1.16731763e+02] [-1.71703142e-01 9.85133418e-01 -5.49358399e-03 -1.52688630e+01] [-3.03717910e-02 2.80284324e-04 9.99538631e-01 -4.93776992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.76, Y:-15.28, Z:-4.94 [[ 9.84680427e-01 1.71756156e-01 3.00712356e-02 1.16762061e+02] [-1.71667144e-01 9.85139452e-01 -5.53649678e-03 -1.52754957e+01] [-3.05752880e-02 2.89436890e-04 9.99532425e-01 -4.93898981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90264 meters Centerline goodness [0,1] 0.9999785403120238 Centerline is valid? [True, True] Translation: X:116.79, Y:-15.28, Z:-4.94 [[ 9.84580738e-01 1.72302992e-01 3.02067808e-02 1.16792193e+02] [-1.72213453e-01 9.85043961e-01 -5.56078470e-03 -1.52815868e+01] [-3.07131468e-02 2.73027493e-04 9.99528203e-01 -4.94017496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.82, Y:-15.29, Z:-4.94 [[ 9.84448782e-01 1.73025479e-01 3.03772756e-02 1.16823792e+02] [-1.72935123e-01 9.84917315e-01 -5.59691202e-03 -1.52864300e+01] [-3.08875131e-02 2.56575342e-04 9.99522834e-01 -4.94058451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.85, Y:-15.29, Z:-4.94 [[ 9.84420181e-01 1.73188294e-01 3.03763522e-02 1.16854895e+02] [-1.73097861e-01 9.84888699e-01 -5.60191844e-03 -1.52923176e+01] [-3.08875126e-02 2.56559978e-04 9.99522834e-01 -4.94189632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.89, Y:-15.30, Z:-4.94 [[ 9.84223241e-01 1.74328986e-01 3.02326942e-02 1.16886082e+02] [-1.74239762e-01 9.84687440e-01 -5.58134438e-03 -1.52974929e+01] [-3.07427443e-02 2.25551407e-04 9.99527305e-01 -4.94273297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.92, Y:-15.30, Z:-4.94 [[ 9.84203459e-01 1.74393423e-01 3.05038566e-02 1.16916389e+02] [-1.74302507e-01 9.84676029e-01 -5.63510845e-03 -1.53034984e+01] [-3.10191422e-02 2.29194545e-04 9.99518764e-01 -4.94355245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.95, Y:-15.31, Z:-4.95 [[ 9.84179257e-01 1.74548900e-01 3.03952477e-02 1.16946249e+02] [-1.74458678e-01 9.84648481e-01 -5.61589884e-03 -1.53083246e+01] [-3.09088835e-02 2.24336405e-04 9.99522181e-01 -4.94523972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:116.98, Y:-15.31, Z:-4.95 [[ 9.84253816e-01 1.74164462e-01 3.01855248e-02 1.16976117e+02] [-1.74075290e-01 9.84716550e-01 -5.57750988e-03 -1.53131458e+01] [-3.06955899e-02 2.35131403e-04 9.99528752e-01 -4.94668267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.01, Y:-15.32, Z:-4.95 [[ 9.84539363e-01 1.72528376e-01 3.02688201e-02 1.17005564e+02] [-1.72437926e-01 9.85004506e-01 -5.59326132e-03 -1.53209507e+01] [-3.07799205e-02 2.87293375e-04 9.99526145e-01 -4.94844798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.04, Y:-15.33, Z:-4.95 [[ 9.84747592e-01 1.71149902e-01 3.13032207e-02 1.17037231e+02] [-1.71052506e-01 9.85244942e-01 -5.78317577e-03 -1.53289997e+01] [-3.18311298e-02 3.40474070e-04 9.99493203e-01 -4.94700157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17264000000002 meters Centerline goodness [0,1] 0.9998482319016543 Centerline is valid? [True, True] Translation: X:117.07, Y:-15.34, Z:-4.95 [[ 9.85263796e-01 1.68248180e-01 3.07863828e-02 1.17068202e+02] [-1.68152383e-01 9.85744573e-01 -5.69325881e-03 -1.53392346e+01] [-3.13053902e-02 4.32558154e-04 9.99509773e-01 -4.94995507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20264 meters Centerline goodness [0,1] 0.9999785610153503 Centerline is valid? [True, True] Translation: X:117.10, Y:-15.35, Z:-4.95 [[ 9.85432918e-01 1.67346062e-01 3.02863080e-02 1.17097365e+02] [-1.67252760e-01 9.85898111e-01 -5.60621074e-03 -1.53510430e+01] [-3.07973912e-02 4.59075994e-04 9.99525542e-01 -4.95299094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.13, Y:-15.36, Z:-4.95 [[ 9.85564397e-01 1.66680883e-01 2.96698948e-02 1.17129256e+02] [-1.66590898e-01 9.86010780e-01 -5.49679898e-03 -1.53562877e+01] [-3.01710475e-02 4.74714940e-04 9.99544638e-01 -4.95316566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.16, Y:-15.37, Z:-4.96 [[ 9.85650102e-01 1.66302946e-01 2.89345308e-02 1.17158783e+02] [-1.66217057e-01 9.86074592e-01 -5.36555620e-03 -1.53675772e+01] [-2.94239134e-02 4.79148463e-04 9.99566908e-01 -4.95857773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.19, Y:-15.37, Z:-4.96 [[ 9.85525669e-01 1.67139479e-01 2.83469674e-02 1.17190487e+02] [-1.67057266e-01 9.85933158e-01 -5.26088677e-03 -1.53729447e+01] [-2.88275170e-02 4.49172069e-04 9.99584300e-01 -4.96140820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.22, Y:-15.37, Z:-4.96 [[ 9.85062551e-01 1.69895289e-01 2.80599663e-02 1.17224130e+02] [-1.69815676e-01 9.85462051e-01 -5.21372820e-03 -1.53708761e+01] [-2.85378198e-02 3.70826258e-04 9.99592645e-01 -4.95915003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.26, Y:-15.38, Z:-4.96 [[ 9.84739752e-01 1.71670997e-01 2.85777772e-02 1.17255113e+02] [-1.71589146e-01 9.85154284e-01 -5.31057951e-03 -1.53752436e+01] [-2.90651921e-02 3.25902353e-04 9.99577465e-01 -4.95953084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.29, Y:-15.38, Z:-4.96 [[ 9.84384887e-01 1.73665778e-01 2.87505072e-02 1.17285741e+02] [-1.73583623e-01 9.84804611e-01 -5.34820707e-03 -1.53788715e+01] [-2.92424326e-02 2.74077012e-04 9.99572311e-01 -4.96085387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.32, Y:-15.38, Z:-4.96 [[ 9.84071341e-01 1.75441831e-01 2.87012117e-02 1.17317161e+02] [-1.75360602e-01 9.84489773e-01 -5.34284425e-03 -1.53822122e+01] [-2.91934078e-02 2.24678155e-04 9.99573756e-01 -4.96204320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.35, Y:-15.39, Z:-4.96 [[ 9.83739382e-01 1.77332325e-01 2.84618016e-02 1.17347700e+02] [-1.77253230e-01 9.84151014e-01 -5.29848854e-03 -1.53856004e+01] [-2.89503042e-02 1.67385574e-04 9.99580838e-01 -4.96449567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.38, Y:-15.38, Z:-4.97 [[ 9.83114851e-01 1.80765347e-01 2.84443267e-02 1.17378916e+02] [-1.80687707e-01 9.83526250e-01 -5.29792296e-03 -1.53846237e+01] [-2.89334229e-02 6.89265517e-05 9.99581339e-01 -4.96501488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264000000001 meters Centerline goodness [0,1] 0.9998926716180827 Centerline is valid? [True, True] Translation: X:117.41, Y:-15.39, Z:-4.97 [[ 9.82838465e-01 1.82291398e-01 2.82559511e-02 1.17408254e+02] [-1.82215409e-01 9.83244550e-01 -5.26299284e-03 -1.53858242e+01] [-2.87419082e-02 2.40021296e-05 9.99586866e-01 -4.96812075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.44, Y:-15.39, Z:-4.97 [[ 9.82574411e-01 1.83679655e-01 2.84484099e-02 1.17438343e+02] [-1.83603214e-01 9.82986157e-01 -5.29863321e-03 -1.53887805e+01] [-2.89376442e-02 -1.69180907e-05 9.99581219e-01 -4.96801404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.47, Y:-15.39, Z:-4.97 [[ 9.82381965e-01 1.84662166e-01 2.87325451e-02 1.17466943e+02] [-1.84584628e-01 9.82802056e-01 -5.35097389e-03 -1.53929000e+01] [-2.92265268e-02 -4.68858948e-05 9.99572813e-01 -4.97011473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.50, Y:-15.40, Z:-4.97 [[ 9.82347140e-01 1.84791689e-01 2.90882879e-02 1.17496632e+02] [-1.84712312e-01 9.82777711e-01 -5.41596841e-03 -1.53973604e+01] [-2.95881469e-02 -5.26038446e-05 9.99562174e-01 -4.97065045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.53, Y:-15.40, Z:-4.97 [[ 9.82374456e-01 1.84610177e-01 2.93174154e-02 1.17525922e+02] [-1.84529485e-01 9.82811823e-01 -5.45790604e-03 -1.54008243e+01] [-2.98210875e-02 -4.82201103e-05 9.99555251e-01 -4.97140747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65264 meters Centerline goodness [0,1] 0.9998486944492478 Centerline is valid? [True, True] Translation: X:117.55, Y:-15.40, Z:-4.97 [[ 9.82585489e-01 1.83472769e-01 2.93853745e-02 1.17554984e+02] [-1.83391208e-01 9.83024793e-01 -5.47011488e-03 -1.54037767e+01] [-2.98901688e-02 -1.41638138e-05 9.99553189e-01 -4.97380579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.58, Y:-15.41, Z:-4.97 [[ 9.82748677e-01 1.82489314e-01 3.00447632e-02 1.17583569e+02] [-1.82403644e-01 9.83207837e-01 -5.59110665e-03 -1.54110016e+01] [-3.05605639e-02 1.43783594e-05 9.99532917e-01 -4.97272047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.61, Y:-15.42, Z:-4.98 [[ 9.83313897e-01 1.79479111e-01 2.96821106e-02 1.17611413e+02] [-1.79394147e-01 9.83761779e-01 -5.52291501e-03 -1.54226161e+01] [-3.01913738e-02 1.05962181e-04 9.99544131e-01 -4.97501195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.64, Y:-15.43, Z:-4.98 [[ 9.83696769e-01 1.77431968e-01 2.93012590e-02 1.17640781e+02] [-1.77348291e-01 9.84133055e-01 -5.45108125e-03 -1.54316341e+01] [-2.98035336e-02 1.65682799e-04 9.99555762e-01 -4.97658044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.67, Y:-15.44, Z:-4.98 [[ 9.84042714e-01 1.75452052e-01 2.96059937e-02 1.17671047e+02] [-1.75365738e-01 9.84487951e-01 -5.50749392e-03 -1.54404347e+01] [-3.01130452e-02 2.27732332e-04 9.99546473e-01 -4.97635663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264000000001 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:117.70, Y:-15.45, Z:-4.98 [[ 9.84568381e-01 1.72421116e-01 2.99343036e-02 1.17700449e+02] [-1.72331497e-01 9.85023276e-01 -5.56785964e-03 -1.54528337e+01] [-3.04460024e-02 3.23315199e-04 9.99536361e-01 -4.97789186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83264000000001 meters Centerline goodness [0,1] 0.9997433868656844 Centerline is valid? [True, True] Translation: X:117.73, Y:-15.46, Z:-4.98 [[ 9.84809530e-01 1.71176121e-01 2.91363145e-02 1.17730016e+02] [-1.71090537e-01 9.85240381e-01 -5.42399679e-03 -1.54616154e+01] [-2.96347323e-02 3.56656057e-04 9.99560731e-01 -4.98259572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264000000001 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:117.76, Y:-15.47, Z:-4.98 [[ 9.84942032e-01 1.70392057e-01 2.92530420e-02 1.17761564e+02] [-1.70305304e-01 9.85376272e-01 -5.45031640e-03 -1.54704551e+01] [-2.97539441e-02 3.86297503e-04 9.99557179e-01 -4.98210316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89264000000001 meters Centerline goodness [0,1] 0.9999572357167293 Centerline is valid? [True, True] Translation: X:117.79, Y:-15.48, Z:-4.98 [[ 9.85030044e-01 1.69863469e-01 2.93635038e-02 1.17792042e+02] [-1.69775648e-01 9.85467521e-01 -5.47677319e-03 -1.54788106e+01] [-2.98670830e-02 4.09578244e-04 9.99553795e-01 -4.98484282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.82, Y:-15.49, Z:-4.98 [[ 9.85041806e-01 1.69644013e-01 3.02249865e-02 1.17822414e+02] [-1.69550797e-01 9.85505314e-01 -5.63947368e-03 -1.54913038e+01] [-3.07435878e-02 4.30446785e-04 9.99527211e-01 -4.98422852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95264 meters Centerline goodness [0,1] 0.9999784440947598 Centerline is valid? [True, True] Translation: X:117.85, Y:-15.50, Z:-4.98 [[ 9.85035249e-01 1.69695597e-01 3.01490222e-02 1.17854546e+02] [-1.69602710e-01 9.85496432e-01 -5.63062328e-03 -1.54967016e+01] [-3.06672458e-02 4.33006528e-04 9.99529556e-01 -4.98331502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.88, Y:-15.51, Z:-4.98 [[ 9.85002378e-01 1.69853707e-01 3.03320642e-02 1.17884991e+02] [-1.69759566e-01 9.85469191e-01 -5.67118823e-03 -1.55052217e+01] [-3.08545871e-02 4.36975828e-04 9.99523788e-01 -4.98482091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.92, Y:-15.52, Z:-4.99 [[ 9.84963664e-01 1.70002187e-01 3.07544553e-02 1.17915910e+02] [-1.69905375e-01 9.85443586e-01 -5.75346364e-03 -1.55162152e+01] [-3.12848821e-02 4.41605382e-04 9.99510411e-01 -4.98629145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.95, Y:-15.52, Z:-4.99 [[ 9.84938873e-01 1.70231570e-01 3.02758786e-02 1.17948013e+02] [-1.70137694e-01 9.85403991e-01 -5.66920099e-03 -1.55219391e+01] [-3.07990486e-02 4.32748264e-04 9.99525503e-01 -4.98699436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:117.98, Y:-15.53, Z:-4.99 [[ 9.84945818e-01 1.70329950e-01 2.94863253e-02 1.17977786e+02] [-1.70240763e-01 9.85386994e-01 -5.52763594e-03 -1.55298502e+01] [-2.99969634e-02 4.24647390e-04 9.99549900e-01 -4.98967487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264000000001 meters Centerline goodness [0,1] 0.9998077333903013 Centerline is valid? [True, True] Translation: X:118.01, Y:-15.54, Z:-5.00 [[ 9.84880767e-01 1.70839231e-01 2.87024595e-02 1.18007921e+02] [-1.70754815e-01 9.85298835e-01 -5.38498291e-03 -1.55404080e+01] [-2.92004663e-02 4.02482948e-04 9.99573494e-01 -4.99671562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.04, Y:-15.55, Z:-5.00 [[ 9.84580068e-01 1.72635583e-01 2.82673940e-02 1.18039681e+02] [-1.72554290e-01 9.84985702e-01 -5.30880070e-03 -1.55475922e+01] [-2.87594668e-02 3.49279242e-04 9.99586300e-01 -4.99511419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264000000001 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:118.07, Y:-15.55, Z:-5.00 [[ 9.84303610e-01 1.74186157e-01 2.83828630e-02 1.18071743e+02] [-1.74104658e-01 9.84712692e-01 -5.33687639e-03 -1.55534290e+01] [-2.88785754e-02 3.11518020e-04 9.99582878e-01 -4.99639891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.10, Y:-15.56, Z:-5.00 [[ 9.83948032e-01 1.76149377e-01 2.85948758e-02 1.18103668e+02] [-1.76067473e-01 9.84363414e-01 -5.37713056e-03 -1.55573503e+01] [-2.90949278e-02 2.56189500e-04 9.99576620e-01 -4.99653978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264000000001 meters Centerline goodness [0,1] 0.9997866074858094 Centerline is valid? [True, True] Translation: X:118.13, Y:-15.56, Z:-5.00 [[ 9.83146911e-01 1.80595839e-01 2.84129350e-02 1.18134448e+02] [-1.80516678e-01 9.83557383e-01 -5.34815364e-03 -1.55609130e+01] [-2.89116063e-02 1.29012099e-04 9.99581964e-01 -5.00324603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.17, Y:-15.56, Z:-5.00 [[ 9.82650472e-01 1.83231353e-01 2.87109851e-02 1.18166758e+02] [-1.83151508e-01 9.83069819e-01 -5.40897778e-03 -1.55644788e+01] [-2.92159973e-02 5.66743538e-05 9.99573120e-01 -4.99904807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.20, Y:-15.57, Z:-5.00 [[ 9.82182848e-01 1.85640563e-01 2.92307238e-02 1.18198689e+02] [-1.85558709e-01 9.82617719e-01 -5.51217798e-03 -1.55684055e+01] [-2.97459110e-02 -1.00487216e-05 9.99557492e-01 -4.99922480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.23, Y:-15.57, Z:-5.00 [[ 9.81287271e-01 1.90037426e-01 3.10011114e-02 1.18230377e+02] [-1.89947354e-01 9.81776836e-01 -5.85210423e-03 -1.55700781e+01] [-3.15482918e-02 -1.45983686e-04 9.99502218e-01 -4.99764006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.26, Y:-15.57, Z:-5.00 [[ 9.80885365e-01 1.91973820e-01 3.17797491e-02 1.18261510e+02] [-1.91879967e-01 9.81400025e-01 -6.00571764e-03 -1.55733143e+01] [-3.23415871e-02 -2.06976657e-04 9.99476853e-01 -4.99764692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.29, Y:-15.58, Z:-5.00 [[ 9.80533523e-01 1.93679092e-01 3.22865323e-02 1.18290609e+02] [-1.93583108e-01 9.81064900e-01 -6.10263026e-03 -1.55756470e+01] [-3.28571354e-02 -2.66293713e-04 9.99460023e-01 -4.99854647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40264 meters Centerline goodness [0,1] 0.9997867485552214 Centerline is valid? [True, True] Translation: X:118.32, Y:-15.58, Z:-5.00 [[ 9.80136721e-01 1.95603020e-01 3.27332703e-02 1.18321127e+02] [-1.95505450e-01 9.80683102e-01 -6.18655648e-03 -1.55774567e+01] [-3.33110741e-02 -3.35861541e-04 9.99444976e-01 -5.00072508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.35, Y:-15.58, Z:-5.00 [[ 9.79990658e-01 1.96191345e-01 3.35747936e-02 1.18350661e+02] [-1.96089040e-01 9.80565563e-01 -6.34551152e-03 -1.55818658e+01] [-3.41672208e-02 -3.65107049e-04 9.99416063e-01 -4.99943471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.38, Y:-15.59, Z:-5.00 [[ 9.79906347e-01 1.96626679e-01 3.34888175e-02 1.18380811e+02] [-1.96525140e-01 9.80478355e-01 -6.32960462e-03 -1.55885940e+01] [-3.40796299e-02 -3.78974807e-04 9.99419049e-01 -4.99977884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.41, Y:-15.59, Z:-5.00 [[ 9.79756457e-01 1.97445799e-01 3.30521036e-02 1.18410391e+02] [-1.97347327e-01 9.80313723e-01 -6.24799027e-03 -1.55940274e+01] [-3.36350702e-02 -4.01235483e-04 9.99434100e-01 -5.00188724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.44, Y:-15.60, Z:-5.00 [[ 9.79714875e-01 1.97720067e-01 3.26425948e-02 1.18439986e+02] [-1.97624151e-01 9.80258441e-01 -6.17119011e-03 -1.55987093e+01] [-3.32183472e-02 -4.04958349e-04 9.99448036e-01 -5.00346129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.47, Y:-15.60, Z:-5.01 [[ 9.79720696e-01 1.97807305e-01 3.19316134e-02 1.18470311e+02] [-1.97715586e-01 9.80240843e-01 -6.03627590e-03 -1.56025862e+01] [-3.24946911e-02 -3.99513219e-04 9.99471828e-01 -5.00584750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264000000001 meters Centerline goodness [0,1] 0.9999572512557444 Centerline is valid? [True, True] Translation: X:118.50, Y:-15.60, Z:-5.01 [[ 9.79742574e-01 1.97908125e-01 3.06082036e-02 1.18500100e+02] [-1.97823898e-01 9.80220498e-01 -5.78622791e-03 -1.56020073e+01] [-3.11479301e-02 -3.86020315e-04 9.99514711e-01 -5.01135397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.53, Y:-15.61, Z:-5.01 [[ 9.79765398e-01 1.97776106e-01 3.07307059e-02 1.18528476e+02] [-1.97691139e-01 9.80247145e-01 -5.80935878e-03 -1.56064233e+01] [-3.12726391e-02 -3.83379526e-04 9.99510818e-01 -5.01249921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.56, Y:-15.61, Z:-5.01 [[ 9.79870469e-01 1.97253700e-01 3.07382749e-02 1.18557880e+02] [-1.97168496e-01 9.80352407e-01 -5.80880685e-03 -1.56137735e+01] [-3.12801504e-02 -3.68741136e-04 9.99510588e-01 -5.01174895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67264000000002 meters Centerline goodness [0,1] 0.9998084739630994 Centerline is valid? [True, True] Translation: X:118.59, Y:-15.62, Z:-5.02 [[ 9.79969422e-01 1.96761763e-01 3.07366238e-02 1.18587319e+02] [-1.96676322e-01 9.80451266e-01 -5.80862169e-03 -1.56179170e+01] [-3.12786763e-02 -3.52894477e-04 9.99510640e-01 -5.01611056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70264 meters Centerline goodness [0,1] 0.9998080900697273 Centerline is valid? [True, True] Translation: X:118.62, Y:-15.63, Z:-5.02 [[ 9.80413587e-01 1.94596126e-01 3.03569897e-02 1.18615428e+02] [-1.94511757e-01 9.80883413e-01 -5.73649537e-03 -1.56266509e+01] [-3.08929675e-02 -2.80653407e-04 9.99522659e-01 -5.01654472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73264 meters Centerline goodness [0,1] 0.9998929267404758 Centerline is valid? [True, True] Translation: X:118.64, Y:-15.63, Z:-5.02 [[ 9.80710268e-01 1.93123617e-01 3.01767977e-02 1.18643997e+02] [-1.93039562e-01 9.81174405e-01 -5.70206872e-03 -1.56324141e+01] [-3.07099057e-02 -2.33238465e-04 9.99528312e-01 -5.01885770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76264 meters Centerline goodness [0,1] 0.9996114996114996 Centerline is valid? [True, True] Translation: X:118.67, Y:-15.64, Z:-5.02 [[ 9.80998776e-01 1.91696907e-01 2.98947809e-02 1.18673410e+02] [-1.91613768e-01 9.81454156e-01 -5.64827339e-03 -1.56387694e+01] [-3.04231135e-02 -1.87302328e-04 9.99537092e-01 -5.01967485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.70, Y:-15.65, Z:-5.02 [[ 9.81577205e-01 1.88779716e-01 2.94687930e-02 1.18702361e+02] [-1.88697637e-01 9.82019455e-01 -5.56703673e-03 -1.56471011e+01] [-2.99898716e-02 -9.62152591e-05 9.99550198e-01 -5.02051755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.73, Y:-15.66, Z:-5.02 [[ 9.81909520e-01 1.87070095e-01 2.92997419e-02 1.18732185e+02] [-1.86988123e-01 9.82346567e-01 -5.53752156e-03 -1.56562572e+01] [-2.98184055e-02 -4.13585971e-05 9.99555332e-01 -5.02201261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.76, Y:-15.66, Z:-5.02 [[ 9.81904946e-01 1.87094119e-01 2.92996057e-02 1.18762452e+02] [-1.87012136e-01 9.82341992e-01 -5.53824212e-03 -1.56620232e+01] [-2.98184055e-02 -4.13545121e-05 9.99555332e-01 -5.02328933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.79, Y:-15.67, Z:-5.03 [[ 9.82179869e-01 1.85600107e-01 2.95855588e-02 1.18792429e+02] [-1.85515861e-01 9.82625361e-01 -5.59151613e-03 -1.56715476e+01] [-3.01093064e-02 3.28417820e-06 9.99546612e-01 -5.02536489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:118.82, Y:-15.68, Z:-5.03 [[ 9.82715983e-01 1.82701538e-01 2.98235641e-02 1.18823623e+02] [-1.82614456e-01 9.83168418e-01 -5.64107890e-03 -1.56849489e+01] [-3.03522202e-02 9.73644560e-05 9.99539260e-01 -5.02573428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264000000001 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:118.86, Y:-15.69, Z:-5.03 [[ 9.82945491e-01 1.81461278e-01 2.98322895e-02 1.18855097e+02] [-1.81373396e-01 9.83398080e-01 -5.64859964e-03 -1.56936185e+01] [-3.03620183e-02 1.41481905e-04 9.99538958e-01 -5.02733944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97264000000001 meters Centerline goodness [0,1] 0.9999568183780982 Centerline is valid? [True, True] Translation: X:118.89, Y:-15.70, Z:-5.03 [[ 9.83081685e-01 1.80691312e-01 3.00175023e-02 1.18887219e+02] [-1.80601796e-01 9.83539842e-01 -5.68958886e-03 -1.57008668e+01] [-3.05514688e-02 1.72115780e-04 9.99533180e-01 -5.02723881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264000000001 meters Centerline goodness [0,1] 0.9999359658484525 Centerline is valid? [True, True] Translation: X:118.92, Y:-15.71, Z:-5.03 [[ 9.83246713e-01 1.79702684e-01 3.05425335e-02 1.18918017e+02] [-1.79609328e-01 9.83720946e-01 -5.79562064e-03 -1.57096068e+01] [-3.10868186e-02 2.12801025e-04 9.99516665e-01 -5.02892676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03264000000001 meters Centerline goodness [0,1] 0.9998698735604763 Centerline is valid? [True, True] Translation: X:118.95, Y:-15.72, Z:-5.03 [[ 9.83302112e-01 1.79447429e-01 3.02585112e-02 1.18949841e+02] [-1.79355510e-01 9.83767539e-01 -5.74726738e-03 -1.57166646e+01] [-3.07986734e-02 2.24269460e-04 9.99525583e-01 -5.03023138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264000000002 meters Centerline goodness [0,1] 0.9998282082116475 Centerline is valid? [True, True] Translation: X:118.98, Y:-15.73, Z:-5.03 [[ 9.83287757e-01 1.79518730e-01 3.03020337e-02 1.18980478e+02] [-1.79426385e-01 9.83754529e-01 -5.76185753e-03 -1.57258519e+01] [-3.08441242e-02 2.28579622e-04 9.99524181e-01 -5.03363639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.01, Y:-15.73, Z:-5.03 [[ 9.83273896e-01 1.79603614e-01 3.02487550e-02 1.19012717e+02] [-1.79511462e-01 9.83739035e-01 -5.75728431e-03 -1.57344675e+01] [-3.07909101e-02 2.30989127e-04 9.99525821e-01 -5.03167475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.04, Y:-15.74, Z:-5.03 [[ 9.83226808e-01 1.79900709e-01 3.00129850e-02 1.19043317e+02] [-1.79809920e-01 9.83684748e-01 -5.71916966e-03 -1.57421155e+01] [-3.05521982e-02 2.26608488e-04 9.99533147e-01 -5.03436079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.08, Y:-15.75, Z:-5.04 [[ 9.83178637e-01 1.80268196e-01 2.93793382e-02 1.19075345e+02] [-1.80181284e-01 9.83617472e-01 -5.60114930e-03 -1.57491256e+01] [-2.99077394e-02 2.13323473e-04 9.99552641e-01 -5.03629623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18264 meters Centerline goodness [0,1] 0.9998058419985331 Centerline is valid? [True, True] Translation: X:119.11, Y:-15.76, Z:-5.04 [[ 9.83136197e-01 1.80639616e-01 2.85052124e-02 1.19105199e+02] [-1.80557786e-01 9.83549332e-01 -5.44038394e-03 -1.57558555e+01] [-2.90190314e-02 2.01800356e-04 9.99578839e-01 -5.04223214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21264000000001 meters Centerline goodness [0,1] 0.9999566874566874 Centerline is valid? [True, True] Translation: X:119.14, Y:-15.76, Z:-5.04 [[ 9.82935971e-01 1.81958022e-01 2.69843610e-02 1.19136590e+02] [-1.81885085e-01 9.83306287e-01 -5.15391022e-03 -1.57628709e+01] [-2.74716871e-02 1.57910960e-04 9.99622570e-01 -5.04496923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264000000001 meters Centerline goodness [0,1] 0.9999783296493737 Centerline is valid? [True, True] Translation: X:119.17, Y:-15.77, Z:-5.04 [[ 9.82723834e-01 1.83128553e-01 2.67917831e-02 1.19169490e+02] [-1.83056975e-01 9.83088967e-01 -5.12123579e-03 -1.57686094e+01] [-2.72765508e-02 1.28337699e-04 9.99627917e-01 -5.04460714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.20, Y:-15.77, Z:-5.05 [[ 9.82431629e-01 1.84692749e-01 2.67709446e-02 1.19200031e+02] [-1.84621698e-01 9.82796307e-01 -5.12329414e-03 -1.57739547e+01] [-2.72566208e-02 9.07889534e-05 9.99628465e-01 -5.04517116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264000000001 meters Centerline goodness [0,1] 0.9998915165979605 Centerline is valid? [True, True] Translation: X:119.23, Y:-15.78, Z:-5.05 [[ 9.81729080e-01 1.88406786e-01 2.66626358e-02 1.19232818e+02] [-1.88337573e-01 9.82091077e-01 -5.10643444e-03 -1.57780887e+01] [-2.71472236e-02 -8.44094440e-06 9.99631446e-01 -5.04797638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.26, Y:-15.78, Z:-5.05 [[ 9.81359809e-01 1.90361169e-01 2.63732796e-02 1.19263577e+02] [-1.90293998e-01 9.81714124e-01 -5.05690210e-03 -1.57823746e+01] [-2.68536589e-02 -5.60363252e-05 9.99639374e-01 -5.04999526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.30, Y:-15.79, Z:-5.05 [[ 9.80960407e-01 1.92436952e-01 2.61667527e-02 1.19295891e+02] [-1.92371457e-01 9.81309333e-01 -5.02140175e-03 -1.57868150e+01] [-2.66439819e-02 -1.07940048e-04 9.99644980e-01 -5.04970915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39264000000001 meters Centerline goodness [0,1] 0.9998268960294276 Centerline is valid? [True, True] Translation: X:119.33, Y:-15.79, Z:-5.05 [[ 9.80195356e-01 1.96205698e-01 2.68400608e-02 1.19326335e+02] [-1.96137997e-01 9.80562737e-01 -5.15806441e-03 -1.57873368e+01] [-2.73304051e-02 -2.08444985e-04 9.99626433e-01 -5.05173101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264000000002 meters Centerline goodness [0,1] 0.9998500235677251 Centerline is valid? [True, True] Translation: X:119.36, Y:-15.79, Z:-5.06 [[ 9.79828518e-01 1.98004989e-01 2.70203653e-02 1.19355990e+02] [-1.97937062e-01 9.80200978e-01 -5.19258020e-03 -1.57877880e+01] [-2.75135453e-02 -2.60493568e-04 9.99621397e-01 -5.05529024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.39, Y:-15.79, Z:-5.05 [[ 9.79540427e-01 1.99406704e-01 2.71572923e-02 1.19386103e+02] [-1.99338614e-01 9.79916770e-01 -5.21929769e-03 -1.57926289e+01] [-2.76526491e-02 -3.00983913e-04 9.99617547e-01 -5.05040905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48264 meters Centerline goodness [0,1] 0.9999566958969363 Centerline is valid? [True, True] Translation: X:119.42, Y:-15.79, Z:-5.05 [[ 9.79017357e-01 2.01818417e-01 2.81840572e-02 1.19416204e+02] [-2.01746074e-01 9.79422881e-01 -5.41678873e-03 -1.57913357e+01] [-2.86973183e-02 -3.82892707e-04 9.99588074e-01 -5.05254475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.44, Y:-15.79, Z:-5.05 [[ 9.78790978e-01 2.02805633e-01 2.89499127e-02 1.19444364e+02] [-2.02729743e-01 9.79218921e-01 -5.56375287e-03 -1.57946251e+01] [-2.94766627e-02 -4.23257242e-04 9.99565379e-01 -5.05224833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.47, Y:-15.80, Z:-5.05 [[ 9.78646875e-01 2.03489042e-01 2.90259033e-02 1.19473216e+02] [-2.03413076e-01 9.79077122e-01 -5.57758302e-03 -1.57998586e+01] [-2.95535749e-02 -4.45764096e-04 9.99563098e-01 -5.05244449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.50, Y:-15.80, Z:-5.05 [[ 9.78456536e-01 2.04329155e-01 2.95364834e-02 1.19501986e+02] [-2.04250897e-01 9.78902123e-01 -5.67495566e-03 -1.58012054e+01] [-3.00728852e-02 -4.80155787e-04 9.99547593e-01 -5.05307377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.53, Y:-15.81, Z:-5.05 [[ 9.78466255e-01 2.04334361e-01 2.91763015e-02 1.19531747e+02] [-2.04258025e-01 9.78901039e-01 -5.60498118e-03 -1.58054720e+01] [-2.97060020e-02 -4.75208776e-04 9.99558566e-01 -5.05350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63264000000001 meters Centerline goodness [0,1] 0.9998709149975259 Centerline is valid? [True, True] Translation: X:119.56, Y:-15.81, Z:-5.06 [[ 9.78527431e-01 2.04093259e-01 2.88098636e-02 1.19560560e+02] [-2.04018746e-01 9.78951341e-01 -5.53387233e-03 -1.58069200e+01] [-2.93328806e-02 -4.62706358e-04 9.99569591e-01 -5.05845975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264000000001 meters Centerline goodness [0,1] 0.999913329866528 Centerline is valid? [True, True] Translation: X:119.59, Y:-15.81, Z:-5.06 [[ 9.78892805e-01 2.02474057e-01 2.78052736e-02 1.19589969e+02] [-2.02404017e-01 9.79287545e-01 -5.34023228e-03 -1.58127189e+01] [-2.83106166e-02 -4.00384099e-04 9.99599094e-01 -5.05996199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.62, Y:-15.82, Z:-5.06 [[ 9.79145556e-01 2.01228480e-01 2.79478013e-02 1.19618908e+02] [-2.01157233e-01 9.79544264e-01 -5.36688958e-03 -1.58187370e+01] [-2.84560795e-02 -3.66936298e-04 9.99594976e-01 -5.06032252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264000000001 meters Centerline goodness [0,1] 0.9999785052554651 Centerline is valid? [True, True] Translation: X:119.65, Y:-15.82, Z:-5.06 [[ 9.79502190e-01 1.99477178e-01 2.80056208e-02 1.19647218e+02] [-1.99404935e-01 9.79902421e-01 -5.37743810e-03 -1.58245001e+01] [-2.85154518e-02 -3.17246607e-04 9.99593301e-01 -5.06319929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.68, Y:-15.84, Z:-5.06 [[ 9.80304131e-01 1.95452092e-01 2.83247219e-02 1.19675107e+02] [-1.95376549e-01 9.80713229e-01 -5.43746743e-03 -1.58360370e+01] [-2.88411939e-02 -2.03614616e-04 9.99583986e-01 -5.06202254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.70, Y:-15.84, Z:-5.07 [[ 9.80638334e-01 1.93788248e-01 2.81881550e-02 1.19704262e+02] [-1.93712779e-01 9.81043368e-01 -5.41004386e-03 -1.58418860e+01] [-2.87022054e-02 -1.55109429e-04 9.99587995e-01 -5.06537677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81264000000002 meters Centerline goodness [0,1] 0.9999572539967513 Centerline is valid? [True, True] Translation: X:119.73, Y:-15.85, Z:-5.07 [[ 9.80940951e-01 1.92334811e-01 2.76074342e-02 1.19733662e+02] [-1.92261827e-01 9.81329358e-01 -5.29919326e-03 -1.58475573e+01] [-2.81112050e-02 -1.09660054e-04 9.99604796e-01 -5.06782028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84264 meters Centerline goodness [0,1] 0.9996750010833297 Centerline is valid? [True, True] Translation: X:119.76, Y:-15.85, Z:-5.07 [[ 9.81154242e-01 1.91340365e-01 2.69298870e-02 1.19763858e+02] [-1.91270546e-01 9.81523743e-01 -5.16913939e-03 -1.58529261e+01] [-2.74213885e-02 -7.91711395e-05 9.99623960e-01 -5.07063711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.79, Y:-15.86, Z:-5.07 [[ 9.81362612e-01 1.90271344e-01 2.69117134e-02 1.19792717e+02] [-1.90201211e-01 9.81731538e-01 -5.16582428e-03 -1.58584826e+01] [-2.74029861e-02 -4.90936912e-05 9.99624466e-01 -5.07223009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90264 meters Centerline goodness [0,1] 0.9999141428234133 Centerline is valid? [True, True] Translation: X:119.82, Y:-15.86, Z:-5.07 [[ 9.81320459e-01 1.90557601e-01 2.64189012e-02 1.19821940e+02] [-1.90490122e-01 9.81676015e-01 -5.07107945e-03 -1.58627289e+01] [-2.69011344e-02 -5.61856955e-05 9.99638097e-01 -5.07485444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93264 meters Centerline goodness [0,1] 0.9999564772702544 Centerline is valid? [True, True] Translation: X:119.85, Y:-15.86, Z:-5.07 [[ 9.81138118e-01 1.91509537e-01 2.63076279e-02 1.19851492e+02] [-1.91442985e-01 9.81490749e-01 -5.04907475e-03 -1.58641446e+01] [-2.67876394e-02 -8.25711022e-05 9.99641143e-01 -5.07453363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264000000001 meters Centerline goodness [0,1] 0.999740602235144 Centerline is valid? [True, True] Translation: X:119.88, Y:-15.87, Z:-5.08 [[ 9.81045210e-01 1.91964641e-01 2.64551130e-02 1.19880130e+02] [-1.91897519e-01 9.81401838e-01 -5.07688081e-03 -1.58671233e+01] [-2.69376782e-02 -9.60209473e-05 9.99637110e-01 -5.07551044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:119.91, Y:-15.87, Z:-5.07 [[ 9.80916600e-01 1.92545732e-01 2.69956502e-02 1.19909581e+02] [-1.92476093e-01 9.81287994e-01 -5.17937325e-03 -1.58707581e+01] [-2.74877737e-02 -1.15484088e-04 9.99622133e-01 -5.07435906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264000000001 meters Centerline goodness [0,1] 0.9998919246066056 Centerline is valid? [True, True] Translation: X:119.94, Y:-15.87, Z:-5.08 [[ 9.80923720e-01 1.92351570e-01 2.80985547e-02 1.19937710e+02] [-1.92276061e-01 9.81326072e-01 -5.39037666e-03 -1.58747938e+01] [-2.86106917e-02 -1.15131087e-04 9.99590624e-01 -5.07649812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05264000000001 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:119.97, Y:-15.88, Z:-5.08 [[ 9.81011306e-01 1.91844520e-01 2.85043556e-02 1.19966305e+02] [-1.91766636e-01 9.81425326e-01 -5.46697250e-03 -1.58825326e+01] [-2.90237052e-02 -1.03022552e-04 9.99578718e-01 -5.07518786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.00, Y:-15.89, Z:-5.07 [[ 9.81165173e-01 1.90948454e-01 2.92162897e-02 1.19996243e+02] [-1.90866264e-01 9.81600062e-01 -5.60245294e-03 -1.58908998e+01] [-2.97484915e-02 -7.94723650e-05 9.99557413e-01 -5.07414556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11264000000001 meters Centerline goodness [0,1] 0.9999348491758421 Centerline is valid? [True, True] Translation: X:120.02, Y:-15.90, Z:-5.08 [[ 9.81422720e-01 1.89617308e-01 2.92356138e-02 1.20024898e+02] [-1.89534415e-01 9.81858073e-01 -5.60630553e-03 -1.58989522e+01] [-2.97682759e-02 -3.89993196e-05 9.99556826e-01 -5.07668328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264000000001 meters Centerline goodness [0,1] 0.9998705585399004 Centerline is valid? [True, True] Translation: X:120.05, Y:-15.91, Z:-5.08 [[ 9.81549797e-01 1.88920200e-01 2.94814064e-02 1.20054248e+02] [-1.88835608e-01 9.81992443e-01 -5.65291161e-03 -1.59062388e+01] [-3.00184675e-02 -1.85250560e-05 9.99549344e-01 -5.07795118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17264000000002 meters Centerline goodness [0,1] 0.9999783164924758 Centerline is valid? [True, True] Translation: X:120.08, Y:-15.91, Z:-5.08 [[ 9.81670464e-01 1.88347735e-01 2.91244226e-02 1.20083249e+02] [-1.88264932e-01 9.82102403e-01 -5.58431549e-03 -1.59134354e+01] [-2.96549586e-02 -1.14986589e-06 9.99560195e-01 -5.07913346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20264 meters Centerline goodness [0,1] 0.9999567343053692 Centerline is valid? [True, True] Translation: X:120.11, Y:-15.92, Z:-5.08 [[ 9.81760622e-01 1.87943576e-01 2.86930905e-02 1.20112656e+02] [-1.87863021e-01 9.82179827e-01 -5.50211993e-03 -1.59201531e+01] [-2.92158628e-02 1.13940187e-05 9.99573126e-01 -5.08101670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23264 meters Centerline goodness [0,1] 0.9999354366633668 Centerline is valid? [True, True] Translation: X:120.14, Y:-15.93, Z:-5.08 [[ 9.81785330e-01 1.87958949e-01 2.77308460e-02 1.20141871e+02] [-1.87883734e-01 9.82176885e-01 -5.31687660e-03 -1.59272760e+01] [-2.82359505e-02 9.85654715e-06 9.99601286e-01 -5.08414730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26264 meters Centerline goodness [0,1] 0.9998475410550159 Centerline is valid? [True, True] Translation: X:120.17, Y:-15.93, Z:-5.09 [[ 9.81777676e-01 1.88030198e-01 2.75179770e-02 1.20171953e+02] [-1.87956098e-01 9.82163247e-01 -5.27832755e-03 -1.59344311e+01] [-2.80196306e-02 9.97257281e-06 9.99607373e-01 -5.08596566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.20, Y:-15.94, Z:-5.08 [[ 9.81688968e-01 1.88453832e-01 2.77835214e-02 1.20202371e+02] [-1.88378474e-01 9.82082050e-01 -5.32892716e-03 -1.59419948e+01] [-2.82899544e-02 -2.46836323e-06 9.99599759e-01 -5.08367359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.23, Y:-15.95, Z:-5.08 [[ 9.81326709e-01 1.90156214e-01 2.89569234e-02 1.20232002e+02] [-1.90075087e-01 9.81753845e-01 -5.55428951e-03 -1.59478400e+01] [-2.94847535e-02 -5.34170732e-05 9.99565229e-01 -5.08365787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.26, Y:-15.95, Z:-5.08 [[ 9.81083070e-01 1.91303504e-01 2.96475896e-02 1.20261498e+02] [-1.91218892e-01 9.81530928e-01 -5.68976099e-03 -1.59519444e+01] [-3.01884973e-02 -8.70510635e-05 9.99544220e-01 -5.08419357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.29, Y:-15.96, Z:-5.08 [[ 9.80805215e-01 1.92664002e-01 3.00285108e-02 1.20291479e+02] [-1.92577855e-01 9.81264778e-01 -5.76234735e-03 -1.59558292e+01] [-3.05761169e-02 -1.31085872e-04 9.99532433e-01 -5.08370974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.32, Y:-15.95, Z:-5.09 [[ 9.80095141e-01 1.96154501e-01 3.06092468e-02 1.20320415e+02] [-1.96066680e-01 9.80572971e-01 -5.87407148e-03 -1.59549547e+01] [-3.11668257e-02 -2.44304499e-04 9.99514167e-01 -5.08526136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.35, Y:-15.96, Z:-5.09 [[ 9.79726226e-01 1.98080408e-01 3.00112208e-02 1.20349643e+02] [-1.97996912e-01 9.80185728e-01 -5.75857301e-03 -1.59575311e+01] [-3.05572308e-02 -3.00304041e-04 9.99532974e-01 -5.08706834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47264000000001 meters Centerline goodness [0,1] 0.9998705948324204 Centerline is valid? [True, True] Translation: X:120.38, Y:-15.96, Z:-5.09 [[ 9.79301481e-01 2.00288601e-01 2.92076163e-02 1.20378647e+02] [-2.00210533e-01 9.79736876e-01 -5.60322022e-03 -1.59617637e+01] [-2.97380399e-02 -3.60430570e-04 9.99557662e-01 -5.08940918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264000000001 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:120.41, Y:-15.96, Z:-5.09 [[ 9.78552387e-01 2.04008176e-01 2.85638025e-02 1.20407934e+02] [-2.03935111e-01 9.78969075e-01 -5.47915846e-03 -1.59620611e+01] [-2.90808724e-02 -4.63518661e-04 9.99576955e-01 -5.09162454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.44, Y:-15.97, Z:-5.09 [[ 9.78241958e-01 2.05540144e-01 2.82120638e-02 1.20436883e+02] [-2.05469530e-01 9.78648556e-01 -5.41078683e-03 -1.59663118e+01] [-2.87218294e-02 -5.03660792e-04 9.99587316e-01 -5.09250718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264000000002 meters Centerline goodness [0,1] 0.9998271466228772 Centerline is valid? [True, True] Translation: X:120.47, Y:-15.97, Z:-5.10 [[ 9.77968503e-01 2.06913114e-01 2.76508813e-02 1.20465311e+02] [-2.06845860e-01 9.78359176e-01 -5.30209656e-03 -1.59680921e+01] [-2.81495668e-02 -5.34186894e-04 9.99603580e-01 -5.09528425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59264 meters Centerline goodness [0,1] 0.9999570003439973 Centerline is valid? [True, True] Translation: X:120.49, Y:-15.97, Z:-5.10 [[ 9.77546985e-01 2.08886070e-01 2.77218582e-02 1.20494508e+02] [-2.08819324e-01 9.77939802e-01 -5.31354898e-03 -1.59654669e+01] [-2.82202348e-02 -5.94615889e-04 9.99601553e-01 -5.09686971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62264 meters Centerline goodness [0,1] 0.9996805588091232 Centerline is valid? [True, True] Translation: X:120.52, Y:-15.97, Z:-5.10 [[ 9.77415911e-01 2.09422499e-01 2.82905267e-02 1.20522223e+02] [-2.09353265e-01 9.77825049e-01 -5.42067117e-03 -1.59688017e+01] [-2.87983962e-02 -6.24463875e-04 9.99585045e-01 -5.09948750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65264 meters Centerline goodness [0,1] 0.9999566968345386 Centerline is valid? [True, True] Translation: X:120.55, Y:-15.98, Z:-5.10 [[ 9.77406653e-01 2.09492225e-01 2.80934564e-02 1.20550443e+02] [-2.09424032e-01 9.77810114e-01 -5.38109644e-03 -1.59766270e+01] [-2.85973637e-02 -6.23925459e-04 9.99590817e-01 -5.09677589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68264 meters Centerline goodness [0,1] 0.9999569790703177 Centerline is valid? [True, True] Translation: X:120.58, Y:-15.98, Z:-5.10 [[ 9.77469807e-01 2.09210111e-01 2.79983314e-02 1.20578562e+02] [-2.09142300e-01 9.77870519e-01 -5.36161183e-03 -1.59751893e+01] [-2.85004462e-02 -6.14821726e-04 9.99593591e-01 -5.10027168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71264000000001 meters Centerline goodness [0,1] 0.999870124247803 Centerline is valid? [True, True] Translation: X:120.61, Y:-15.98, Z:-5.10 [[ 9.77591850e-01 2.08613998e-01 2.81846406e-02 1.20606972e+02] [-2.08545095e-01 9.77997871e-01 -5.39515624e-03 -1.59827832e+01] [-2.86900236e-02 -6.03507758e-04 9.99588174e-01 -5.10101251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.64, Y:-15.99, Z:-5.10 [[ 9.77818629e-01 2.07551105e-01 2.81649909e-02 1.20635657e+02] [-2.07481884e-01 9.78224008e-01 -5.39048956e-03 -1.59887433e+01] [-2.86704724e-02 -5.72804266e-04 9.99588753e-01 -5.10063690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.66, Y:-15.99, Z:-5.10 [[ 9.77828748e-01 2.07503393e-01 2.81652541e-02 1.20663481e+02] [-2.07434191e-01 9.78234130e-01 -5.38911397e-03 -1.59939776e+01] [-2.86704723e-02 -5.72806144e-04 9.99588753e-01 -5.10181011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.69, Y:-16.00, Z:-5.10 [[ 9.78417930e-01 2.04763431e-01 2.77541288e-02 1.20690542e+02] [-2.04695167e-01 9.78811371e-01 -5.30923529e-03 -1.59994588e+01] [-2.82531941e-02 -4.86485025e-04 9.99600680e-01 -5.10403901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83264000000001 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:120.72, Y:-16.01, Z:-5.11 [[ 9.78780926e-01 2.02989765e-01 2.79831007e-02 1.20717783e+02] [-2.02919696e-01 9.79180760e-01 -5.35125235e-03 -1.60050267e+01] [-2.84867633e-02 -4.40618548e-04 9.99594073e-01 -5.10614886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.75, Y:-16.01, Z:-5.11 [[ 9.79227066e-01 2.00820412e-01 2.80270298e-02 1.20745737e+02] [-2.00749289e-01 9.79628000e-01 -5.35774065e-03 -1.60142114e+01] [-2.85320068e-02 -3.79961639e-04 9.99592807e-01 -5.10621528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.77, Y:-16.03, Z:-5.11 [[ 9.80137357e-01 1.96273053e-01 2.84191754e-02 1.20772369e+02] [-1.96198059e-01 9.80549246e-01 -5.43109225e-03 -1.60257244e+01] [-2.89323781e-02 -2.52570649e-04 9.99581339e-01 -5.10656945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264000000002 meters Centerline goodness [0,1] 0.9999570714117066 Centerline is valid? [True, True] Translation: X:120.80, Y:-16.03, Z:-5.11 [[ 9.80536015e-01 1.94198270e-01 2.89163313e-02 1.20800292e+02] [-1.94119755e-01 9.80962279e-01 -5.52512943e-03 -1.60334718e+01] [-2.94388009e-02 -1.95642763e-04 9.99566565e-01 -5.10847809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95264 meters Centerline goodness [0,1] 0.9999784091890491 Centerline is valid? [True, True] Translation: X:120.83, Y:-16.04, Z:-5.11 [[ 9.80881679e-01 1.92448239e-01 2.88930293e-02 1.20829145e+02] [-1.92369142e-01 9.81307115e-01 -5.51895261e-03 -1.60408303e+01] [-2.94150480e-02 -1.44687771e-04 9.99567273e-01 -5.10794960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.86, Y:-16.05, Z:-5.11 [[ 9.81195114e-01 1.90858155e-01 2.87978076e-02 1.20857097e+02] [-1.90778916e-01 9.81617622e-01 -5.50002129e-03 -1.60456585e+01] [-2.93181593e-02 -9.74204865e-05 9.99570126e-01 -5.10903834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.89, Y:-16.05, Z:-5.11 [[ 9.81178957e-01 1.91014599e-01 2.83068292e-02 1.20886441e+02] [-1.90938123e-01 9.81587191e-01 -5.40558054e-03 -1.60500032e+01] [-2.88181657e-02 -1.01010955e-04 9.99584665e-01 -5.11005851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.92, Y:-16.05, Z:-5.11 [[ 9.81095151e-01 1.91496541e-01 2.79531777e-02 1.20915460e+02] [-1.91422180e-01 9.81493282e-01 -5.33734701e-03 -1.60534959e+01] [-2.84579396e-02 -1.14412959e-04 9.99594984e-01 -5.11239387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07264 meters Centerline goodness [0,1] 0.9999358618035661 Centerline is valid? [True, True] Translation: X:120.94, Y:-16.05, Z:-5.12 [[ 9.80746156e-01 1.93241585e-01 2.81898594e-02 1.20943661e+02] [-1.93166687e-01 9.81151192e-01 -5.38228369e-03 -1.60537594e+01] [-2.86985952e-02 -1.66687699e-04 9.99588097e-01 -5.11667122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:120.97, Y:-16.06, Z:-5.12 [[ 9.80635256e-01 1.93833429e-01 2.79838446e-02 1.20972047e+02] [-1.93759918e-01 9.81034438e-01 -5.34101610e-03 -1.60577551e+01] [-2.84883827e-02 -1.84558756e-04 9.99594107e-01 -5.11651472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.00, Y:-16.06, Z:-5.12 [[ 9.80581881e-01 1.94107260e-01 2.79561482e-02 1.21000158e+02] [-1.94034043e-01 9.80980292e-01 -5.33440150e-03 -1.60625263e+01] [-2.84598765e-02 -1.93627013e-04 9.99594917e-01 -5.11586185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264000000001 meters Centerline goodness [0,1] 0.9998703067245963 Centerline is valid? [True, True] Translation: X:121.03, Y:-16.06, Z:-5.12 [[ 9.80543264e-01 1.94246477e-01 2.83410230e-02 1.21029514e+02] [-1.94171320e-01 9.80952734e-01 -5.40676143e-03 -1.60646287e+01] [-2.88514483e-02 -2.01450346e-04 9.99583690e-01 -5.11873277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19264000000001 meters Centerline goodness [0,1] 0.999543120703159 Centerline is valid? [True, True] Translation: X:121.06, Y:-16.07, Z:-5.12 [[ 9.80639632e-01 1.93720019e-01 2.86088389e-02 1.21057095e+02] [-1.93643291e-01 9.81056837e-01 -5.45509084e-03 -1.60682117e+01] [-2.91236573e-02 -1.90431448e-04 9.99575798e-01 -5.12106603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.08, Y:-16.07, Z:-5.12 [[ 9.80979219e-01 1.92140231e-01 2.76025879e-02 1.21084931e+02] [-1.92068233e-01 9.81367470e-01 -5.26135768e-03 -1.60739545e+01] [-2.80992003e-02 -1.40297726e-04 9.99605130e-01 -5.12200567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.11, Y:-16.08, Z:-5.12 [[ 9.81189478e-01 1.91083811e-01 2.74624502e-02 1.21113417e+02] [-1.91012167e-01 9.81573718e-01 -5.23327963e-03 -1.60806810e+01] [-2.79564144e-02 -1.10823232e-04 9.99609137e-01 -5.12344428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.14, Y:-16.09, Z:-5.13 [[ 9.81324168e-01 1.90432593e-01 2.71717773e-02 1.21141739e+02] [-1.90362246e-01 9.81700269e-01 -5.17651478e-03 -1.60865227e+01] [-2.76603182e-02 -9.26414894e-05 9.99617376e-01 -5.12550651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.17, Y:-16.09, Z:-5.13 [[ 9.81387836e-01 1.90150129e-01 2.68485355e-02 1.21169769e+02] [-1.90081377e-01 9.81755021e-01 -5.11359186e-03 -1.60917260e+01] [-2.73310347e-02 -8.49897385e-05 9.99626434e-01 -5.12716407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.20, Y:-16.10, Z:-5.13 [[ 9.81440996e-01 1.89895216e-01 2.67091535e-02 1.21198307e+02] [-1.89827118e-01 9.81804360e-01 -5.08571710e-03 -1.60957672e+01] [-2.71889167e-02 -7.87903826e-05 9.99630310e-01 -5.12767745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37264 meters Centerline goodness [0,1] 0.9998716550086633 Centerline is valid? [True, True] Translation: X:121.23, Y:-16.10, Z:-5.13 [[ 9.81455397e-01 1.89754831e-01 2.71736651e-02 1.21225432e+02] [-1.89684325e-01 9.81831502e-01 -5.17290538e-03 -1.60998406e+01] [-2.76615442e-02 -7.74424168e-05 9.99617343e-01 -5.13258353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.25, Y:-16.11, Z:-5.13 [[ 9.81549161e-01 1.89286134e-01 2.70555684e-02 1.21253897e+02] [-1.89216113e-01 9.81921970e-01 -5.14855015e-03 -1.61057552e+01] [-2.75410062e-02 -6.57943960e-05 9.99620672e-01 -5.13081759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.28, Y:-16.11, Z:-5.13 [[ 9.81690396e-01 1.88403919e-01 2.80700717e-02 1.21281817e+02] [-1.88328229e-01 9.82091626e-01 -5.34012037e-03 -1.61120232e+01] [-2.85734820e-02 -4.40420169e-05 9.99591694e-01 -5.12984256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.31, Y:-16.12, Z:-5.13 [[ 9.81742506e-01 1.88101061e-01 2.82779453e-02 1.21310927e+02] [-1.88024171e-01 9.82149678e-01 -5.37788953e-03 -1.61174625e+01] [-2.87847616e-02 -3.72344707e-05 9.99585632e-01 -5.13030571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.34, Y:-16.12, Z:-5.13 [[ 9.81825289e-01 1.87696553e-01 2.80910382e-02 1.21339134e+02] [-1.87620531e-01 9.82227063e-01 -5.34162584e-03 -1.61226445e+01] [-2.85943828e-02 -2.59121741e-05 9.99591097e-01 -5.13499284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264000000001 meters Centerline goodness [0,1] 0.9999131378935939 Centerline is valid? [True, True] Translation: X:121.37, Y:-16.13, Z:-5.14 [[ 9.81766906e-01 1.88062245e-01 2.76827582e-02 1.21367522e+02] [-1.87988574e-01 9.82157111e-01 -5.26358529e-03 -1.61272754e+01] [-2.81786995e-02 -3.64284128e-05 9.99602901e-01 -5.13693003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.40, Y:-16.13, Z:-5.14 [[ 9.81604457e-01 1.88944976e-01 2.74314949e-02 1.21395945e+02] [-1.88873018e-01 9.81987674e-01 -5.21448654e-03 -1.61317878e+01] [-2.79226409e-02 -6.25060063e-05 9.99610085e-01 -5.13554151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.42, Y:-16.13, Z:-5.14 [[ 9.81082870e-01 1.91700367e-01 2.69698233e-02 1.21424427e+02] [-1.91631884e-01 9.81453488e-01 -5.12554713e-03 -1.61312669e+01] [-2.74521964e-02 -1.39691574e-04 9.99623108e-01 -5.14230155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61264000000001 meters Centerline goodness [0,1] 0.9999782948428546 Centerline is valid? [True, True] Translation: X:121.45, Y:-16.13, Z:-5.14 [[ 9.80714954e-01 1.93705670e-01 2.60056321e-02 1.21452806e+02] [-1.93642749e-01 9.81059670e-01 -4.94053106e-03 -1.61345980e+01] [-2.64700858e-02 -1.90549405e-04 9.99649588e-01 -5.14254322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.48, Y:-16.14, Z:-5.15 [[ 9.80372392e-01 1.95516501e-01 2.53627986e-02 1.21480579e+02] [-1.95457285e-01 9.80700384e-01 -4.81736751e-03 -1.61352673e+01] [-2.58151812e-02 -2.34529636e-04 9.99666705e-01 -5.14665472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.51, Y:-16.13, Z:-5.15 [[ 9.79774277e-01 1.98485377e-01 2.54149945e-02 1.21510167e+02] [-1.98426961e-01 9.80103798e-01 -4.82549245e-03 -1.61342279e+01] [-2.58671224e-02 -3.15126762e-04 9.99665340e-01 -5.14669589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70264 meters Centerline goodness [0,1] 0.999914345060922 Centerline is valid? [True, True] Translation: X:121.54, Y:-16.14, Z:-5.15 [[ 9.79556744e-01 1.99429294e-01 2.63920791e-02 1.21538556e+02] [-1.99366670e-01 9.79912155e-01 -5.00995668e-03 -1.61364638e+01] [-2.68610512e-02 -3.54164079e-04 9.99639114e-01 -5.14799773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73264 meters Centerline goodness [0,1] 0.9996982563527814 Centerline is valid? [True, True] Translation: X:121.57, Y:-16.14, Z:-5.15 [[ 9.79439682e-01 1.99891041e-01 2.72301585e-02 1.21566363e+02] [-1.99824619e-01 9.79818058e-01 -5.16672367e-03 -1.61394938e+01] [-2.77133828e-02 -3.80761857e-04 9.99615838e-01 -5.14885977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.59, Y:-16.15, Z:-5.15 [[ 9.79331448e-01 2.00442283e-01 2.70703963e-02 1.21594819e+02] [-2.00376898e-01 9.79705433e-01 -5.13459319e-03 -1.61451429e+01] [-2.75502039e-02 -3.95813453e-04 9.99620343e-01 -5.14666071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79264 meters Centerline goodness [0,1] 0.999913130347913 Centerline is valid? [True, True] Translation: X:121.62, Y:-16.15, Z:-5.15 [[ 9.79299371e-01 2.00599892e-01 2.70633714e-02 1.21623670e+02] [-2.00534640e-01 9.79673171e-01 -5.13185199e-03 -1.61493386e+01] [-2.75427078e-02 -4.01524021e-04 9.99620547e-01 -5.14900668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82264 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:121.65, Y:-16.15, Z:-5.15 [[ 9.79267157e-01 2.00671526e-01 2.76906769e-02 1.21652034e+02] [-2.00603280e-01 9.79658495e-01 -5.24947047e-03 -1.61503845e+01] [-2.81808261e-02 -4.14206590e-04 9.99602756e-01 -5.14960994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.68, Y:-16.15, Z:-5.15 [[ 9.79267541e-01 2.00637053e-01 2.79259205e-02 1.21679657e+02] [-2.00567677e-01 9.79665554e-01 -5.29236590e-03 -1.61544978e+01] [-2.84199070e-02 -4.18394843e-04 9.99595985e-01 -5.14996787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.71, Y:-16.16, Z:-5.15 [[ 9.79312267e-01 2.00393052e-01 2.81088615e-02 1.21707754e+02] [-2.00322722e-01 9.79715495e-01 -5.32498986e-03 -1.61569700e+01] [-2.86057782e-02 -4.16015748e-04 9.99590684e-01 -5.15168570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.74, Y:-16.16, Z:-5.15 [[ 9.79401545e-01 1.99933885e-01 2.82675712e-02 1.21736489e+02] [-1.99862650e-01 9.79809306e-01 -5.35218758e-03 -1.61614640e+01] [-2.87669130e-02 -4.07690902e-04 9.99586064e-01 -5.15217855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.76, Y:-16.17, Z:-5.15 [[ 9.79616400e-01 1.98911583e-01 2.80337445e-02 1.21764163e+02] [-1.98841135e-01 9.80017368e-01 -5.30678218e-03 -1.61657955e+01] [-2.85291370e-02 -3.75650720e-04 9.99592891e-01 -5.15389737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.79, Y:-16.17, Z:-5.16 [[ 9.80380683e-01 1.95044961e-01 2.84812155e-02 1.21790859e+02] [-1.94970681e-01 9.80794265e-01 -5.38916361e-03 -1.61736078e+01] [-2.89853420e-02 -2.69570071e-04 9.99579800e-01 -5.15599448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.82, Y:-16.18, Z:-5.15 [[ 9.80858899e-01 1.92458653e-01 2.95886312e-02 1.21818388e+02] [-1.92377370e-01 9.81305063e-01 -5.59658307e-03 -1.61824205e+01] [-3.01125844e-02 -2.02724741e-04 9.99546493e-01 -5.15387278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.84, Y:-16.19, Z:-5.15 [[ 9.81886364e-01 1.87080801e-01 2.99990471e-02 1.21844381e+02] [-1.86994778e-01 9.82344528e-01 -5.67278918e-03 -1.61940615e+01] [-3.05306697e-02 -3.96308135e-05 9.99533830e-01 -5.15351472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264000000002 meters Centerline goodness [0,1] 0.9997844037686221 Centerline is valid? [True, True] Translation: X:121.87, Y:-16.20, Z:-5.16 [[ 9.82437454e-01 1.84094873e-01 3.04257506e-02 1.21870813e+02] [-1.84005012e-01 9.82908477e-01 -5.75155461e-03 -1.62034911e+01] [-3.09645599e-02 5.20520524e-05 9.99520482e-01 -5.15669602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.90, Y:-16.21, Z:-5.15 [[ 9.82893387e-01 1.81648522e-01 3.04040256e-02 1.21899116e+02] [-1.81557695e-01 9.83363513e-01 -5.74499616e-03 -1.62126687e+01] [-3.09417795e-02 1.26633937e-04 9.99521180e-01 -5.15490766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12264 meters Centerline goodness [0,1] 0.9998920296270704 Centerline is valid? [True, True] Translation: X:121.93, Y:-16.22, Z:-5.16 [[ 9.83349196e-01 1.79125795e-01 3.06318248e-02 1.21926912e+02] [-1.79032401e-01 9.83826157e-01 -5.78726929e-03 -1.62209216e+01] [-3.11730397e-02 2.06817446e-04 9.99513981e-01 -5.15736273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:121.96, Y:-16.23, Z:-5.16 [[ 9.84087186e-01 1.74954890e-01 3.10354131e-02 1.21955839e+02] [-1.74856979e-01 9.84576391e-01 -5.86238662e-03 -1.62331333e+01] [-3.15823882e-02 3.42340977e-04 9.99501093e-01 -5.15646646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18264 meters Centerline goodness [0,1] 0.999805451676358 Centerline is valid? [True, True] Translation: X:121.99, Y:-16.24, Z:-5.16 [[ 9.84435842e-01 1.72930641e-01 3.13219809e-02 1.21985141e+02] [-1.72829888e-01 9.84933919e-01 -5.91651739e-03 -1.62425424e+01] [-3.18732285e-02 4.11057326e-04 9.99491835e-01 -5.15891141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21264000000001 meters Centerline goodness [0,1] 0.9999139914421485 Centerline is valid? [True, True] Translation: X:122.02, Y:-16.25, Z:-5.16 [[ 9.84689142e-01 1.71528631e-01 3.10680413e-02 1.22015538e+02] [-1.71428816e-01 9.85179031e-01 -5.86830807e-03 -1.62523162e+01] [-3.16141657e-02 4.52501699e-04 9.99500045e-01 -5.16038147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.05, Y:-16.26, Z:-5.16 [[ 9.85073348e-01 1.69555339e-01 2.96898239e-02 1.22045716e+02] [-1.69463318e-01 9.85520545e-01 -5.60702119e-03 -1.62648065e+01] [-3.02106318e-02 4.91991066e-04 9.99543434e-01 -5.16253298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27264000000001 meters Centerline goodness [0,1] 0.9999784608094427 Centerline is valid? [True, True] Translation: X:122.08, Y:-16.27, Z:-5.17 [[ 9.85217362e-01 1.68779347e-01 2.93305708e-02 1.22077304e+02] [-1.68689045e-01 9.85653726e-01 -5.54424731e-03 -1.62728492e+01] [-2.98455409e-02 5.14542707e-04 9.99554390e-01 -5.16510574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264000000001 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:122.11, Y:-16.28, Z:-5.17 [[ 9.85310772e-01 1.68289908e-01 2.90032839e-02 1.22106928e+02] [-1.68201244e-01 9.85737403e-01 -5.48762714e-03 -1.62822353e+01] [-2.95131340e-02 5.28629708e-04 9.99564253e-01 -5.16651519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.14, Y:-16.30, Z:-5.17 [[ 9.85411203e-01 1.67586724e-01 2.96555464e-02 1.22135785e+02] [-1.67493556e-01 9.85857175e-01 -5.61607577e-03 -1.62959418e+01] [-3.01773130e-02 5.67031064e-04 9.99544400e-01 -5.16826217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264000000001 meters Centerline goodness [0,1] 0.999978489997849 Centerline is valid? [True, True] Translation: X:122.17, Y:-16.30, Z:-5.17 [[ 9.85381703e-01 1.67709318e-01 2.99413603e-02 1.22168564e+02] [-1.67614265e-01 9.85836323e-01 -5.67466823e-03 -1.63017635e+01] [-3.04689753e-02 5.73115136e-04 9.99535549e-01 -5.16718168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.20, Y:-16.31, Z:-5.17 [[ 9.85331348e-01 1.68035419e-01 2.97696745e-02 1.22199386e+02] [-1.67941417e-01 9.85780796e-01 -5.64823242e-03 -1.63105889e+01] [-3.02954766e-02 5.65819130e-04 9.99540827e-01 -5.16889653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264000000002 meters Centerline goodness [0,1] 0.9999785986388734 Centerline is valid? [True, True] Translation: X:122.23, Y:-16.32, Z:-5.17 [[ 9.85241946e-01 1.68783112e-01 2.84704791e-02 1.22230540e+02] [-1.68697309e-01 9.85653076e-01 -5.40662960e-03 -1.63208821e+01] [-2.89745631e-02 5.23945068e-04 9.99580012e-01 -5.17173090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45264 meters Centerline goodness [0,1] 0.9998503921861976 Centerline is valid? [True, True] Translation: X:122.26, Y:-16.33, Z:-5.18 [[ 9.85201487e-01 1.68944006e-01 2.89128442e-02 1.22260696e+02] [-1.68855396e-01 9.85625506e-01 -5.49700624e-03 -1.63307161e+01] [-2.94259230e-02 5.33568953e-04 9.99566821e-01 -5.17574664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48264 meters Centerline goodness [0,1] 0.9999783582574069 Centerline is valid? [True, True] Translation: X:122.29, Y:-16.34, Z:-5.17 [[ 9.85094891e-01 1.69611331e-01 2.86365458e-02 1.22292601e+02] [-1.69524522e-01 9.85510899e-01 -5.45019959e-03 -1.63382916e+01] [-2.91460436e-02 5.14367046e-04 9.99575031e-01 -5.17432160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.32, Y:-16.35, Z:-5.18 [[ 9.85020627e-01 1.70065162e-01 2.84992191e-02 1.22322861e+02] [-1.69979366e-01 9.85432693e-01 -5.42432237e-03 -1.63493199e+01] [-2.90065505e-02 4.98790231e-04 9.99579097e-01 -5.17611106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54264 meters Centerline goodness [0,1] 0.9998282082116475 Centerline is valid? [True, True] Translation: X:122.35, Y:-16.36, Z:-5.18 [[ 9.84961180e-01 1.70332658e-01 2.89527277e-02 1.22353685e+02] [-1.70244054e-01 9.85386488e-01 -5.51642251e-03 -1.63576976e+01] [-2.94692536e-02 5.04432290e-04 9.99565560e-01 -5.17883715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.38, Y:-16.37, Z:-5.18 [[ 9.84738454e-01 1.71581657e-01 2.91532684e-02 1.22383018e+02] [-1.71492188e-01 9.85169786e-01 -5.56069111e-03 -1.63682886e+01] [-2.96750318e-02 4.76268561e-04 9.99559486e-01 -5.17948353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264000000001 meters Centerline goodness [0,1] 0.9998500139272782 Centerline is valid? [True, True] Translation: X:122.41, Y:-16.38, Z:-5.18 [[ 9.84371671e-01 1.73563780e-01 2.97997867e-02 1.22413775e+02] [-1.73471135e-01 9.84822538e-01 -5.68634256e-03 -1.63764445e+01] [-3.03344447e-02 4.28071709e-04 9.99539713e-01 -5.18152305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.45, Y:-16.38, Z:-5.18 [[ 9.83970450e-01 1.76057354e-01 2.83894553e-02 1.22445315e+02] [-1.75974180e-01 9.84379852e-01 -5.42168423e-03 -1.63816698e+01] [-2.89005352e-02 3.38965956e-04 9.99582235e-01 -5.18169589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.48, Y:-16.39, Z:-5.18 [[ 9.83936142e-01 1.76249132e-01 2.83885882e-02 1.22477190e+02] [-1.76165907e-01 9.84345533e-01 -5.42621943e-03 -1.63879495e+01] [-2.89005465e-02 3.37952014e-04 9.99582235e-01 -5.18304235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.51, Y:-16.39, Z:-5.19 [[ 9.83523867e-01 1.78646646e-01 2.76799284e-02 1.22509109e+02] [-1.78568313e-01 9.83913261e-01 -5.29648156e-03 -1.63934247e+01] [-2.81808472e-02 2.66457907e-04 9.99602806e-01 -5.18607682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264000000001 meters Centerline goodness [0,1] 0.9998041136141038 Centerline is valid? [True, True] Translation: X:122.54, Y:-16.40, Z:-5.19 [[ 9.83080824e-01 1.81186916e-01 2.68960060e-02 1.22540597e+02] [-1.81113784e-01 9.83448659e-01 -5.15101459e-03 -1.63973149e+01] [-2.73841375e-02 1.92626249e-04 9.99624966e-01 -5.18958274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.57, Y:-16.40, Z:-5.19 [[ 9.82067604e-01 1.86811740e-01 2.53888749e-02 1.22570893e+02] [-1.86748282e-01 9.82395731e-01 -4.86899713e-03 -1.63999968e+01] [-2.58515081e-02 4.03555776e-05 9.99665793e-01 -5.19413319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.60, Y:-16.40, Z:-5.19 [[ 9.81651130e-01 1.88997824e-01 2.53156204e-02 1.22601468e+02] [-1.88935445e-01 9.81977506e-01 -4.85546121e-03 -1.64045033e+01] [-2.57770414e-02 -1.66490204e-05 9.99667717e-01 -5.19481194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81264000000002 meters Centerline goodness [0,1] 0.9998497531659154 Centerline is valid? [True, True] Translation: X:122.63, Y:-16.41, Z:-5.20 [[ 9.81376191e-01 1.90352633e-01 2.58195175e-02 1.22631397e+02] [-1.90288214e-01 9.81715780e-01 -4.95210719e-03 -1.64091846e+01] [-2.62900744e-02 -5.32697988e-05 9.99654355e-01 -5.19569297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.66, Y:-16.41, Z:-5.20 [[ 9.80762887e-01 1.93559487e-01 2.52761596e-02 1.22661482e+02] [-1.93498815e-01 9.81088531e-01 -4.84789274e-03 -1.64138647e+01] [-2.57365059e-02 -1.36273653e-04 9.99668752e-01 -5.19520746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87264 meters Centerline goodness [0,1] 0.9999351771823682 Centerline is valid? [True, True] Translation: X:122.69, Y:-16.42, Z:-5.20 [[ 9.80677768e-01 1.93943353e-01 2.56337706e-02 1.22690705e+02] [-1.93881078e-01 9.81012718e-01 -4.91667473e-03 -1.64196478e+01] [-2.61006113e-02 -1.48229478e-04 9.99659310e-01 -5.19754436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.72, Y:-16.43, Z:-5.20 [[ 9.80543419e-01 1.94572971e-01 2.59992790e-02 1.22720699e+02] [-1.94509143e-01 9.80888032e-01 -4.98625041e-03 -1.64272980e+01] [-2.64725711e-02 -1.67862433e-04 9.99649526e-01 -5.19646579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.75, Y:-16.44, Z:-5.20 [[ 9.80536764e-01 1.94459610e-01 2.70760714e-02 1.22749773e+02] [-1.94390346e-01 9.80910511e-01 -5.19258658e-03 -1.64354014e+01] [-2.75689514e-02 -1.71804824e-04 9.99619889e-01 -5.19682141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264000000001 meters Centerline goodness [0,1] 0.9999144385026738 Centerline is valid? [True, True] Translation: X:122.78, Y:-16.44, Z:-5.20 [[ 9.80647848e-01 1.93826348e-01 2.75888735e-02 1.22780470e+02] [-1.93754178e-01 9.81035841e-01 -5.29113527e-03 -1.64429759e+01] [-2.80912352e-02 -1.56719100e-04 9.99605351e-01 -5.19858865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.81, Y:-16.45, Z:-5.20 [[ 9.80675819e-01 1.93682048e-01 2.76080167e-02 1.22810128e+02] [-1.93609697e-01 9.81064341e-01 -5.29567244e-03 -1.64512881e+01] [-2.81109174e-02 -1.51841845e-04 9.99604799e-01 -5.19844128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264000000001 meters Centerline goodness [0,1] 0.9998923967546861 Centerline is valid? [True, True] Translation: X:122.84, Y:-16.46, Z:-5.20 [[ 9.80834665e-01 1.92598876e-01 2.94793735e-02 1.22839825e+02] [-1.92515930e-01 9.81277563e-01 -5.65337292e-03 -1.64626721e+01] [-3.00162810e-02 -1.30224862e-04 9.99549401e-01 -5.19841944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.87, Y:-16.47, Z:-5.20 [[ 9.80824607e-01 1.92643309e-01 2.95236661e-02 1.22871923e+02] [-1.92560003e-01 9.81268842e-01 -5.66620292e-03 -1.64716642e+01] [-3.00622097e-02 -1.27525988e-04 9.99548021e-01 -5.19749076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.90, Y:-16.48, Z:-5.20 [[ 9.80859600e-01 1.92442491e-01 2.96703941e-02 1.22904032e+02] [-1.92358083e-01 9.81308246e-01 -5.70033368e-03 -1.64808223e+01] [-3.02127888e-02 -1.16113103e-04 9.99543483e-01 -5.19823696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.94, Y:-16.49, Z:-5.20 [[ 9.80878783e-01 1.92393786e-01 2.93503748e-02 1.22935001e+02] [-1.92310965e-01 9.81317798e-01 -5.64559025e-03 -1.64893572e+01] [-2.98882216e-02 -1.06759210e-04 9.99553242e-01 -5.20088250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:122.97, Y:-16.50, Z:-5.20 [[ 9.80927195e-01 1.92214222e-01 2.89055598e-02 1.22966262e+02] [-1.92133737e-01 9.81352986e-01 -5.56272472e-03 -1.64994522e+01] [-2.94357922e-02 -9.71052542e-05 9.99566668e-01 -5.20230776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.00, Y:-16.51, Z:-5.21 [[ 9.81028143e-01 1.91787983e-01 2.83046396e-02 1.22996861e+02] [-1.91710467e-01 9.81436378e-01 -5.45279300e-03 -1.65086864e+01] [-2.88249831e-02 -7.69522827e-05 9.99584471e-01 -5.20597556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.03, Y:-16.52, Z:-5.21 [[ 9.81055781e-01 1.91673366e-01 2.81225026e-02 1.23028657e+02] [-1.91596652e-01 9.81458769e-01 -5.42282484e-03 -1.65173500e+01] [-2.86404879e-02 -6.80836883e-05 9.99589775e-01 -5.20650881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.06, Y:-16.53, Z:-5.21 [[ 9.81060363e-01 1.91634164e-01 2.82296242e-02 1.23060371e+02] [-1.91556686e-01 9.81466425e-01 -5.44910466e-03 -1.65265142e+01] [-2.87506630e-02 -6.16726731e-05 9.99586612e-01 -5.20698772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.09, Y:-16.53, Z:-5.21 [[ 9.80991796e-01 1.92017807e-01 2.80046066e-02 1.23091705e+02] [-1.91941545e-01 9.81391439e-01 -5.41165358e-03 -1.65334181e+01] [-2.85226150e-02 -6.64596736e-05 9.99593145e-01 -5.21125273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.12, Y:-16.54, Z:-5.21 [[ 9.80906858e-01 1.92509900e-01 2.75984509e-02 1.23123700e+02] [-1.92435883e-01 9.81295028e-01 -5.33836539e-03 -1.65404233e+01] [-2.81099108e-02 -7.44930481e-05 9.99604836e-01 -5.21124484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.15, Y:-16.55, Z:-5.21 [[ 9.80624242e-01 1.93930161e-01 2.76981575e-02 1.23154888e+02] [-1.93856008e-01 9.81015332e-01 -5.36352400e-03 -1.65450539e+01] [-2.82124662e-02 -1.09852592e-04 9.99601943e-01 -5.21288605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.19, Y:-16.55, Z:-5.21 [[ 9.80422455e-01 1.94863335e-01 2.82858787e-02 1.23186510e+02] [-1.94786229e-01 9.80830394e-01 -5.48290450e-03 -1.65505075e+01] [-2.88120666e-02 -1.34136961e-04 9.99584837e-01 -5.21472380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264000000001 meters Centerline goodness [0,1] 0.9998488349493597 Centerline is valid? [True, True] Translation: X:123.22, Y:-16.56, Z:-5.21 [[ 9.80168428e-01 1.96041035e-01 2.89441835e-02 1.23218516e+02] [-1.95960649e-01 9.80595678e-01 -5.61599159e-03 -1.65581180e+01] [-2.94835061e-02 -1.67303335e-04 9.99565253e-01 -5.21485702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.25, Y:-16.56, Z:-5.22 [[ 9.80003093e-01 1.96843304e-01 2.90972836e-02 1.23250195e+02] [-1.96762214e-01 9.80434944e-01 -5.65262295e-03 -1.65633635e+01] [-2.96406746e-02 -1.85657966e-04 9.99560601e-01 -5.21500463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.28, Y:-16.57, Z:-5.22 [[ 9.79851821e-01 1.97555797e-01 2.93618174e-02 1.23281791e+02] [-1.97473450e-01 9.80291622e-01 -5.70718159e-03 -1.65665452e+01] [-2.99106304e-02 -2.05987104e-04 9.99552556e-01 -5.21647572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.31, Y:-16.57, Z:-5.22 [[ 9.79893911e-01 1.97278135e-01 2.98204695e-02 1.23313493e+02] [-1.97192893e-01 9.80347540e-01 -5.80201080e-03 -1.65744076e+01] [-3.03790338e-02 -1.95029614e-04 9.99538432e-01 -5.21580501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.34, Y:-16.58, Z:-5.22 [[ 9.80047969e-01 1.96398908e-01 3.05523818e-02 1.23344531e+02] [-1.96308830e-01 9.80524065e-01 -5.94995156e-03 -1.65828827e+01] [-3.11259096e-02 -1.66464384e-04 9.99515458e-01 -5.21506472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.37, Y:-16.59, Z:-5.22 [[ 9.80269992e-01 1.95181884e-01 3.12214011e-02 1.23374750e+02] [-1.95087012e-01 9.80767055e-01 -6.08612331e-03 -1.65913576e+01] [-3.18088226e-02 -1.24845809e-04 9.99493964e-01 -5.21664451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.41, Y:-16.61, Z:-5.22 [[ 9.81072705e-01 1.91241789e-01 3.03796775e-02 1.23405463e+02] [-1.91149939e-01 9.81542958e-01 -5.92644574e-03 -1.66051286e+01] [-3.09523426e-02 7.20066547e-06 9.99520861e-01 -5.21746164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.44, Y:-16.62, Z:-5.22 [[ 9.81548675e-01 1.88773479e-01 3.04429403e-02 1.23436255e+02] [-1.88679858e-01 9.82020654e-01 -5.94523583e-03 -1.66157900e+01] [-3.10178990e-02 9.15687150e-05 9.99518825e-01 -5.21968278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62264 meters Centerline goodness [0,1] 0.9996345029239766 Centerline is valid? [True, True] Translation: X:123.47, Y:-16.63, Z:-5.22 [[ 9.82030996e-01 1.86236391e-01 3.05144013e-02 1.23467160e+02] [-1.86140916e-01 9.82504949e-01 -5.96526237e-03 -1.66265846e+01] [-3.10914992e-02 1.78093924e-04 9.99516527e-01 -5.22361096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65264 meters Centerline goodness [0,1] 0.9999568211748958 Centerline is valid? [True, True] Translation: X:123.50, Y:-16.64, Z:-5.22 [[ 9.82445493e-01 1.84087122e-01 3.02123111e-02 1.23497595e+02] [-1.83992349e-01 9.82909899e-01 -5.91152304e-03 -1.66378094e+01] [-3.07842149e-02 2.48915091e-04 9.99526023e-01 -5.22449814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68264 meters Centerline goodness [0,1] 0.999978416179232 Centerline is valid? [True, True] Translation: X:123.53, Y:-16.66, Z:-5.23 [[ 9.83223896e-01 1.80032180e-01 2.93118371e-02 1.23525976e+02] [-1.79941016e-01 9.83660652e-01 -5.74047656e-03 -1.66551030e+01] [-2.98663713e-02 3.69771972e-04 9.99553832e-01 -5.22676347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71264000000001 meters Centerline goodness [0,1] 0.999696299188685 Centerline is valid? [True, True] Translation: X:123.56, Y:-16.67, Z:-5.23 [[ 9.83550448e-01 1.78378783e-01 2.84521712e-02 1.23556340e+02] [-1.78292073e-01 9.83961808e-01 -5.57642310e-03 -1.66654707e+01] [-2.89905654e-02 4.11896848e-04 9.99579600e-01 -5.23072980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.59, Y:-16.68, Z:-5.23 [[ 9.83701236e-01 1.77710738e-01 2.74002091e-02 1.23586462e+02] [-1.77629936e-01 9.84082678e-01 -5.37484563e-03 -1.66775192e+01] [-2.79192390e-02 4.20144906e-04 9.99610094e-01 -5.23122435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.62, Y:-16.69, Z:-5.23 [[ 9.83512059e-01 1.78763462e-01 2.73432691e-02 1.23616997e+02] [-1.78683235e-01 9.83892000e-01 -5.36963950e-03 -1.66850710e+01] [-2.78627191e-02 3.95321418e-04 9.99611681e-01 -5.23351479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.65, Y:-16.69, Z:-5.23 [[ 9.83135396e-01 1.80863058e-01 2.70803738e-02 1.23648711e+02] [-1.80785116e-01 9.83508232e-01 -5.31971434e-03 -1.66892190e+01] [-2.75959103e-02 3.34270969e-04 9.99619104e-01 -5.23404754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.68, Y:-16.69, Z:-5.24 [[ 9.81868803e-01 1.87736616e-01 2.62415149e-02 1.23680877e+02] [-1.87665759e-01 9.82219397e-01 -5.15943945e-03 -1.66886726e+01] [-2.67435406e-02 1.41258831e-04 9.99642318e-01 -5.23640375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.71, Y:-16.69, Z:-5.24 [[ 9.81030138e-01 1.92045067e-01 2.64303127e-02 1.23712308e+02] [-1.91974590e-01 9.81386107e-01 -5.20244093e-03 -1.66897257e+01] [-2.69374448e-02 2.98029053e-05 9.99637121e-01 -5.23788911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89264000000001 meters Centerline goodness [0,1] 0.9998070119009328 Centerline is valid? [True, True] Translation: X:123.74, Y:-16.69, Z:-5.24 [[ 9.80175580e-01 1.96280999e-01 2.70111338e-02 1.23744543e+02] [-1.96208951e-01 9.80547685e-01 -5.31843071e-03 -1.66906842e+01] [-2.75296116e-02 -8.68303047e-05 9.99620985e-01 -5.24027838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.78, Y:-16.69, Z:-5.24 [[ 9.78466534e-01 2.04556072e-01 2.75690860e-02 1.23777523e+02] [-2.04484137e-01 9.78854796e-01 -5.43385269e-03 -1.66889531e+01] [-2.80976596e-02 -3.20597760e-04 9.99605131e-01 -5.23869123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.81, Y:-16.69, Z:-5.24 [[ 9.77801391e-01 2.07715370e-01 2.75456963e-02 1.23808403e+02] [-2.07644618e-01 9.78189226e-01 -5.43608532e-03 -1.66907961e+01] [-2.80740618e-02 -4.04303801e-04 9.99605764e-01 -5.23984522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.84, Y:-16.69, Z:-5.24 [[ 9.77199528e-01 2.10504438e-01 2.77301873e-02 1.23840310e+02] [-2.10433892e-01 9.77592780e-01 -5.47125074e-03 -1.66936444e+01] [-2.82605534e-02 -4.88867583e-04 9.99600471e-01 -5.24063808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.87, Y:-16.69, Z:-5.24 [[ 9.76582101e-01 2.13396345e-01 2.73751712e-02 1.23871764e+02] [-2.13328591e-01 9.76965550e-01 -5.40612784e-03 -1.66944211e+01] [-2.78982471e-02 -5.60379023e-04 9.99610611e-01 -5.24442471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:123.90, Y:-16.70, Z:-5.25 [[ 9.76514858e-01 2.13712184e-01 2.73099580e-02 1.23901653e+02] [-2.13644728e-01 9.76896507e-01 -5.39858159e-03 -1.67013894e+01] [-2.78327452e-02 -5.62833396e-04 9.99612436e-01 -5.24613884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07264000000004 meters Centerline goodness [0,1] 0.9998707592891761 Centerline is valid? [True, True] Translation: X:123.93, Y:-16.71, Z:-5.25 [[ 9.76602816e-01 2.13345865e-01 2.70274150e-02 1.23932372e+02] [-2.13279615e-01 9.76976584e-01 -5.34424031e-03 -1.67120424e+01] [-2.75453231e-02 -5.45196539e-04 9.99620407e-01 -5.24708089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264000000004 meters Centerline goodness [0,1] 0.9997844595322772 Centerline is valid? [True, True] Translation: X:123.96, Y:-16.72, Z:-5.25 [[ 9.76769833e-01 2.12599164e-01 2.68754255e-02 1.23963131e+02] [-2.12533242e-01 9.77139360e-01 -5.31905214e-03 -1.67188180e+01] [-2.73918621e-02 -5.16431634e-04 9.99624639e-01 -5.24993138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13264000000004 meters Centerline goodness [0,1] 0.9999359562794868 Centerline is valid? [True, True] Translation: X:123.99, Y:-16.73, Z:-5.25 [[ 9.77206924e-01 2.10561401e-01 2.70282062e-02 1.23992927e+02] [-2.10493823e-01 9.77580527e-01 -5.35382246e-03 -1.67305005e+01] [-2.75495564e-02 -4.57478083e-04 9.99620334e-01 -5.25072074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.02, Y:-16.74, Z:-5.25 [[ 9.77425958e-01 2.09540291e-01 2.70437347e-02 1.24023863e+02] [-2.09472133e-01 9.77799921e-01 -5.36093164e-03 -1.67408372e+01] [-2.75666929e-02 -4.24995059e-04 9.99619876e-01 -5.25137466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19264 meters Centerline goodness [0,1] 0.9996353965598593 Centerline is valid? [True, True] Translation: X:124.05, Y:-16.75, Z:-5.25 [[ 9.77670703e-01 2.08399472e-01 2.70121514e-02 1.24054348e+02] [-2.08330912e-01 9.78043716e-01 -5.35924410e-03 -1.67491896e+01] [-2.75359286e-02 -3.87890189e-04 9.99620739e-01 -5.25471799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.09, Y:-16.76, Z:-5.25 [[ 9.77861313e-01 2.07506306e-01 2.69886320e-02 1.24085306e+02] [-2.07437405e-01 9.78233615e-01 -5.35893391e-03 -1.67606632e+01] [-2.75131996e-02 -3.58157637e-04 9.99621376e-01 -5.25186646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.11, Y:-16.77, Z:-5.25 [[ 9.78190444e-01 2.06029787e-01 2.63663124e-02 1.24114879e+02] [-2.05963363e-01 9.78545673e-01 -5.24011637e-03 -1.67711554e+01] [-2.68802610e-02 -3.04662619e-04 9.99638614e-01 -5.25439961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters Centerline goodness [0,1] 0.9997635222289105 Centerline is valid? [True, True] Translation: X:124.15, Y:-16.78, Z:-5.26 [[ 9.78261243e-01 2.05772295e-01 2.57430046e-02 1.24145659e+02] [-2.05708788e-01 9.78599857e-01 -5.11995795e-03 -1.67794574e+01] [-2.62456462e-02 -2.86905867e-04 9.99655483e-01 -5.25847457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.18, Y:-16.79, Z:-5.26 [[ 9.78214158e-01 2.06103399e-01 2.48686617e-02 1.24176250e+02] [-2.06044117e-01 9.78530178e-01 -4.95096554e-03 -1.67871426e+01] [-2.53551468e-02 -2.80936857e-04 9.99678467e-01 -5.25967489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.21, Y:-16.79, Z:-5.26 [[ 9.78015922e-01 2.07039472e-01 2.48900102e-02 1.24208163e+02] [-2.06980293e-01 9.78332544e-01 -4.95903720e-03 -1.67927954e+01] [-2.53774235e-02 -3.01724282e-04 9.99677896e-01 -5.26098252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37264000000002 meters Centerline goodness [0,1] 0.9998272436727995 Centerline is valid? [True, True] Translation: X:124.24, Y:-16.80, Z:-5.26 [[ 9.77816095e-01 2.08088035e-01 2.39802734e-02 1.24239627e+02] [-2.08033323e-01 9.78110051e-01 -4.78171391e-03 -1.67983270e+01] [-2.44503639e-02 -3.13059160e-04 9.99700996e-01 -5.26438159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.27, Y:-16.80, Z:-5.26 [[ 9.77447615e-01 2.09801012e-01 2.40768545e-02 1.24271099e+02] [-2.09746273e-01 9.77744042e-01 -4.80524379e-03 -1.68048060e+01] [-2.45491461e-02 -3.53156414e-04 9.99698562e-01 -5.26350829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43264000000002 meters Centerline goodness [0,1] 0.9999786734911496 Centerline is valid? [True, True] Translation: X:124.30, Y:-16.81, Z:-5.27 [[ 9.77229160e-01 2.10796804e-01 2.42461602e-02 1.24302362e+02] [-2.10741484e-01 9.77529829e-01 -4.84367491e-03 -1.68072420e+01] [-2.47223760e-02 -3.76291419e-04 9.99694285e-01 -5.26812211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters Centerline goodness [0,1] 0.9999566968345386 Centerline is valid? [True, True] Translation: X:124.33, Y:-16.81, Z:-5.27 [[ 9.77071602e-01 2.11560028e-01 2.39466036e-02 1.24333833e+02] [-2.11506203e-01 9.77364929e-01 -4.78762980e-03 -1.68137979e+01] [-2.44174416e-02 -3.86998066e-04 9.99701775e-01 -5.26911651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.37, Y:-16.82, Z:-5.27 [[ 9.76919791e-01 2.12139473e-01 2.49913023e-02 1.24365268e+02] [-2.12080924e-01 9.77239312e-01 -5.00096731e-03 -1.68218528e+01] [-2.54833857e-02 -4.14634541e-04 9.99675160e-01 -5.26579794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264000000002 meters Centerline goodness [0,1] 0.9999783282404698 Centerline is valid? [True, True] Translation: X:124.40, Y:-16.83, Z:-5.27 [[ 9.76928392e-01 2.12118888e-01 2.48293187e-02 1.24397521e+02] [-2.12060988e-01 9.77243783e-01 -4.97249940e-03 -1.68292673e+01] [-2.53190584e-02 -4.07554020e-04 9.99679338e-01 -5.26729396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.43, Y:-16.84, Z:-5.27 [[ 9.76970681e-01 2.11947296e-01 2.46299206e-02 1.24429030e+02] [-2.11890140e-01 9.77281018e-01 -4.93769433e-03 -1.68365086e+01] [-2.51168849e-02 -3.94854733e-04 9.99684443e-01 -5.26960943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.46, Y:-16.84, Z:-5.27 [[ 9.76929710e-01 2.12136162e-01 2.46290659e-02 1.24460839e+02] [-2.12078958e-01 9.77240038e-01 -4.94195281e-03 -1.68430811e+01] [-2.51168762e-02 -3.95366122e-04 9.99684443e-01 -5.27095601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.49, Y:-16.85, Z:-5.27 [[ 9.77040437e-01 2.11558030e-01 2.52028543e-02 1.24490921e+02] [-2.11497787e-01 9.77365363e-01 -5.06294011e-03 -1.68499201e+01] [-2.57035024e-02 -3.83650680e-04 9.99669537e-01 -5.27272332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264000000003 meters Centerline goodness [0,1] 0.9999786903062203 Centerline is valid? [True, True] Translation: X:124.52, Y:-16.86, Z:-5.27 [[ 9.77238338e-01 2.10551409e-01 2.59487031e-02 1.24521854e+02] [-2.10487079e-01 9.77582719e-01 -5.21703184e-03 -1.68600932e+01] [-2.64654572e-02 -3.63583205e-04 9.99649662e-01 -5.27286470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.55, Y:-16.87, Z:-5.27 [[ 9.77354062e-01 2.10059723e-01 2.55724572e-02 1.24553820e+02] [-2.09996974e-01 9.77688497e-01 -5.14532982e-03 -1.68686721e+01] [-2.60827238e-02 -3.41329637e-04 9.99659730e-01 -5.27475095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264000000003 meters Centerline goodness [0,1] 0.9999784519910361 Centerline is valid? [True, True] Translation: X:124.59, Y:-16.88, Z:-5.28 [[ 9.77437440e-01 2.09760422e-01 2.48317446e-02 1.24585882e+02] [-2.09701043e-01 9.77752762e-01 -5.00092581e-03 -1.68772167e+01] [-2.53283032e-02 -3.19150617e-04 9.99679136e-01 -5.27737420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.62, Y:-16.89, Z:-5.28 [[ 9.77586079e-01 2.09129102e-01 2.42997409e-02 1.24617862e+02] [-2.09071931e-01 9.77887996e-01 -4.89838658e-03 -1.68866827e+01] [-2.47868201e-02 -2.91799212e-04 9.99692717e-01 -5.27837310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.65, Y:-16.89, Z:-5.28 [[ 9.77622534e-01 2.08932397e-01 2.45241762e-02 1.24648848e+02] [-2.08873961e-01 9.77930045e-01 -4.94928992e-03 -1.68923970e+01] [-2.50169958e-02 -2.83924470e-04 9.99686986e-01 -5.28171988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.68, Y:-16.90, Z:-5.28 [[ 9.77592233e-01 2.09094416e-01 2.43505760e-02 1.24680498e+02] [-2.09036765e-01 9.77895416e-01 -4.91786043e-03 -1.68999630e+01] [-2.48406138e-02 -2.82503476e-04 9.99691384e-01 -5.28184503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.71, Y:-16.91, Z:-5.28 [[ 9.77248535e-01 2.10621402e-01 2.49785234e-02 1.24713441e+02] [-2.10561121e-01 9.77567655e-01 -5.04925034e-03 -1.69057939e+01] [-2.54816767e-02 -3.25133398e-04 9.99675236e-01 -5.28049727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.75, Y:-16.91, Z:-5.28 [[ 9.76866549e-01 2.12356514e-01 2.52280905e-02 1.24745056e+02] [-2.12295459e-01 9.77192189e-01 -5.10521086e-03 -1.69100282e+01] [-2.57368177e-02 -3.68699319e-04 9.99668685e-01 -5.28056313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.78, Y:-16.91, Z:-5.28 [[ 9.75956757e-01 2.16483914e-01 2.53598854e-02 1.24777957e+02] [-2.16423445e-01 9.76286070e-01 -5.13827858e-03 -1.69095741e+01] [-2.58708575e-02 -4.73736081e-04 9.99665181e-01 -5.27994219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:124.81, Y:-16.91, Z:-5.28 [[ 9.75428960e-01 2.18771205e-01 2.60288991e-02 1.24809232e+02] [-2.18708270e-01 9.75776030e-01 -5.27559946e-03 -1.69090325e+01] [-2.65525251e-02 -5.46762991e-04 9.99647270e-01 -5.28170037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters Centerline goodness [0,1] 0.9999782750380187 Centerline is valid? [True, True] Translation: X:124.84, Y:-16.91, Z:-5.28 [[ 9.74868463e-01 2.21114721e-01 2.71985167e-02 1.24840939e+02] [-2.21046941e-01 9.75247595e-01 -5.51160029e-03 -1.69097539e+01] [-2.77439840e-02 -6.39063626e-04 9.99614857e-01 -5.28158485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97264 meters Centerline goodness [0,1] 0.9998491444334296 Centerline is valid? [True, True] Translation: X:124.87, Y:-16.91, Z:-5.28 [[ 9.74306482e-01 2.23502127e-01 2.78150671e-02 1.24872992e+02] [-2.23432085e-01 9.74703177e-01 -5.64098206e-03 -1.69121407e+01] [-2.83722058e-02 -7.18733062e-04 9.99597170e-01 -5.28275370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters Centerline goodness [0,1] 0.9999359795134443 Centerline is valid? [True, True] Translation: X:124.90, Y:-16.91, Z:-5.28 [[ 9.73826809e-01 2.25531687e-01 2.82277305e-02 1.24904726e+02] [-2.25460206e-01 9.74235519e-01 -5.73150720e-03 -1.69104540e+01] [-2.87930942e-02 -7.82734565e-04 9.99585086e-01 -5.28302656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03264000000001 meters Centerline goodness [0,1] 0.9998061681598898 Centerline is valid? [True, True] Translation: X:124.94, Y:-16.92, Z:-5.29 [[ 9.73718745e-01 2.26036761e-01 2.79139559e-02 1.24935766e+02] [-2.25967103e-01 9.74118452e-01 -5.66655211e-03 -1.69176005e+01] [-2.84723486e-02 -7.90007733e-04 9.99594268e-01 -5.28515975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters Centerline goodness [0,1] 0.9999785126453082 Centerline is valid? [True, True] Translation: X:124.97, Y:-16.92, Z:-5.28 [[ 9.73753306e-01 2.25783740e-01 2.87437316e-02 1.24967059e+02] [-2.25709612e-01 9.74177120e-01 -5.84031013e-03 -1.69228698e+01] [-2.93201328e-02 -8.00715226e-04 9.99569752e-01 -5.28434332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09264000000002 meters Centerline goodness [0,1] 0.999978471474704 Centerline is valid? [True, True] Translation: X:125.00, Y:-16.93, Z:-5.29 [[ 9.74197379e-01 2.23946589e-01 2.80605220e-02 1.24997308e+02] [-2.23875041e-01 9.74601151e-01 -5.70642048e-03 -1.69281312e+01] [-2.86257505e-02 -7.22870646e-04 9.99589938e-01 -5.28695574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.03, Y:-16.94, Z:-5.29 [[ 9.74486046e-01 2.22736284e-01 2.76675465e-02 1.25028601e+02] [-2.22666121e-01 9.74878502e-01 -5.63068179e-03 -1.69363309e+01] [-2.82266535e-02 -6.73604436e-04 9.99601322e-01 -5.28771427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15264000000002 meters Centerline goodness [0,1] 0.9998703963710984 Centerline is valid? [True, True] Translation: X:125.06, Y:-16.94, Z:-5.29 [[ 9.74761091e-01 2.21616400e-01 2.69627016e-02 1.25059170e+02] [-2.21549206e-01 9.75133728e-01 -5.49205710e-03 -1.69408720e+01] [-2.75093696e-02 -6.20121557e-04 9.99621353e-01 -5.29230520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.09, Y:-16.95, Z:-5.29 [[ 9.75625718e-01 2.17859065e-01 2.63037285e-02 1.25088137e+02] [-2.17793579e-01 9.75980114e-01 -5.36419318e-03 -1.69490799e+01] [-2.68405540e-02 -4.95338355e-04 9.99639605e-01 -5.29440788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21264000000002 meters Centerline goodness [0,1] 0.9998928556122231 Centerline is valid? [True, True] Translation: X:125.12, Y:-16.96, Z:-5.30 [[ 9.76036903e-01 2.16103060e-01 2.55231586e-02 1.25119240e+02] [-2.16040858e-01 9.76370461e-01 -5.20292836e-03 -1.69565680e+01] [-2.60444269e-02 -4.35794995e-04 9.99660691e-01 -5.29829491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.15, Y:-16.96, Z:-5.30 [[ 9.76546045e-01 2.13756748e-01 2.58045496e-02 1.25150963e+02] [-2.13692186e-01 9.76886849e-01 -5.26639410e-03 -1.69644671e+01] [-2.63338524e-02 -3.71354272e-04 9.99653135e-01 -5.29840598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.18, Y:-16.98, Z:-5.30 [[ 9.77629089e-01 2.08666383e-01 2.64519154e-02 1.25180904e+02] [-2.08596622e-01 9.77986853e-01 -5.40050791e-03 -1.69768855e+01] [-2.69965300e-02 -2.38086574e-04 9.99635499e-01 -5.29734988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.21, Y:-16.99, Z:-5.30 [[ 9.78198857e-01 2.05898956e-01 2.70668904e-02 1.25211852e+02] [-2.05824876e-01 9.78573243e-01 -5.52522448e-03 -1.69874884e+01] [-2.76245727e-02 -1.66271085e-04 9.99618355e-01 -5.29786278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.24, Y:-17.00, Z:-5.30 [[ 9.79365004e-01 2.00357864e-01 2.64747932e-02 1.25240303e+02] [-2.00284834e-01 9.79722780e-01 -5.40915713e-03 -1.70024482e+01] [-2.70217252e-02 -4.96036293e-06 9.99634847e-01 -5.30072789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.27, Y:-17.01, Z:-5.30 [[ 9.79856932e-01 1.97937124e-01 2.64818368e-02 1.25270516e+02] [-1.97863036e-01 9.80214716e-01 -5.41558391e-03 -1.70129457e+01] [-2.70298312e-02 6.67207946e-05 9.99634625e-01 -5.30286716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.30, Y:-17.02, Z:-5.30 [[ 9.80198180e-01 1.96242894e-01 2.64623177e-02 1.25302576e+02] [-1.96168236e-01 9.80555309e-01 -5.41384662e-03 -1.70227927e+01] [-2.70101950e-02 1.15576413e-04 9.99635151e-01 -5.30317379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264000000003 meters Centerline goodness [0,1] 0.9995909756307586 Centerline is valid? [True, True] Translation: X:125.33, Y:-17.03, Z:-5.31 [[ 9.80418732e-01 1.95215061e-01 2.58880255e-02 1.25333230e+02] [-1.95143109e-01 9.80760449e-01 -5.30171291e-03 -1.70307512e+01] [-2.64249257e-02 1.46028864e-04 9.99650790e-01 -5.30619929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.36, Y:-17.04, Z:-5.31 [[ 9.80557970e-01 1.94710057e-01 2.43733600e-02 1.25362893e+02] [-1.94645991e-01 9.80860831e-01 -4.99683787e-03 -1.70390122e+01] [-2.48798087e-02 1.55512385e-04 9.99690438e-01 -5.30855283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.40, Y:-17.05, Z:-5.31 [[ 9.80434335e-01 1.95408670e-01 2.37479737e-02 1.25395650e+02] [-1.95348048e-01 9.80721894e-01 -4.86895001e-03 -1.70450706e+01] [-2.42415927e-02 1.34565479e-04 9.99706120e-01 -5.31041483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51264000000003 meters Centerline goodness [0,1] 0.9997212155004181 Centerline is valid? [True, True] Translation: X:125.43, Y:-17.05, Z:-5.31 [[ 9.80136302e-01 1.96901875e-01 2.37166718e-02 1.25426382e+02] [-1.96841715e-01 9.80423195e-01 -4.86806821e-03 -1.70491384e+01] [-2.42109069e-02 1.02940013e-04 9.99706868e-01 -5.31395885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.46, Y:-17.05, Z:-5.31 [[ 9.79392797e-01 2.00471845e-01 2.45109745e-02 1.25459647e+02] [-2.00408557e-01 9.79699464e-01 -5.03702381e-03 -1.70503185e+01] [-2.50231700e-02 2.10158211e-05 9.99686871e-01 -5.31181866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57264000000004 meters Centerline goodness [0,1] 0.999913476097772 Centerline is valid? [True, True] Translation: X:125.49, Y:-17.05, Z:-5.31 [[ 9.78948898e-01 2.02637945e-01 2.44318982e-02 1.25492064e+02] [-2.02575758e-01 9.79253727e-01 -5.01999037e-03 -1.70545840e+01] [-2.49422679e-02 -3.49962684e-05 9.99688893e-01 -5.31317894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.52, Y:-17.06, Z:-5.31 [[ 9.78531218e-01 2.04592746e-01 2.48689117e-02 1.25523511e+02] [-2.04528804e-01 9.78847180e-01 -5.11531615e-03 -1.70589243e+01] [-2.53894206e-02 -8.09122232e-05 9.99677633e-01 -5.31354616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.56, Y:-17.06, Z:-5.32 [[ 9.77845852e-01 2.07836614e-01 2.49285326e-02 1.25555308e+02] [-2.07773256e-01 9.78163543e-01 -5.13398137e-03 -1.70590333e+01] [-2.54512111e-02 -1.59239985e-04 9.99676053e-01 -5.31536543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.59, Y:-17.06, Z:-5.31 [[ 9.77535136e-01 2.09239465e-01 2.53752745e-02 1.25587718e+02] [-2.09174266e-01 9.77864411e-01 -5.22680082e-03 -1.70649035e+01] [-2.59072309e-02 -1.98472968e-04 9.99664332e-01 -5.31422308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69264 meters Centerline goodness [0,1] 0.9998489654130795 Centerline is valid? [True, True] Translation: X:125.62, Y:-17.07, Z:-5.32 [[ 9.77287846e-01 2.10321436e-01 2.59491810e-02 1.25619689e+02] [-2.10253483e-01 9.77632263e-01 -5.35078067e-03 -1.70694987e+01] [-2.64941405e-02 -2.26652777e-04 9.99648943e-01 -5.31863763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters Centerline goodness [0,1] 0.9998479946146663 Centerline is valid? [True, True] Translation: X:125.65, Y:-17.07, Z:-5.31 [[ 9.76765410e-01 2.12659430e-01 2.65575144e-02 1.25651497e+02] [-2.12588969e-01 9.77126339e-01 -5.48163747e-03 -1.70735805e+01] [-2.71157687e-02 -2.91560746e-04 9.99632257e-01 -5.31465802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.68, Y:-17.08, Z:-5.32 [[ 9.76461290e-01 2.14039869e-01 2.66511645e-02 1.25682984e+02] [-2.13969284e-01 9.76824871e-01 -5.50612919e-03 -1.70754347e+01] [-2.72120515e-02 -3.26008562e-04 9.99629630e-01 -5.31517744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.71, Y:-17.08, Z:-5.32 [[ 9.76206403e-01 2.15196872e-01 2.66714133e-02 1.25714658e+02] [-2.15126485e-01 9.76570623e-01 -5.51492775e-03 -1.70768029e+01] [-2.72333139e-02 -3.54019617e-04 9.99629042e-01 -5.31848399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.75, Y:-17.08, Z:-5.32 [[ 9.75997631e-01 2.16137356e-01 2.67070609e-02 1.25746646e+02] [-2.16067020e-01 9.76362894e-01 -5.52645337e-03 -1.70833569e+01] [-2.72702563e-02 -3.76709642e-04 9.99628026e-01 -5.31727803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters Centerline goodness [0,1] 0.999850411368736 Centerline is valid? [True, True] Translation: X:125.78, Y:-17.08, Z:-5.32 [[ 9.75635095e-01 2.17746810e-01 2.68791262e-02 1.25778330e+02] [-2.17676033e-01 9.76005200e-01 -5.56717804e-03 -1.70829663e+01] [-2.74464022e-02 -4.19407298e-04 9.99623189e-01 -5.32206118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87264000000002 meters Centerline goodness [0,1] 0.9999133899185865 Centerline is valid? [True, True] Translation: X:125.81, Y:-17.09, Z:-5.32 [[ 9.75544958e-01 2.18169413e-01 2.67234493e-02 1.25809840e+02] [-2.18099438e-01 9.75910820e-01 -5.54132773e-03 -1.70868150e+01] [-2.72886516e-02 -4.22554963e-04 9.99627506e-01 -5.32277141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.84, Y:-17.09, Z:-5.32 [[ 9.75558846e-01 2.18092877e-01 2.68409234e-02 1.25840823e+02] [-2.18022233e-01 9.75927927e-01 -5.56654330e-03 -1.70885913e+01] [-2.74088301e-02 -4.21427486e-04 9.99624219e-01 -5.32344996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.87, Y:-17.09, Z:-5.33 [[ 9.75700877e-01 2.17468507e-01 2.67440936e-02 1.25869711e+02] [-2.17398114e-01 9.76067256e-01 -5.54732865e-03 -1.70915106e+01] [-2.73104033e-02 -4.01582077e-04 9.99626921e-01 -5.32659785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.90, Y:-17.10, Z:-5.33 [[ 9.75867123e-01 2.16777422e-01 2.62851147e-02 1.25899256e+02] [-2.16709202e-01 9.76220983e-01 -5.45109172e-03 -1.70989347e+01] [-2.68417541e-02 -3.76685020e-04 9.99639624e-01 -5.32559792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99264000000002 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:125.93, Y:-17.10, Z:-5.33 [[ 9.76071625e-01 2.15916615e-01 2.57720353e-02 1.25928565e+02] [-2.15850727e-01 9.76411745e-01 -5.34487306e-03 -1.71020838e+01] [-2.63181649e-02 -3.45933640e-04 9.99653557e-01 -5.32953122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.96, Y:-17.11, Z:-5.33 [[ 9.76778526e-01 2.12719358e-01 2.55770552e-02 1.25958910e+02] [-2.12653391e-01 9.77113303e-01 -5.30354659e-03 -1.71110248e+01] [-2.61198479e-02 -2.58657099e-04 9.99658785e-01 -5.32937326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:125.99, Y:-17.12, Z:-5.33 [[ 9.77199548e-01 2.10700419e-01 2.61987951e-02 1.25988051e+02] [-2.10630456e-01 9.77550658e-01 -5.43335102e-03 -1.71184830e+01] [-2.67554587e-02 -2.08795988e-04 9.99641987e-01 -5.32950958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264000000003 meters Centerline goodness [0,1] 0.9998707843390618 Centerline is valid? [True, True] Translation: X:126.02, Y:-17.13, Z:-5.33 [[ 9.77574604e-01 2.08908466e-01 2.65546092e-02 1.26018960e+02] [-2.08835934e-01 9.77935185e-01 -5.50693026e-03 -1.71259758e+01] [-2.71191311e-02 -1.62121445e-04 9.99632196e-01 -5.33182143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.05, Y:-17.13, Z:-5.33 [[ 9.78282093e-01 2.05602465e-01 2.63015893e-02 1.26050539e+02] [-2.05530126e-01 9.78635592e-01 -5.45398987e-03 -1.71343783e+01] [-2.68610252e-02 -7.02283499e-05 9.99639175e-01 -5.33085629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264000000003 meters Centerline goodness [0,1] 0.9998930000642 Centerline is valid? [True, True] Translation: X:126.08, Y:-17.14, Z:-5.34 [[ 9.78543779e-01 2.04356301e-01 2.62788029e-02 1.26082189e+02] [-2.04283514e-01 9.78896573e-01 -5.45385728e-03 -1.71409654e+01] [-2.68387602e-02 -3.14881040e-05 9.99639775e-01 -5.33528261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.11, Y:-17.15, Z:-5.33 [[ 9.78971330e-01 2.02288214e-01 2.63555048e-02 1.26114338e+02] [-2.02214107e-01 9.79326032e-01 -5.47515669e-03 -1.71465242e+01] [-2.69181916e-02 3.05665687e-05 9.99637639e-01 -5.33412215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.14, Y:-17.15, Z:-5.34 [[ 9.79042170e-01 2.01929457e-01 2.64749668e-02 1.26144669e+02] [-2.01854411e-01 9.79400068e-01 -5.50494907e-03 -1.71514331e+01] [-2.70411957e-02 4.54884390e-05 9.99634319e-01 -5.33644167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23264000000003 meters Centerline goodness [0,1] 0.9999786228863379 Centerline is valid? [True, True] Translation: X:126.17, Y:-17.16, Z:-5.34 [[ 9.79167351e-01 2.01376430e-01 2.60544144e-02 1.26174502e+02] [-2.01303382e-01 9.79513925e-01 -5.42396105e-03 -1.71572807e+01] [-2.66129197e-02 6.61238282e-05 9.99645811e-01 -5.33990120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.21, Y:-17.16, Z:-5.34 [[ 9.79276622e-01 2.00859741e-01 2.59357121e-02 1.26206275e+02] [-2.00787232e-01 9.79620007e-01 -5.39714623e-03 -1.71645512e+01] [-2.64912118e-02 7.77392997e-05 9.99649043e-01 -5.33928433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29264000000003 meters Centerline goodness [0,1] 0.999849885269456 Centerline is valid? [True, True] Translation: X:126.24, Y:-17.17, Z:-5.34 [[ 9.79383225e-01 2.00266678e-01 2.64906727e-02 1.26236580e+02] [-2.00190653e-01 9.79741419e-01 -5.51861021e-03 -1.71695203e+01] [-2.70592030e-02 1.01649203e-04 9.99633828e-01 -5.34152356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264000000004 meters Centerline goodness [0,1] 0.9998929931943672 Centerline is valid? [True, True] Translation: X:126.27, Y:-17.17, Z:-5.34 [[ 9.79383614e-01 2.00207583e-01 2.69195067e-02 1.26266660e+02] [-2.00128944e-01 9.79753496e-01 -5.61191583e-03 -1.71740889e+01] [-2.74980288e-02 1.08845965e-04 9.99621852e-01 -5.34260305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.30, Y:-17.18, Z:-5.34 [[ 9.79375312e-01 2.00254164e-01 2.68750554e-02 1.26297960e+02] [-2.00175798e-01 9.79743976e-01 -5.60281666e-03 -1.71795214e+01] [-2.74526610e-02 1.07524666e-04 9.99623099e-01 -5.34113705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.33, Y:-17.18, Z:-5.34 [[ 9.79237693e-01 2.01002202e-01 2.62993381e-02 1.26330362e+02] [-2.00927470e-01 9.79590786e-01 -5.48121949e-03 -1.71837904e+01] [-2.68643265e-02 8.31572554e-05 9.99639085e-01 -5.34261519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41264 meters Centerline goodness [0,1] 0.9997616158113731 Centerline is valid? [True, True] Translation: X:126.36, Y:-17.19, Z:-5.35 [[ 9.79129379e-01 2.01670563e-01 2.51921130e-02 1.26362433e+02] [-2.01602106e-01 9.79453409e-01 -5.25465560e-03 -1.71878725e+01] [-2.57342103e-02 6.62046450e-05 9.99668818e-01 -5.34722913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.39, Y:-17.19, Z:-5.35 [[ 9.78891967e-01 2.02957812e-01 2.40549961e-02 1.26391546e+02] [-2.02895605e-01 9.79187482e-01 -5.02477660e-03 -1.71906732e+01] [-2.45741687e-02 3.80604550e-05 9.99698009e-01 -5.35166496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.42, Y:-17.20, Z:-5.35 [[ 9.78896706e-01 2.02934954e-01 2.40550216e-02 1.26420084e+02] [-2.02872743e-01 9.79192220e-01 -5.02465448e-03 -1.71965871e+01] [-2.45741680e-02 3.85094942e-05 9.99698009e-01 -5.35287260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.45, Y:-17.20, Z:-5.35 [[ 9.78741004e-01 2.03662071e-01 2.42447702e-02 1.26448964e+02] [-2.03599112e-01 9.79041246e-01 -5.06369212e-03 -1.72010653e+01] [-2.47679120e-02 1.98294229e-05 9.99693228e-01 -5.35388166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.48, Y:-17.21, Z:-5.36 [[ 9.78579764e-01 2.04431302e-01 2.42793707e-02 1.26477450e+02] [-2.04368410e-01 9.78880913e-01 -5.07052123e-03 -1.72050930e+01] [-2.48031858e-02 -2.69315443e-08 9.99692354e-01 -5.35531843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.51, Y:-17.21, Z:-5.35 [[ 9.78359242e-01 2.05516331e-01 2.40048139e-02 1.26506986e+02] [-2.05455205e-01 9.78653686e-01 -5.01213816e-03 -1.72085149e+01] [-2.45224758e-02 -2.82422781e-05 9.99699278e-01 -5.35435719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59264000000002 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:126.54, Y:-17.21, Z:-5.36 [[ 9.78211023e-01 2.06203977e-01 2.41477579e-02 1.26535752e+02] [-2.06142342e-01 9.78509028e-01 -5.04156215e-03 -1.72122214e+01] [-2.46683892e-02 -4.61636874e-05 9.99695688e-01 -5.35923449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters Centerline goodness [0,1] 0.9999566169931238 Centerline is valid? [True, True] Translation: X:126.56, Y:-17.22, Z:-5.36 [[ 9.78055502e-01 2.06932396e-01 2.42160948e-02 1.26564777e+02] [-2.06870662e-01 9.78355242e-01 -5.05469553e-03 -1.72164150e+01] [-2.47379235e-02 -6.58267888e-05 9.99693969e-01 -5.35751915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.59, Y:-17.22, Z:-5.36 [[ 9.77832248e-01 2.07880726e-01 2.50938080e-02 1.26593843e+02] [-2.07814766e-01 9.78154177e-01 -5.23718401e-03 -1.72197356e+01] [-2.56343227e-02 -9.37764162e-05 9.99671382e-01 -5.35723975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters Centerline goodness [0,1] 0.9998919479621385 Centerline is valid? [True, True] Translation: X:126.62, Y:-17.23, Z:-5.36 [[ 9.77796563e-01 2.07982894e-01 2.56319755e-02 1.26622686e+02] [-2.07914124e-01 9.78132458e-01 -5.34889952e-03 -1.72261248e+01] [-2.61839468e-02 -9.91141919e-05 9.99657137e-01 -5.35851842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.65, Y:-17.23, Z:-5.36 [[ 9.77792503e-01 2.07892654e-01 2.65040535e-02 1.26651060e+02] [-2.07819106e-01 9.78151642e-01 -5.53034333e-03 -1.72328599e+01] [-2.70747012e-02 -1.00520454e-04 9.99633408e-01 -5.35842739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.68, Y:-17.24, Z:-5.36 [[ 9.77840647e-01 2.07629347e-01 2.67903563e-02 1.26680297e+02] [-2.07554136e-01 9.78207568e-01 -5.58885786e-03 -1.72405216e+01] [-2.73669402e-02 -9.54368786e-05 9.99625451e-01 -5.35680387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.71, Y:-17.25, Z:-5.36 [[ 9.77872747e-01 2.07506596e-01 2.65688392e-02 1.26708265e+02] [-2.07432592e-01 9.78233614e-01 -5.54214846e-03 -1.72459981e+01] [-2.71405639e-02 -9.17272470e-05 9.99631623e-01 -5.35789342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.74, Y:-17.25, Z:-5.36 [[ 9.77838638e-01 2.07677145e-01 2.64915369e-02 1.26736093e+02] [-2.07603667e-01 9.78197421e-01 -5.52483414e-03 -1.72502795e+01] [-2.70613349e-02 -9.73439043e-05 9.99633770e-01 -5.36078526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.76, Y:-17.25, Z:-5.36 [[ 9.77486760e-01 2.09354592e-01 2.62733473e-02 1.26764848e+02] [-2.09282933e-01 9.77839779e-01 -5.47901349e-03 -1.72532578e+01] [-2.68381807e-02 -1.42900037e-04 9.99639781e-01 -5.36137214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.79, Y:-17.26, Z:-5.36 [[ 9.77176119e-01 2.10801164e-01 2.62621947e-02 1.26793559e+02] [-2.10730123e-01 9.77528944e-01 -5.47536279e-03 -1.72574547e+01] [-2.68262683e-02 -1.83841761e-04 9.99640094e-01 -5.36224326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.82, Y:-17.26, Z:-5.36 [[ 9.76710169e-01 2.12907502e-01 2.66015400e-02 1.26821000e+02] [-2.12835427e-01 9.77072329e-01 -5.54489799e-03 -1.72604696e+01] [-2.71721791e-02 -2.45991876e-04 9.99630738e-01 -5.36249072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264000000003 meters Centerline goodness [0,1] 0.9999784240959696 Centerline is valid? [True, True] Translation: X:126.85, Y:-17.26, Z:-5.36 [[ 9.75558831e-01 2.18084958e-01 2.69057264e-02 1.26851831e+02] [-2.18013253e-01 9.75929707e-01 -5.60604558e-03 -1.72587578e+01] [-2.74806919e-02 -3.96777682e-04 9.99622256e-01 -5.36236298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.88, Y:-17.26, Z:-5.37 [[ 9.74927293e-01 2.20894171e-01 2.68800699e-02 1.26880963e+02] [-2.20823674e-01 9.75297667e-01 -5.60052937e-03 -1.72565930e+01] [-2.74531937e-02 -4.75646857e-04 9.99622977e-01 -5.36538294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:126.91, Y:-17.26, Z:-5.36 [[ 9.74334830e-01 2.23495896e-01 2.68556071e-02 1.26909398e+02] [-2.23426565e-01 9.74704715e-01 -5.59359523e-03 -1.72604032e+01] [-2.74264324e-02 -5.50221380e-04 9.99623673e-01 -5.36286662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01264000000003 meters Centerline goodness [0,1] 0.9999570520529119 Centerline is valid? [True, True] Translation: X:126.94, Y:-17.25, Z:-5.37 [[ 9.73477712e-01 2.27139387e-01 2.73650082e-02 1.26940162e+02] [-2.27068884e-01 9.73862030e-01 -5.69803808e-03 -1.72514710e+01] [-2.79439913e-02 -6.66828792e-04 9.99609268e-01 -5.36717157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264000000003 meters Centerline goodness [0,1] 0.9999571477545424 Centerline is valid? [True, True] Translation: X:126.97, Y:-17.25, Z:-5.37 [[ 9.73178202e-01 2.28409494e-01 2.74461433e-02 1.26969338e+02] [-2.28339104e-01 9.73564895e-01 -5.71397275e-03 -1.72539856e+01] [-2.80257273e-02 -7.06314048e-04 9.99606953e-01 -5.36836882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07264000000004 meters Centerline goodness [0,1] 0.9998491054106489 Centerline is valid? [True, True] Translation: X:127.00, Y:-17.26, Z:-5.37 [[ 9.73028299e-01 2.29026949e-01 2.76149453e-02 1.26997627e+02] [-2.28955975e-01 9.73419809e-01 -5.74780792e-03 -1.72608829e+01] [-2.81973376e-02 -7.29826955e-04 9.99602110e-01 -5.36890022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264000000004 meters Centerline goodness [0,1] 0.9998289977128444 Centerline is valid? [True, True] Translation: X:127.03, Y:-17.26, Z:-5.37 [[ 9.72912259e-01 2.29431139e-01 2.83388292e-02 1.27025771e+02] [-2.29356606e-01 9.73324597e-01 -5.89711931e-03 -1.72598732e+01] [-2.89358623e-02 -7.62318017e-04 9.99580980e-01 -5.36986224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13264000000004 meters Centerline goodness [0,1] 0.9998712915889053 Centerline is valid? [True, True] Translation: X:127.06, Y:-17.26, Z:-5.37 [[ 9.72960682e-01 2.29274061e-01 2.79448828e-02 1.27055075e+02] [-2.29201576e-01 9.73361620e-01 -5.81322984e-03 -1.72631570e+01] [-2.85332992e-02 -7.48967110e-04 9.99592562e-01 -5.36920525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters Centerline goodness [0,1] 0.9997847425520923 Centerline is valid? [True, True] Translation: X:127.08, Y:-17.26, Z:-5.37 [[ 9.73068903e-01 2.28843269e-01 2.77068173e-02 1.27083446e+02] [-2.28771874e-01 9.73463006e-01 -5.76247641e-03 -1.72629124e+01] [-2.82902656e-02 -7.31253907e-04 9.99599483e-01 -5.37426534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19264 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:127.11, Y:-17.27, Z:-5.37 [[ 9.73259369e-01 2.28087361e-01 2.72462004e-02 1.27112121e+02] [-2.28018077e-01 9.73640420e-01 -5.66481647e-03 -1.72669829e+01] [-2.78200750e-02 -6.99290497e-04 9.99612702e-01 -5.37421182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters Centerline goodness [0,1] 0.9997631964178076 Centerline is valid? [True, True] Translation: X:127.14, Y:-17.27, Z:-5.38 [[ 9.73829283e-01 2.25557236e-01 2.79367197e-02 1.27140936e+02] [-2.25483399e-01 9.74229705e-01 -5.80680083e-03 -1.72726152e+01] [-2.85265481e-02 -6.44433808e-04 9.99592827e-01 -5.37603707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25264 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:127.17, Y:-17.28, Z:-5.37 [[ 9.74184729e-01 2.23992740e-01 2.81312192e-02 1.27168719e+02] [-2.23917245e-01 9.74590626e-01 -5.84632428e-03 -1.72809758e+01] [-2.87259567e-02 -6.03665245e-04 9.99587142e-01 -5.37420441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters Centerline goodness [0,1] 0.9999570437509396 Centerline is valid? [True, True] Translation: X:127.20, Y:-17.29, Z:-5.38 [[ 9.74605061e-01 2.22164323e-01 2.80711199e-02 1.27197035e+02] [-2.22088433e-01 9.75009082e-01 -5.83240168e-03 -1.72870150e+01] [-2.86653485e-02 -5.49982848e-04 9.99588913e-01 -5.37519045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.22, Y:-17.29, Z:-5.38 [[ 9.75442118e-01 2.18580814e-01 2.71127668e-02 1.27224802e+02] [-2.18508657e-01 9.75818755e-01 -5.63242955e-03 -1.72908837e+01] [-2.76882874e-02 -4.30265245e-04 9.99616513e-01 -5.37860322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:127.25, Y:-17.30, Z:-5.38 [[ 9.75928445e-01 2.16484389e-01 2.64231017e-02 1.27252728e+02] [-2.16415161e-01 9.76286012e-01 -5.48646140e-03 -1.72971000e+01] [-2.69842379e-02 -3.63966066e-04 9.99635793e-01 -5.38357855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.28, Y:-17.30, Z:-5.38 [[ 9.76422472e-01 2.14307778e-01 2.59100982e-02 1.27279679e+02] [-2.14240475e-01 9.76766137e-01 -5.37884441e-03 -1.73042252e+01] [-2.64608347e-02 -2.98967198e-04 9.99649806e-01 -5.38458846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.31, Y:-17.31, Z:-5.39 [[ 9.77335429e-01 2.10085945e-01 2.60644362e-02 1.27306529e+02] [-2.10016380e-01 9.77682904e-01 -5.40921678e-03 -1.73115679e+01] [-2.66191541e-02 -1.87339331e-04 9.99645630e-01 -5.38612555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43264000000002 meters Centerline goodness [0,1] 0.9998271951614646 Centerline is valid? [True, True] Translation: X:127.33, Y:-17.32, Z:-5.39 [[ 9.77758619e-01 2.08078868e-01 2.62919776e-02 1.27334283e+02] [-2.08007406e-01 9.78112042e-01 -5.45458560e-03 -1.73197982e+01] [-2.68514839e-02 -1.35657989e-04 9.99639425e-01 -5.38854086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters Centerline goodness [0,1] 0.9998491704374057 Centerline is valid? [True, True] Translation: X:127.36, Y:-17.33, Z:-5.39 [[ 9.78465199e-01 2.04743676e-01 2.61893184e-02 1.27361221e+02] [-2.04671612e-01 9.78815624e-01 -5.43197713e-03 -1.73299181e+01] [-2.67466770e-02 -4.52094142e-05 9.99642243e-01 -5.38826943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49264000000002 meters Centerline goodness [0,1] 0.9997436554729556 Centerline is valid? [True, True] Translation: X:127.39, Y:-17.33, Z:-5.39 [[ 9.78698699e-01 2.03613168e-01 2.62780403e-02 1.27388145e+02] [-2.03540229e-01 9.79051417e-01 -5.44955864e-03 -1.73344123e+01] [-2.68371545e-02 -1.51623789e-05 9.99639819e-01 -5.39054668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264000000002 meters Centerline goodness [0,1] 0.9998507335380417 Centerline is valid? [True, True] Translation: X:127.42, Y:-17.34, Z:-5.39 [[ 9.78802293e-01 2.03127789e-01 2.61758006e-02 1.27415928e+02] [-2.03055310e-01 9.79152236e-01 -5.42581786e-03 -1.73383229e+01] [-2.67322281e-02 -4.33236010e-06 9.99642630e-01 -5.39129053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.44, Y:-17.34, Z:-5.39 [[ 9.78801385e-01 2.03143840e-01 2.60850323e-02 1.27443528e+02] [-2.03071920e-01 9.79148906e-01 -5.40511719e-03 -1.73424389e+01] [-2.66391471e-02 -6.60138345e-06 9.99645115e-01 -5.38879832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264000000003 meters Centerline goodness [0,1] 0.9999144275201095 Centerline is valid? [True, True] Translation: X:127.47, Y:-17.34, Z:-5.39 [[ 9.78591491e-01 2.04120994e-01 2.63308378e-02 1.27471188e+02] [-2.04048121e-01 9.78945667e-01 -5.45398247e-03 -1.73439711e+01] [-2.68897319e-02 -3.55371397e-05 9.99638405e-01 -5.39353060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61264000000003 meters Centerline goodness [0,1] 0.9998710204432597 Centerline is valid? [True, True] Translation: X:127.50, Y:-17.35, Z:-5.39 [[ 9.78501686e-01 2.04525853e-01 2.65259456e-02 1.27498699e+02] [-2.04452099e-01 9.78861161e-01 -5.49237367e-03 -1.73482716e+01] [-2.70885503e-02 -4.89883545e-05 9.99633037e-01 -5.39295720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264000000003 meters Centerline goodness [0,1] 0.9999349494774274 Centerline is valid? [True, True] Translation: X:127.53, Y:-17.35, Z:-5.39 [[ 9.78437582e-01 2.04773524e-01 2.69759714e-02 1.27527307e+02] [-2.04697407e-01 9.78809379e-01 -5.58309489e-03 -1.73534387e+01] [-2.75476038e-02 -5.92015422e-05 9.99620491e-01 -5.39276955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.56, Y:-17.36, Z:-5.39 [[ 9.78429511e-01 2.04841307e-01 2.67531664e-02 1.27556099e+02] [-2.04766505e-01 9.78795196e-01 -5.53561812e-03 -1.73588594e+01] [-2.73197940e-02 -6.19402570e-05 9.99626743e-01 -5.39181263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.58, Y:-17.36, Z:-5.39 [[ 9.78450204e-01 2.04829433e-01 2.60787486e-02 1.27583380e+02] [-2.04758377e-01 9.78797681e-01 -5.39515182e-03 -1.73636755e+01] [-2.66309045e-02 -6.09548270e-05 9.99645333e-01 -5.39445539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.61, Y:-17.37, Z:-5.40 [[ 9.78484778e-01 2.04729416e-01 2.55618047e-02 1.27610933e+02] [-2.04661170e-01 9.78818606e-01 -5.28609665e-03 -1.73688013e+01] [-2.61025895e-02 -5.91437527e-05 9.99659268e-01 -5.39760963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.64, Y:-17.37, Z:-5.40 [[ 9.78530465e-01 2.04641486e-01 2.44947065e-02 1.27638688e+02] [-2.04578830e-01 9.78836993e-01 -5.06395104e-03 -1.73730512e+01] [-2.50126194e-02 -5.58680198e-05 9.99687134e-01 -5.40083479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79264000000003 meters Centerline goodness [0,1] 0.9999568891188136 Centerline is valid? [True, True] Translation: X:127.67, Y:-17.38, Z:-5.40 [[ 9.78510198e-01 2.04704951e-01 2.47724834e-02 1.27666978e+02] [-2.04640929e-01 9.78823722e-01 -5.11965429e-03 -1.73784017e+01] [-2.52959130e-02 -5.98300782e-05 9.99680005e-01 -5.40136881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.70, Y:-17.38, Z:-5.40 [[ 9.78440625e-01 2.04942316e-01 2.55458448e-02 1.27695498e+02] [-2.04874350e-01 9.78774051e-01 -5.27810819e-03 -1.73837839e+01] [-2.60853177e-02 -6.93728876e-05 9.99659718e-01 -5.39940560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.72, Y:-17.39, Z:-5.40 [[ 9.78277226e-01 2.05607778e-01 2.64406968e-02 1.27724570e+02] [-2.05535247e-01 9.78634474e-01 -5.46157514e-03 -1.73881537e+01] [-2.69987198e-02 -9.15605790e-05 9.99635464e-01 -5.39816231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.75, Y:-17.39, Z:-5.40 [[ 9.78137358e-01 2.06282124e-01 2.63627521e-02 1.27751907e+02] [-2.06210297e-01 9.78492551e-01 -5.44431150e-03 -1.73916398e+01] [-2.69188207e-02 -1.10986466e-04 9.99637617e-01 -5.40089334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91264 meters Centerline goodness [0,1] 0.9999350902245878 Centerline is valid? [True, True] Translation: X:127.78, Y:-17.40, Z:-5.40 [[ 9.77946425e-01 2.07189759e-01 2.63285509e-02 1.27780117e+02] [-2.07118497e-01 9.78300764e-01 -5.43541312e-03 -1.73957525e+01] [-2.68834034e-02 -1.37587047e-04 9.99638567e-01 -5.40217266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.81, Y:-17.40, Z:-5.40 [[ 9.77414332e-01 2.09604201e-01 2.69685631e-02 1.27808988e+02] [-2.09530384e-01 9.77786293e-01 -5.56627848e-03 -1.73954115e+01] [-2.75362067e-02 -2.10173034e-04 9.99620785e-01 -5.40187917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.84, Y:-17.40, Z:-5.40 [[ 9.77155961e-01 2.10857943e-01 2.65547565e-02 1.27837592e+02] [-2.10786886e-01 9.77516685e-01 -5.47903382e-03 -1.73987982e+01] [-2.71130153e-02 -2.43523881e-04 9.99632345e-01 -5.40193180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:127.87, Y:-17.40, Z:-5.41 [[ 9.76810862e-01 2.12508764e-01 2.60876478e-02 1.27865612e+02] [-2.12440804e-01 9.77159119e-01 -5.38154103e-03 -1.74005512e+01] [-2.66354076e-02 -2.85333158e-04 9.99645174e-01 -5.40616520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.90, Y:-17.40, Z:-5.41 [[ 9.76049038e-01 2.16091179e-01 2.51570741e-02 1.27895409e+02] [-2.16029214e-01 9.76373118e-01 -5.18787082e-03 -1.73995784e+01] [-2.56837440e-02 -3.71046635e-04 9.99670049e-01 -5.40750638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:127.92, Y:-17.40, Z:-5.41 [[ 9.75666770e-01 2.17770176e-01 2.55049787e-02 1.27924100e+02] [-2.17707093e-01 9.75999986e-01 -5.25829066e-03 -1.74027118e+01] [-2.60379577e-02 -4.22275300e-04 9.99660866e-01 -5.40645895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09264000000002 meters Centerline goodness [0,1] 0.9999786893979755 Centerline is valid? [True, True] Translation: X:127.95, Y:-17.40, Z:-5.41 [[ 9.75166545e-01 2.19981816e-01 2.56556044e-02 1.27953477e+02] [-2.19918768e-01 9.75503852e-01 -5.28868258e-03 -1.73994785e+01] [-2.61905550e-02 -4.84802593e-04 9.99656851e-01 -5.40933483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:127.98, Y:-17.40, Z:-5.41 [[ 9.75112276e-01 2.20184606e-01 2.59767042e-02 1.27981221e+02] [-2.20120116e-01 9.75458092e-01 -5.35202845e-03 -1.74033335e+01] [-2.65176206e-02 -4.99166512e-04 9.99648221e-01 -5.40961442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15264000000002 meters Centerline goodness [0,1] 0.9998503282088563 Centerline is valid? [True, True] Translation: X:128.01, Y:-17.41, Z:-5.41 [[ 9.75225394e-01 2.19604692e-01 2.66310063e-02 1.28009677e+02] [-2.19536762e-01 9.75588813e-01 -5.48443929e-03 -1.74075402e+01] [-2.71853204e-02 -4.97920419e-04 9.99630287e-01 -5.41118941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.04, Y:-17.42, Z:-5.41 [[ 9.75989841e-01 2.16119910e-01 2.71295783e-02 1.28037072e+02] [-2.16048102e-01 9.76366743e-01 -5.58575557e-03 -1.74176090e+01] [-2.76956110e-02 -4.09653216e-04 9.99616319e-01 -5.40817077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.06, Y:-17.43, Z:-5.41 [[ 9.76568022e-01 2.13497542e-01 2.70868473e-02 1.28063548e+02] [-2.13424985e-01 9.76943543e-01 -5.57574912e-03 -1.74255302e+01] [-2.76527293e-02 -3.35911674e-04 9.99617534e-01 -5.41144248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.09, Y:-17.44, Z:-5.41 [[ 9.77243269e-01 2.10423291e-01 2.67886378e-02 1.28091204e+02] [-2.10351223e-01 9.77610340e-01 -5.51232901e-03 -1.74363662e+01] [-2.73487717e-02 -2.48136299e-04 9.99625922e-01 -5.41296373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27264000000002 meters Centerline goodness [0,1] 0.9999571853659581 Centerline is valid? [True, True] Translation: X:128.12, Y:-17.45, Z:-5.42 [[ 9.77836981e-01 2.07704166e-01 2.63404044e-02 1.28118453e+02] [-2.07633524e-01 9.78191674e-01 -5.41932789e-03 -1.74458992e+01] [-2.68915813e-02 -1.69931789e-04 9.99638342e-01 -5.41645276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264000000003 meters Centerline goodness [0,1] 0.9998931646759684 Centerline is valid? [True, True] Translation: X:128.15, Y:-17.46, Z:-5.42 [[ 9.78822377e-01 2.03131602e-01 2.53832077e-02 1.28145409e+02] [-2.03064493e-01 9.79151444e-01 -5.22124880e-03 -1.74575088e+01] [-2.59146051e-02 -4.37530304e-05 9.99664159e-01 -5.41784871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.17, Y:-17.46, Z:-5.42 [[ 9.79128849e-01 2.01668359e-01 2.52303338e-02 1.28172305e+02] [-2.01601592e-01 9.79453865e-01 -5.18893120e-03 -1.74642645e+01] [-2.57583912e-02 -5.84323125e-06 9.99668198e-01 -5.41648937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.20, Y:-17.47, Z:-5.42 [[ 9.79344861e-01 2.00621525e-01 2.51922201e-02 1.28200188e+02] [-2.00554662e-01 9.79668823e-01 -5.17919566e-03 -1.74700008e+01] [-2.57190908e-02 1.98014481e-05 9.99669209e-01 -5.41756084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.23, Y:-17.48, Z:-5.42 [[ 9.79359530e-01 2.00549854e-01 2.51925985e-02 1.28227122e+02] [-2.00483015e-01 9.79683498e-01 -5.17735452e-03 -1.74754017e+01] [-2.57190907e-02 1.98033939e-05 9.99669209e-01 -5.41869928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.26, Y:-17.48, Z:-5.42 [[ 9.79728519e-01 1.98835225e-01 2.44250157e-02 1.28255300e+02] [-1.98771919e-01 9.80032933e-01 -5.01742916e-03 -1.74827642e+01] [-2.49349614e-02 6.07111922e-05 9.99689074e-01 -5.42143333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.28, Y:-17.49, Z:-5.42 [[ 9.79902949e-01 1.97965774e-01 2.44900558e-02 1.28282700e+02] [-1.97901880e-01 9.80208930e-01 -5.02995342e-03 -1.74900141e+01] [-2.50011300e-02 8.22381173e-05 9.99687420e-01 -5.42213326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264000000003 meters Centerline goodness [0,1] 0.9997837463777518 Centerline is valid? [True, True] Translation: X:128.31, Y:-17.50, Z:-5.42 [[ 9.80063117e-01 1.97079644e-01 2.52170634e-02 1.28310542e+02] [-1.97011668e-01 9.80387476e-01 -5.17686723e-03 -1.74971714e+01] [-2.57427483e-02 1.05600901e-04 9.99668595e-01 -5.42363404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.34, Y:-17.51, Z:-5.42 [[ 9.80527139e-01 1.94676667e-01 2.58365018e-02 1.28337311e+02] [-1.94604507e-01 9.80867456e-01 -5.30283817e-03 -1.75079064e+01] [-2.63745227e-02 1.71677056e-04 9.99652117e-01 -5.42162250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.37, Y:-17.52, Z:-5.42 [[ 9.80880682e-01 1.92897699e-01 2.57597638e-02 1.28365537e+02] [-1.92825402e-01 9.81218849e-01 -5.28525623e-03 -1.75154382e+01] [-2.62954795e-02 2.17068933e-04 9.99654191e-01 -5.42183621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57264000000004 meters Centerline goodness [0,1] 0.9998933560840354 Centerline is valid? [True, True] Translation: X:128.39, Y:-17.52, Z:-5.43 [[ 9.81206579e-01 1.91232977e-01 2.57603854e-02 1.28391837e+02] [-1.91160132e-01 9.81544640e-01 -5.28425296e-03 -1.75228797e+01] [-2.62954916e-02 2.60585089e-04 9.99654180e-01 -5.42557162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264000000004 meters Centerline goodness [0,1] 0.9999137150006472 Centerline is valid? [True, True] Translation: X:128.42, Y:-17.54, Z:-5.43 [[ 9.81913986e-01 1.87615704e-01 2.54022140e-02 1.28417008e+02] [-1.87543697e-01 9.82242447e-01 -5.20937140e-03 -1.75356039e+01] [-2.59284927e-02 3.51129507e-04 9.99663738e-01 -5.42891333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63264000000004 meters Centerline goodness [0,1] 0.9997612173573274 Centerline is valid? [True, True] Translation: X:128.44, Y:-17.54, Z:-5.43 [[ 9.82273579e-01 1.85658984e-01 2.58719601e-02 1.28444324e+02] [-1.85583672e-01 9.82614154e-01 -5.30333806e-03 -1.75447830e+01] [-2.64067665e-02 4.07915487e-04 9.99651197e-01 -5.42905331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters Centerline goodness [0,1] 0.999655706662076 Centerline is valid? [True, True] Translation: X:128.47, Y:-17.56, Z:-5.43 [[ 9.82846471e-01 1.82552478e-01 2.62184483e-02 1.28471181e+02] [-1.82474070e-01 9.83195986e-01 -5.37284372e-03 -1.75589268e+01] [-2.67586990e-02 4.96493526e-04 9.99641799e-01 -5.42975848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69264 meters Centerline goodness [0,1] 0.9998487075300424 Centerline is valid? [True, True] Translation: X:128.50, Y:-17.57, Z:-5.43 [[ 9.83016364e-01 1.81686903e-01 2.58591676e-02 1.28499357e+02] [-1.81610361e-01 9.83356297e-01 -5.29807953e-03 -1.75681622e+01] [-2.63913670e-02 5.11806112e-04 9.99651556e-01 -5.43039065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.53, Y:-17.58, Z:-5.43 [[ 9.83079997e-01 1.81393901e-01 2.54945598e-02 1.28526424e+02] [-1.81319415e-01 9.83410388e-01 -5.22293567e-03 -1.75780673e+01] [-2.60190236e-02 5.11904924e-04 9.99661317e-01 -5.43070170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75264 meters Centerline goodness [0,1] 0.9997838679000605 Centerline is valid? [True, True] Translation: X:128.56, Y:-17.58, Z:-5.43 [[ 9.82993802e-01 1.81884511e-01 2.53221176e-02 1.28555851e+02] [-1.81811222e-01 9.83319775e-01 -5.18647994e-03 -1.75823163e+01] [-2.58430794e-02 4.94432492e-04 9.99665890e-01 -5.43220698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters Centerline goodness [0,1] 0.9997632677656781 Centerline is valid? [True, True] Translation: X:128.58, Y:-17.59, Z:-5.44 [[ 9.82773526e-01 1.83197981e-01 2.43864059e-02 1.28584005e+02] [-1.83130423e-01 9.83075940e-01 -4.99444886e-03 -1.75888608e+01] [-2.48886618e-02 4.42519294e-04 9.99690131e-01 -5.43592281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.61, Y:-17.59, Z:-5.44 [[ 9.81962704e-01 1.87685455e-01 2.28783091e-02 1.28613472e+02] [-1.87627225e-01 9.82229136e-01 -4.68503387e-03 -1.75882409e+01] [-2.33510545e-02 3.07934890e-04 9.99727280e-01 -5.43597266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters Centerline goodness [0,1] 0.9999139969898947 Centerline is valid? [True, True] Translation: X:128.64, Y:-17.59, Z:-5.44 [[ 9.81399177e-01 1.90657122e-01 2.24836876e-02 1.28642825e+02] [-1.90601693e-01 9.81656665e-01 -4.60288931e-03 -1.75906678e+01] [-2.29488355e-02 2.31842844e-04 9.99736614e-01 -5.43981003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87264000000002 meters Centerline goodness [0,1] 0.9998048611261682 Centerline is valid? [True, True] Translation: X:128.67, Y:-17.59, Z:-5.44 [[ 9.80403276e-01 1.95780682e-01 2.18938591e-02 1.28671817e+02] [-1.95729412e-01 9.80647701e-01 -4.48159316e-03 -1.75906938e+01] [-2.23475719e-02 1.08496444e-04 9.99750256e-01 -5.44211380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.70, Y:-17.59, Z:-5.44 [[ 9.80003390e-01 1.97756102e-01 2.20426598e-02 1.28700616e+02] [-1.97704657e-01 9.80251254e-01 -4.51090280e-03 -1.75948586e+01] [-2.24994034e-02 6.27635412e-05 9.99746854e-01 -5.44075065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.73, Y:-17.60, Z:-5.44 [[ 9.79661083e-01 1.99360003e-01 2.27980489e-02 1.28727802e+02] [-1.99305429e-01 9.79926318e-01 -4.66446603e-03 -1.75985934e+01] [-2.32703161e-02 2.58209112e-05 9.99729209e-01 -5.44169745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.76, Y:-17.60, Z:-5.44 [[ 9.79231534e-01 2.01311644e-01 2.40671039e-02 1.28755498e+02] [-2.01251456e-01 9.79527244e-01 -4.92239338e-03 -1.76017664e+01] [-2.45653190e-02 -2.33768711e-05 9.99698227e-01 -5.44131227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.78, Y:-17.61, Z:-5.44 [[ 9.79137371e-01 2.01795933e-01 2.38413327e-02 1.28784317e+02] [-2.01737054e-01 9.79427588e-01 -4.87453157e-03 -1.76073859e+01] [-2.43345196e-02 -3.68442035e-05 9.99703871e-01 -5.44065977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.81, Y:-17.61, Z:-5.44 [[ 9.79113748e-01 2.01901011e-01 2.39217389e-02 1.28812065e+02] [-2.01841785e-01 9.79405932e-01 -4.89017101e-03 -1.76134099e+01] [-2.44164234e-02 -4.03728051e-05 9.99701874e-01 -5.44163951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05264000000003 meters Centerline goodness [0,1] 0.9998929702885521 Centerline is valid? [True, True] Translation: X:128.84, Y:-17.62, Z:-5.44 [[ 9.79223132e-01 2.01262915e-01 2.48051892e-02 1.28839802e+02] [-2.01199088e-01 9.79537257e-01 -5.06836898e-03 -1.76206112e+01] [-2.53176817e-02 -2.77173107e-05 9.99679456e-01 -5.44279636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264000000003 meters Centerline goodness [0,1] 0.9999137187230371 Centerline is valid? [True, True] Translation: X:128.87, Y:-17.63, Z:-5.44 [[ 9.79442948e-01 2.00107134e-01 2.54685461e-02 1.28866260e+02] [-2.00039488e-01 9.79774022e-01 -5.20275155e-03 -1.76290105e+01] [-2.59945275e-02 1.08341276e-06 9.99662085e-01 -5.44294311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.89, Y:-17.64, Z:-5.44 [[ 9.79680574e-01 1.98910110e-01 2.57048700e-02 1.28893768e+02] [-1.98840837e-01 9.80017738e-01 -5.24920533e-03 -1.76375087e+01] [-2.62353486e-02 3.13666158e-05 9.99655794e-01 -5.44120494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264000000003 meters Centerline goodness [0,1] 0.9999567324333679 Centerline is valid? [True, True] Translation: X:128.92, Y:-17.65, Z:-5.44 [[ 9.79899503e-01 1.97767524e-01 2.61719307e-02 1.28921289e+02] [-1.97695339e-01 9.80248949e-01 -5.34321690e-03 -1.76455306e+01] [-2.67117223e-02 6.17468644e-05 9.99643176e-01 -5.44295566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.95, Y:-17.66, Z:-5.44 [[ 9.80422876e-01 1.95168711e-01 2.60798630e-02 1.28946909e+02] [-1.95096142e-01 9.80769676e-01 -5.32334837e-03 -1.76574205e+01] [-2.66172898e-02 1.31051862e-04 9.99645689e-01 -5.44445897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:128.97, Y:-17.67, Z:-5.44 [[ 9.80674978e-01 1.93955877e-01 2.56457566e-02 1.28974230e+02] [-1.93885345e-01 9.81010241e-01 -5.23265638e-03 -1.76658257e+01] [-2.61736543e-02 1.59198807e-04 9.99657399e-01 -5.44437969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.00, Y:-17.67, Z:-5.45 [[ 9.80880692e-01 1.93047566e-01 2.46110662e-02 1.29000783e+02] [-1.92982350e-01 9.81189384e-01 -5.02055054e-03 -1.76746525e+01] [-2.51173220e-02 1.75059681e-04 9.99684495e-01 -5.44770284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.03, Y:-17.69, Z:-5.45 [[ 9.81119750e-01 1.91958886e-01 2.35758967e-02 1.29027940e+02] [-1.91898766e-01 9.81402949e-01 -4.80775745e-03 -1.76851860e+01] [-2.40603463e-02 1.92800301e-04 9.99710489e-01 -5.45033885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.05, Y:-17.69, Z:-5.45 [[ 9.81122147e-01 1.91896939e-01 2.39770163e-02 1.29054992e+02] [-1.91834763e-01 9.81415063e-01 -4.88851226e-03 -1.76929895e+01] [-2.44694955e-02 1.96602399e-04 9.99700558e-01 -5.45268182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264000000004 meters Centerline goodness [0,1] 0.9999135079032153 Centerline is valid? [True, True] Translation: X:129.08, Y:-17.70, Z:-5.45 [[ 9.80888597e-01 1.93212709e-01 2.29436140e-02 1.29083062e+02] [-1.93156174e-01 9.81156881e-01 -4.67625355e-03 -1.76986143e+01] [-2.34147964e-02 1.55183087e-04 9.99725824e-01 -5.45412653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35264000000004 meters Centerline goodness [0,1] 0.9999351575671119 Centerline is valid? [True, True] Translation: X:129.11, Y:-17.70, Z:-5.46 [[ 9.80655276e-01 1.94398663e-01 2.28995389e-02 1.29110084e+02] [-1.94342690e-01 9.80922598e-01 -4.66633599e-03 -1.77039740e+01] [-2.33698047e-02 1.25709021e-04 9.99726881e-01 -5.45607208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.14, Y:-17.71, Z:-5.46 [[ 9.80345778e-01 1.95928891e-01 2.31090021e-02 1.29137607e+02] [-1.95872349e-01 9.80618102e-01 -4.70754653e-03 -1.77093872e+01] [-2.35834501e-02 8.86088411e-05 9.99721868e-01 -5.45852107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.17, Y:-17.71, Z:-5.45 [[ 9.79527526e-01 1.99907154e-01 2.37266842e-02 1.29166833e+02] [-1.99848757e-01 9.79814845e-01 -4.83163291e-03 -1.77107221e+01] [-2.42136353e-02 -9.03090394e-06 9.99706807e-01 -5.45470969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:129.20, Y:-17.71, Z:-5.46 [[ 9.79108282e-01 2.01960778e-01 2.36393113e-02 1.29195372e+02] [-2.01903437e-01 9.79393609e-01 -4.81265995e-03 -1.77134247e+01] [-2.41241589e-02 -6.07429708e-05 9.99708968e-01 -5.45658566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47264 meters Centerline goodness [0,1] 0.9998475941650338 Centerline is valid? [True, True] Translation: X:129.22, Y:-17.72, Z:-5.46 [[ 9.78724834e-01 2.03803570e-01 2.37023949e-02 1.29224031e+02] [-2.03746492e-01 9.79011794e-01 -4.82429532e-03 -1.77167888e+01] [-2.41881328e-02 -1.07622188e-04 9.99707419e-01 -5.45727223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters Centerline goodness [0,1] 0.9998709427631154 Centerline is valid? [True, True] Translation: X:129.25, Y:-17.72, Z:-5.46 [[ 9.78240595e-01 2.06106542e-01 2.37788268e-02 1.29251798e+02] [-2.06049800e-01 9.78529543e-01 -4.83883509e-03 -1.77193807e+01] [-2.42656001e-02 -1.66077575e-04 9.99705533e-01 -5.45936307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.28, Y:-17.72, Z:-5.46 [[ 9.78149160e-01 2.06583216e-01 2.34007513e-02 1.29279169e+02] [-2.06528431e-01 9.78429018e-01 -4.76063451e-03 -1.77239898e+01] [-2.38794413e-02 -1.76309780e-04 9.99714830e-01 -5.46171682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.31, Y:-17.73, Z:-5.46 [[ 9.78204148e-01 2.06326279e-01 2.33690284e-02 1.29306058e+02] [-2.06271608e-01 9.78483233e-01 -4.75248844e-03 -1.77305510e+01] [-2.38467657e-02 -1.71463168e-04 9.99715611e-01 -5.46066995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.33, Y:-17.74, Z:-5.46 [[ 9.78413641e-01 2.05297580e-01 2.36569303e-02 1.29333687e+02] [-2.05241309e-01 9.78699587e-01 -4.80875895e-03 -1.77379765e+01] [-2.41402545e-02 -1.50423988e-04 9.99708570e-01 -5.46160903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.36, Y:-17.75, Z:-5.46 [[ 9.79198954e-01 2.01497183e-01 2.38389064e-02 1.29360888e+02] [-2.01438951e-01 9.79489092e-01 -4.84430084e-03 -1.77516396e+01] [-2.43260618e-02 -5.85499807e-05 9.99704076e-01 -5.46204395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.39, Y:-17.76, Z:-5.46 [[ 9.79779359e-01 1.98612453e-01 2.41971249e-02 1.29387684e+02] [-1.98551596e-01 9.80078106e-01 -4.91634401e-03 -1.77622748e+01] [-2.46915195e-02 1.25546216e-05 9.99695118e-01 -5.46272083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters Centerline goodness [0,1] 0.999956664933264 Centerline is valid? [True, True] Translation: X:129.41, Y:-17.78, Z:-5.46 [[ 9.80886813e-01 1.93094529e-01 2.39909020e-02 1.29413698e+02] [-1.93033088e-01 9.81180147e-01 -4.87300269e-03 -1.77778693e+01] [-2.44803469e-02 1.48826178e-04 9.99700300e-01 -5.46489538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.44, Y:-17.79, Z:-5.47 [[ 9.81406120e-01 1.90473349e-01 2.37050663e-02 1.29441385e+02] [-1.90412626e-01 9.81692344e-01 -4.81382772e-03 -1.77898976e+01] [-2.41879880e-02 2.10576074e-04 9.99707406e-01 -5.46552566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters Centerline goodness [0,1] 0.9997401810072316 Centerline is valid? [True, True] Translation: X:129.47, Y:-17.81, Z:-5.47 [[ 9.82123167e-01 1.86798610e-01 2.32457492e-02 1.29470473e+02] [-1.86739222e-01 9.82398185e-01 -4.71909119e-03 -1.78055025e+01] [-2.37181015e-02 2.93835648e-04 9.99718643e-01 -5.46888386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77264000000002 meters Centerline goodness [0,1] 0.999913584514345 Centerline is valid? [True, True] Translation: X:129.50, Y:-17.82, Z:-5.47 [[ 9.82339946e-01 1.85787671e-01 2.21624003e-02 1.29499026e+02] [-1.85733417e-01 9.82589868e-01 -4.49991962e-03 -1.78160722e+01] [-2.26125796e-02 3.04152462e-04 9.99744257e-01 -5.47316555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264000000003 meters Centerline goodness [0,1] 0.9998276493526079 Centerline is valid? [True, True] Translation: X:129.53, Y:-17.82, Z:-5.47 [[ 9.82436218e-01 1.85304254e-01 2.19410867e-02 1.29528874e+02] [-1.85250945e-01 9.82681147e-01 -4.45549454e-03 -1.78226951e+01] [-2.23867143e-02 3.12632151e-04 9.99749337e-01 -5.47308924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83264000000003 meters Centerline goodness [0,1] 0.9999134648667359 Centerline is valid? [True, True] Translation: X:129.56, Y:-17.83, Z:-5.47 [[ 9.82424349e-01 1.85411585e-01 2.15625245e-02 1.29558584e+02] [-1.85360127e-01 9.82660903e-01 -4.37862133e-03 -1.78303119e+01] [-2.20004970e-02 3.04831935e-04 9.99757913e-01 -5.47373206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264000000003 meters Centerline goodness [0,1] 0.999784352626585 Centerline is valid? [True, True] Translation: X:129.59, Y:-17.84, Z:-5.48 [[ 9.82108217e-01 1.87121445e-01 2.11899608e-02 1.29588416e+02] [-1.87072147e-01 9.82336753e-01 -4.30296621e-03 -1.78379391e+01] [-2.16208545e-02 2.61927017e-04 9.99766208e-01 -5.47553370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89264000000003 meters Centerline goodness [0,1] 0.9997410500420794 Centerline is valid? [True, True] Translation: X:129.62, Y:-17.84, Z:-5.48 [[ 9.81812054e-01 1.88652943e-01 2.13344291e-02 1.29617855e+02] [-1.88603327e-01 9.82043794e-01 -4.33254723e-03 -1.78426906e+01] [-2.17686915e-02 2.30002784e-04 9.99763008e-01 -5.47663532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.65, Y:-17.85, Z:-5.48 [[ 9.81411695e-01 1.90599163e-01 2.24286547e-02 1.29646707e+02] [-1.90544841e-01 9.81667928e-01 -4.55444741e-03 -1.78476820e+01] [-2.28855648e-02 1.96123514e-04 9.99738072e-01 -5.47580271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95264000000003 meters Centerline goodness [0,1] 0.9998279976779687 Centerline is valid? [True, True] Translation: X:129.68, Y:-17.85, Z:-5.48 [[ 9.80997599e-01 1.92600712e-01 2.34238355e-02 1.29677160e+02] [-1.92542044e-01 9.81277199e-01 -4.75599705e-03 -1.78511076e+01] [-2.39012841e-02 1.55548518e-04 9.99714311e-01 -5.47539354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264000000003 meters Centerline goodness [0,1] 0.9998493619402182 Centerline is valid? [True, True] Translation: X:129.71, Y:-17.85, Z:-5.48 [[ 9.80155724e-01 1.96710339e-01 2.44908146e-02 1.29706045e+02] [-1.96647476e-01 9.80461646e-01 -4.97304415e-03 -1.78548906e+01] [-2.49905536e-02 5.83008058e-05 9.99687686e-01 -5.47663316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01264000000003 meters Centerline goodness [0,1] 0.9999135565016316 Centerline is valid? [True, True] Translation: X:129.74, Y:-17.86, Z:-5.48 [[ 9.79687946e-01 1.99025156e-01 2.45054351e-02 1.29735408e+02] [-1.98962956e-01 9.79994381e-01 -4.97539716e-03 -1.78585284e+01] [-2.50054179e-02 -1.33720010e-06 9.99687316e-01 -5.47503477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.76, Y:-17.86, Z:-5.48 [[ 9.78878286e-01 2.02926952e-01 2.48586642e-02 1.29764006e+02] [-2.02864215e-01 9.79193873e-01 -5.04666224e-03 -1.78607944e+01] [-2.53655555e-02 -1.02865313e-04 9.99678237e-01 -5.47569093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.79, Y:-17.87, Z:-5.48 [[ 9.78510845e-01 2.04695833e-01 2.48222209e-02 1.29792514e+02] [-2.04633867e-01 9.78825620e-01 -5.03852566e-03 -1.78650413e+01] [-2.53279910e-02 -1.49215053e-04 9.99679184e-01 -5.47629346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264000000004 meters Centerline goodness [0,1] 0.9999784408416695 Centerline is valid? [True, True] Translation: X:129.82, Y:-17.87, Z:-5.48 [[ 9.78152060e-01 2.06413810e-01 2.47363348e-02 1.29820669e+02] [-2.06352854e-01 9.78464767e-01 -5.01981969e-03 -1.78687927e+01] [-2.52397922e-02 -1.94266311e-04 9.99681407e-01 -5.47822335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.85, Y:-17.87, Z:-5.48 [[ 9.77651897e-01 2.08790543e-01 2.45617219e-02 1.29849251e+02] [-2.08731225e-01 9.77960349e-01 -4.98313524e-03 -1.78721041e+01] [-2.50608217e-02 -2.55026672e-04 9.99685896e-01 -5.47927392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters Centerline goodness [0,1] 0.9998916059660077 Centerline is valid? [True, True] Translation: X:129.88, Y:-17.88, Z:-5.48 [[ 9.77402484e-01 2.09975153e-01 2.43889345e-02 1.29878103e+02] [-2.09917066e-01 9.77706681e-01 -4.94684280e-03 -1.78758458e+01] [-2.48839383e-02 -2.84597148e-04 9.99690306e-01 -5.48179587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.91, Y:-17.88, Z:-5.48 [[ 9.77138324e-01 2.11184034e-01 2.45356767e-02 1.29905280e+02] [-2.11125661e-01 9.77446266e-01 -4.97525491e-03 -1.78792789e+01] [-2.50329999e-02 -3.18598705e-04 9.99686575e-01 -5.48309563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:129.93, Y:-17.88, Z:-5.48 [[ 9.76573143e-01 2.13834666e-01 2.40755515e-02 1.29934314e+02] [-2.13779289e-01 9.76869792e-01 -4.88102855e-03 -1.78821282e+01] [-2.45624121e-02 -3.80172889e-04 9.99698226e-01 -5.48298228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25264 meters Centerline goodness [0,1] 0.9998706757193663 Centerline is valid? [True, True] Translation: X:129.96, Y:-17.88, Z:-5.49 [[ 9.76314482e-01 2.14933595e-01 2.47706083e-02 1.29962495e+02] [-2.14875356e-01 9.76628575e-01 -5.02080689e-03 -1.78844958e+01] [-2.52708239e-02 -4.20706784e-04 9.99680553e-01 -5.48513229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters Centerline goodness [0,1] 0.9998706757193663 Centerline is valid? [True, True] Translation: X:129.99, Y:-17.89, Z:-5.49 [[ 9.76325022e-01 2.14885672e-01 2.47709557e-02 1.29990262e+02] [-2.14827461e-01 9.76639120e-01 -5.01909214e-03 -1.78900318e+01] [-2.52708153e-02 -4.21216274e-04 9.99680553e-01 -5.48630547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.02, Y:-17.89, Z:-5.48 [[ 9.76022120e-01 2.16212110e-01 2.51623532e-02 1.30018922e+02] [-2.16152519e-01 9.76346305e-01 -5.09708601e-03 -1.78940723e+01] [-2.56692223e-02 -4.64037340e-04 9.99670384e-01 -5.48484904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.05, Y:-17.90, Z:-5.49 [[ 9.75793922e-01 2.17196826e-01 2.55296219e-02 1.30047598e+02] [-2.17135854e-01 9.76127702e-01 -5.17013566e-03 -1.78975804e+01] [-2.60431082e-02 -4.98409322e-04 9.99660696e-01 -5.48561407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37264000000002 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:130.08, Y:-17.90, Z:-5.49 [[ 9.75516042e-01 2.18456763e-01 2.53987300e-02 1.30076836e+02] [-2.18396875e-01 9.75846484e-01 -5.14233161e-03 -1.78988985e+01] [-2.59086385e-02 -5.30576290e-04 9.99664174e-01 -5.48718884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:130.10, Y:-17.90, Z:-5.49 [[ 9.75483621e-01 2.18550874e-01 2.58306282e-02 1.30104976e+02] [-2.18488996e-01 9.75825405e-01 -5.22860708e-03 -1.78998701e+01] [-2.63488999e-02 -5.43287446e-04 9.99652660e-01 -5.49043638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43264000000002 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:130.13, Y:-17.91, Z:-5.49 [[ 9.75488895e-01 2.18622064e-01 2.50161788e-02 1.30132583e+02] [-2.18564088e-01 9.75809466e-01 -5.06224060e-03 -1.79064423e+01] [-2.55177415e-02 -5.29478819e-04 9.99674229e-01 -5.49041087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters Centerline goodness [0,1] 0.9998911742300577 Centerline is valid? [True, True] Translation: X:130.16, Y:-17.91, Z:-5.49 [[ 9.75510663e-01 2.18571272e-01 2.46078325e-02 1.30160442e+02] [-2.18515201e-01 9.75820848e-01 -4.97791470e-03 -1.79122334e+01] [-2.51008651e-02 -5.21176594e-04 9.99684788e-01 -5.49086450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49264000000002 meters Centerline goodness [0,1] 0.9998285138582238 Centerline is valid? [True, True] Translation: X:130.19, Y:-17.91, Z:-5.50 [[ 9.75564544e-01 2.18300676e-01 2.48723960e-02 1.30189024e+02] [-2.18243334e-01 9.75881419e-01 -5.03029272e-03 -1.79110649e+01] [-2.53706254e-02 -5.20859411e-04 9.99677978e-01 -5.49643952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.22, Y:-17.92, Z:-5.49 [[ 9.75671944e-01 2.17796820e-01 2.50759612e-02 1.30216909e+02] [-2.17738417e-01 9.75993997e-01 -5.06955958e-03 -1.79167677e+01] [-2.55781215e-02 -5.13773036e-04 9.99672694e-01 -5.49459962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.25, Y:-17.92, Z:-5.50 [[ 9.75805603e-01 2.17152682e-01 2.54585611e-02 1.30245218e+02] [-2.17092287e-01 9.76137520e-01 -5.14604742e-03 -1.79188887e+01] [-2.59685347e-02 -5.05315345e-04 9.99662633e-01 -5.49702722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264000000003 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:130.27, Y:-17.93, Z:-5.50 [[ 9.76014320e-01 2.16222133e-01 2.53778777e-02 1.30273505e+02] [-2.16161872e-01 9.76344077e-01 -5.12715861e-03 -1.79253897e+01] [-2.58861457e-02 -4.81549314e-04 9.99664782e-01 -5.49736031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61264000000003 meters Centerline goodness [0,1] 0.9999137075549036 Centerline is valid? [True, True] Translation: X:130.30, Y:-17.93, Z:-5.50 [[ 9.76619476e-01 2.13552166e-01 2.46955928e-02 1.30301426e+02] [-2.13494278e-01 9.76931580e-01 -4.98812718e-03 -1.79325162e+01] [-2.51911299e-02 -4.00865616e-04 9.99682573e-01 -5.50052084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264000000003 meters Centerline goodness [0,1] 0.9998061806826747 Centerline is valid? [True, True] Translation: X:130.33, Y:-17.94, Z:-5.50 [[ 9.76930722e-01 2.12138982e-01 2.45645505e-02 1.30328709e+02] [-2.12081287e-01 9.77239438e-01 -4.96059348e-03 -1.79363313e+01] [-2.50577828e-02 -3.63525334e-04 9.99685938e-01 -5.50457734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.36, Y:-17.94, Z:-5.50 [[ 9.77142237e-01 2.11221308e-01 2.40542662e-02 1.30356781e+02] [-2.11165750e-01 9.77438206e-01 -4.85583820e-03 -1.79438332e+01] [-2.45372153e-02 -3.34592546e-04 9.99698861e-01 -5.50383878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.38, Y:-17.95, Z:-5.51 [[ 9.77389908e-01 2.10123957e-01 2.35985223e-02 1.30383737e+02] [-2.10070187e-01 9.77674706e-01 -4.76288345e-03 -1.79486325e+01] [-2.40724743e-02 -3.02151778e-04 9.99710170e-01 -5.50595115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73264000000003 meters Centerline goodness [0,1] 0.999848205573024 Centerline is valid? [True, True] Translation: X:130.41, Y:-17.95, Z:-5.51 [[ 9.77754524e-01 2.08414234e-01 2.36558202e-02 1.30412429e+02] [-2.08359745e-01 9.78040612e-01 -4.77270888e-03 -1.79531928e+01] [-2.41310534e-02 -2.62382961e-04 9.99708769e-01 -5.50807590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.44, Y:-17.96, Z:-5.51 [[ 9.77884656e-01 2.07788886e-01 2.37776925e-02 1.30439621e+02] [-2.07733673e-01 9.78173664e-01 -4.79628188e-03 -1.79585653e+01] [-2.42553267e-02 -2.49216942e-04 9.99705765e-01 -5.50902419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.47, Y:-17.96, Z:-5.51 [[ 9.78050916e-01 2.06948569e-01 2.42630319e-02 1.30467205e+02] [-2.06890860e-01 9.78351795e-01 -4.89256776e-03 -1.79613143e+01] [-2.47502907e-02 -2.34619149e-04 9.99693637e-01 -5.51048441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.50, Y:-17.97, Z:-5.51 [[ 9.78142407e-01 2.06438203e-01 2.49138641e-02 1.30495586e+02] [-2.06377237e-01 9.78459614e-01 -5.02197395e-03 -1.79658763e+01] [-2.54139371e-02 -2.29448759e-04 9.99676987e-01 -5.50949108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.52, Y:-17.97, Z:-5.51 [[ 9.78265785e-01 2.05810657e-01 2.52592160e-02 1.30522851e+02] [-2.05747809e-01 9.78591808e-01 -5.09044991e-03 -1.79695655e+01] [-2.57661307e-02 -2.17215378e-04 9.99667975e-01 -5.51069017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.55, Y:-17.98, Z:-5.51 [[ 9.78639320e-01 2.03954137e-01 2.58416742e-02 1.30550348e+02] [-2.03887753e-01 9.78980429e-01 -5.20621132e-03 -1.79752505e+01] [-2.63603216e-02 -1.73797764e-04 9.99652491e-01 -5.51151772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91264 meters Centerline goodness [0,1] 0.9998488349493597 Centerline is valid? [True, True] Translation: X:130.58, Y:-17.98, Z:-5.51 [[ 9.78849668e-01 2.02880150e-01 2.63243661e-02 1.30578400e+02] [-2.02810933e-01 9.79203565e-01 -5.30124376e-03 -1.79814237e+01] [-2.68524303e-02 -1.49748550e-04 9.99639397e-01 -5.51287344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters Centerline goodness [0,1] 0.9998509687034277 Centerline is valid? [True, True] Translation: X:130.61, Y:-17.99, Z:-5.52 [[ 9.79013809e-01 2.02057605e-01 2.65459154e-02 1.30605977e+02] [-2.01986947e-01 9.79373630e-01 -5.34466768e-03 -1.79866742e+01] [-2.70783003e-02 -1.29424950e-04 9.99633307e-01 -5.51530640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.63, Y:-17.99, Z:-5.51 [[ 9.79246109e-01 2.00899613e-01 2.67656978e-02 1.30634269e+02] [-2.00827400e-01 9.79611829e-01 -5.38701631e-03 -1.79934051e+01] [-2.73022437e-02 -1.00070754e-04 9.99627219e-01 -5.51414043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.66, Y:-18.00, Z:-5.51 [[ 9.79311033e-01 2.00537076e-01 2.71068562e-02 1.30661733e+02] [-2.00462905e-01 9.79686109e-01 -5.45447766e-03 -1.79995346e+01] [-2.76500355e-02 -9.22889753e-05 9.99617660e-01 -5.51495848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.69, Y:-18.01, Z:-5.51 [[ 9.79430728e-01 1.99857937e-01 2.77894530e-02 1.30689506e+02] [-1.99779763e-01 9.79824882e-01 -5.58994467e-03 -1.80064368e+01] [-2.83459923e-02 -7.68067420e-05 9.99598169e-01 -5.51298342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters Centerline goodness [0,1] 0.9999570483635426 Centerline is valid? [True, True] Translation: X:130.72, Y:-18.01, Z:-5.51 [[ 9.79608151e-01 1.98942107e-01 2.81053278e-02 1.30717818e+02] [-1.98861810e-01 9.80011242e-01 -5.65201566e-03 -1.80122765e+01] [-2.86679611e-02 -5.23157371e-05 9.99588988e-01 -5.51491821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.75, Y:-18.02, Z:-5.52 [[ 9.79664306e-01 1.98703881e-01 2.78318989e-02 1.30745044e+02] [-1.98625078e-01 9.80059572e-01 -5.59576593e-03 -1.80179004e+01] [-2.83888194e-02 -4.61409608e-05 9.99596955e-01 -5.51731179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.77, Y:-18.02, Z:-5.52 [[ 9.79714569e-01 1.98519508e-01 2.73745767e-02 1.30772002e+02] [-1.98443252e-01 9.80096936e-01 -5.50206518e-03 -1.80236637e+01] [-2.79220060e-02 -4.18465943e-05 9.99610104e-01 -5.51975312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15264000000002 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:130.80, Y:-18.03, Z:-5.52 [[ 9.79742489e-01 1.98506535e-01 2.64539293e-02 1.30800042e+02] [-1.98435364e-01 9.80099563e-01 -5.31530101e-03 -1.80303537e+01] [-2.69826065e-02 -4.17688478e-05 9.99635902e-01 -5.52379873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters Centerline goodness [0,1] 0.999893166958677 Centerline is valid? [True, True] Translation: X:130.83, Y:-18.04, Z:-5.53 [[ 9.79725283e-01 1.98654269e-01 2.59778987e-02 1.30826912e+02] [-1.98585717e-01 9.80069630e-01 -5.21859315e-03 -1.80356430e+01] [-2.64968454e-02 -4.60519963e-05 9.99648896e-01 -5.52679790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.85, Y:-18.04, Z:-5.53 [[ 9.79669888e-01 1.98927217e-01 2.59783310e-02 1.30854132e+02] [-1.98858796e-01 9.80014265e-01 -5.21727702e-03 -1.80414445e+01] [-2.64969933e-02 -5.48104228e-05 9.99648892e-01 -5.52725298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters Centerline goodness [0,1] 0.9998282598428577 Centerline is valid? [True, True] Translation: X:130.88, Y:-18.05, Z:-5.53 [[ 9.79382770e-01 2.00312644e-01 2.61578614e-02 1.30881864e+02] [-2.00243828e-01 9.79732022e-01 -5.25108618e-03 -1.80476209e+01] [-2.66795534e-02 -9.51269548e-05 9.99644033e-01 -5.52723079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27264000000002 meters Centerline goodness [0,1] 0.9997852556531449 Centerline is valid? [True, True] Translation: X:130.91, Y:-18.05, Z:-5.53 [[ 9.79204633e-01 2.01204649e-01 2.59802982e-02 1.30909701e+02] [-2.01137108e-01 9.79549220e-01 -5.21430765e-03 -1.80522133e+01] [-2.64981238e-02 -1.19727826e-04 9.99648856e-01 -5.52996198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:130.94, Y:-18.06, Z:-5.53 [[ 9.78914006e-01 2.02654479e-01 2.56618717e-02 1.30938648e+02] [-2.02589129e-01 9.79250293e-01 -5.14861563e-03 -1.80562620e+01] [-2.61727854e-02 -1.58764273e-04 9.99657421e-01 -5.52884313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33264000000003 meters Centerline goodness [0,1] 0.9999568937646831 Centerline is valid? [True, True] Translation: X:130.97, Y:-18.06, Z:-5.53 [[ 9.78240366e-01 2.05937825e-01 2.52071071e-02 1.30966867e+02] [-2.05875887e-01 9.78565048e-01 -5.05629839e-03 -1.80565760e+01] [-2.57080770e-02 -2.43260331e-04 9.99669463e-01 -5.53256310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.00, Y:-18.06, Z:-5.53 [[ 9.77885459e-01 2.07595863e-01 2.53768837e-02 1.30995741e+02] [-2.07533693e-01 9.78214636e-01 -5.08851333e-03 -1.80605854e+01] [-2.58803934e-02 -2.90575204e-04 9.99665004e-01 -5.53257120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39264000000003 meters Centerline goodness [0,1] 0.999978592224696 Centerline is valid? [True, True] Translation: X:131.02, Y:-18.06, Z:-5.53 [[ 9.77254494e-01 2.10324922e-01 2.71492481e-02 1.31023663e+02] [-2.10254845e-01 9.77631462e-01 -5.44284023e-03 -1.80619143e+01] [-2.76867241e-02 -3.89220873e-04 9.99616573e-01 -5.53216348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.05, Y:-18.07, Z:-5.53 [[ 9.76957352e-01 2.11523049e-01 2.85014296e-02 1.31051340e+02] [-2.11446406e-01 9.77372907e-01 -5.71115042e-03 -1.80650979e+01] [-2.90645651e-02 -4.46974461e-04 9.99577436e-01 -5.53019006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.08, Y:-18.07, Z:-5.53 [[ 9.76656869e-01 2.12792974e-01 2.93344500e-02 1.31080095e+02] [-2.12712430e-01 9.77097180e-01 -5.87565229e-03 -1.80650803e+01] [-2.99129059e-02 -5.01305973e-04 9.99552383e-01 -5.53178784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264000000003 meters Centerline goodness [0,1] 0.9998933538094019 Centerline is valid? [True, True] Translation: X:131.11, Y:-18.07, Z:-5.53 [[ 9.76088646e-01 2.15178616e-01 3.08077653e-02 1.31109133e+02] [-2.15091030e-01 9.76574522e-01 -6.16862450e-03 -1.80682834e+01] [-3.14134347e-02 -6.05349640e-04 9.99506293e-01 -5.52960579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51264000000003 meters Centerline goodness [0,1] 0.9999786839468804 Centerline is valid? [True, True] Translation: X:131.14, Y:-18.07, Z:-5.53 [[ 9.75807186e-01 2.16379961e-01 3.13057185e-02 1.31137268e+02] [-2.16290186e-01 9.76309010e-01 -6.26683072e-03 -1.80696277e+01] [-3.19200717e-02 -6.55901238e-04 9.99490209e-01 -5.52869679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.17, Y:-18.07, Z:-5.53 [[ 9.75575756e-01 2.17417550e-01 3.13297578e-02 1.31165491e+02] [-2.17328237e-01 9.76078444e-01 -6.26958647e-03 -1.80736666e+01] [-3.19434194e-02 -6.92384479e-04 9.99489439e-01 -5.52950118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.19, Y:-18.07, Z:-5.53 [[ 9.75163889e-01 2.19326938e-01 3.08396589e-02 1.31194373e+02] [-2.19241400e-01 9.75651136e-01 -6.16996927e-03 -1.80743924e+01] [-3.14419887e-02 -7.44598761e-04 9.99505301e-01 -5.53233018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264000000004 meters Centerline goodness [0,1] 0.999893481039625 Centerline is valid? [True, True] Translation: X:131.22, Y:-18.07, Z:-5.54 [[ 9.75077117e-01 2.19821061e-01 3.00552443e-02 1.31222751e+02] [-2.19740096e-01 9.75539927e-01 -6.01168636e-03 -1.80748167e+01] [-3.06415861e-02 -7.42484470e-04 9.99530161e-01 -5.53748858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63264000000004 meters Centerline goodness [0,1] 0.9999570538973588 Centerline is valid? [True, True] Translation: X:131.25, Y:-18.08, Z:-5.54 [[ 9.75065945e-01 2.19947646e-01 2.94862063e-02 1.31250811e+02] [-2.19869835e-01 9.75511401e-01 -5.89590347e-03 -1.80821307e+01] [-3.00609205e-02 -7.34232613e-04 9.99547799e-01 -5.53708586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:131.28, Y:-18.09, Z:-5.54 [[ 9.75162134e-01 2.19639843e-01 2.85858695e-02 1.31278695e+02] [-2.19566615e-01 9.75580773e-01 -5.71465935e-03 -1.80868123e+01] [-2.91429915e-02 -7.03783202e-04 9.99575005e-01 -5.53933560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69264 meters Centerline goodness [0,1] 0.9996365269076992 Centerline is valid? [True, True] Translation: X:131.31, Y:-18.08, Z:-5.55 [[ 9.75633035e-01 2.17684505e-01 2.74524424e-02 1.31307407e+02] [-2.17616243e-01 9.76018991e-01 -5.48641700e-03 -1.80848587e+01] [-2.79884131e-02 -6.21367679e-04 9.99608055e-01 -5.54887159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.33, Y:-18.10, Z:-5.55 [[ 9.76009978e-01 2.15998077e-01 2.73743321e-02 1.31334426e+02] [-2.15929593e-01 9.76393620e-01 -5.46890594e-03 -1.80970260e+01] [-2.79093964e-02 -5.73221618e-04 9.99610293e-01 -5.54508152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75264 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:131.36, Y:-18.10, Z:-5.55 [[ 9.76422482e-01 2.14127387e-01 2.73605324e-02 1.31361888e+02] [-2.14058272e-01 9.76805605e-01 -5.46491515e-03 -1.81029719e+01] [-2.78961094e-02 -5.20682261e-04 9.99610692e-01 -5.54727669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.39, Y:-18.11, Z:-5.54 [[ 9.77190281e-01 2.10369961e-01 2.90453889e-02 1.31390066e+02] [-2.10290482e-01 9.77621749e-01 -5.79899240e-03 -1.81129977e+01] [-2.96153377e-02 -4.41249815e-04 9.99561272e-01 -5.54491685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.42, Y:-18.12, Z:-5.55 [[ 9.77478793e-01 2.08962087e-01 2.94967167e-02 1.31417245e+02] [-2.08879488e-01 9.77923659e-01 -5.88874914e-03 -1.81184191e+01] [-3.00760624e-02 -4.05131678e-04 9.99547531e-01 -5.54631290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.45, Y:-18.12, Z:-5.55 [[ 9.77835575e-01 2.07447169e-01 2.83418567e-02 1.31445762e+02] [-2.07370331e-01 9.78246161e-01 -5.65632386e-03 -1.81220371e+01] [-2.88987009e-02 -3.46305503e-04 9.99582285e-01 -5.54916788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.47, Y:-18.12, Z:-5.55 [[ 9.77880209e-01 2.07261105e-01 2.81625984e-02 1.31473265e+02] [-2.07185190e-01 9.78285602e-01 -5.61944798e-03 -1.81244127e+01] [-2.87157575e-02 -3.39726327e-04 9.99587560e-01 -5.55116674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.50, Y:-18.13, Z:-5.55 [[ 9.77883284e-01 2.07239733e-01 2.82130466e-02 1.31501177e+02] [-2.07163597e-01 9.78290129e-01 -5.62739970e-03 -1.81279921e+01] [-2.87667659e-02 -3.41776135e-04 9.99586093e-01 -5.55146058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93264000000002 meters Centerline goodness [0,1] 0.9999134011690842 Centerline is valid? [True, True] Translation: X:131.53, Y:-18.13, Z:-5.56 [[ 9.77913793e-01 2.07172822e-01 2.76412028e-02 1.31528882e+02] [-2.07099779e-01 9.78304303e-01 -5.51107600e-03 -1.81298494e+01] [-2.81832528e-02 -3.35129765e-04 9.99602717e-01 -5.55829588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.56, Y:-18.14, Z:-5.56 [[ 9.77934825e-01 2.07115927e-01 2.73216025e-02 1.31557418e+02] [-2.07044595e-01 9.78316351e-01 -5.44544278e-03 -1.81369030e+01] [-2.78570084e-02 -3.31501981e-04 9.99611863e-01 -5.55655708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.59, Y:-18.14, Z:-5.56 [[ 9.77993370e-01 2.06779665e-01 2.77693858e-02 1.31585071e+02] [-2.06705876e-01 9.78387481e-01 -5.53339947e-03 -1.81401996e+01] [-2.83134139e-02 -3.28467221e-04 9.99599041e-01 -5.55747989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.61, Y:-18.14, Z:-5.55 [[ 9.78155533e-01 2.05829238e-01 2.90874080e-02 1.31613876e+02] [-2.05747920e-01 9.78587872e-01 -5.79393617e-03 -1.81436382e+01] [-2.96571462e-02 -3.17302967e-04 9.99560080e-01 -5.55478194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.64, Y:-18.15, Z:-5.56 [[ 9.78287577e-01 2.05230011e-01 2.88800951e-02 1.31641933e+02] [-2.05149630e-01 9.78713724e-01 -5.75116591e-03 -1.81474285e+01] [-2.94456573e-02 -2.98446659e-04 9.99566338e-01 -5.55682254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.67, Y:-18.15, Z:-5.56 [[ 9.78394186e-01 2.04790998e-01 2.83806812e-02 1.31668336e+02] [-2.04713203e-01 9.78805685e-01 -5.65121818e-03 -1.81504105e+01] [-2.89364907e-02 -2.80781157e-04 9.99581213e-01 -5.55971348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11264000000003 meters Centerline goodness [0,1] 0.9998491931835319 Centerline is valid? [True, True] Translation: X:131.70, Y:-18.16, Z:-5.56 [[ 9.78456516e-01 2.04320980e-01 2.95936322e-02 1.31696753e+02] [-2.04236321e-01 9.78903906e-01 -5.88795646e-03 -1.81551876e+01] [-3.01723552e-02 -2.82985195e-04 9.99544671e-01 -5.56131071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.72, Y:-18.16, Z:-5.56 [[ 9.78370015e-01 2.04685122e-01 2.99351791e-02 1.31724274e+02] [-2.04598706e-01 9.78827825e-01 -5.95466409e-03 -1.81605821e+01] [-3.05202174e-02 -2.98834113e-04 9.99534105e-01 -5.55884443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.75, Y:-18.16, Z:-5.56 [[ 9.78120731e-01 2.05819090e-01 3.03040760e-02 1.31752905e+02] [-2.05731156e-01 9.78589999e-01 -6.02541800e-03 -1.81635644e+01] [-3.08954117e-02 -3.40906319e-04 9.99522565e-01 -5.55951566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.78, Y:-18.17, Z:-5.56 [[ 9.78135876e-01 2.05747070e-01 3.03043223e-02 1.31779873e+02] [-2.05659139e-01 9.78605144e-01 -6.02417887e-03 -1.81687896e+01] [-3.08954228e-02 -3.39895357e-04 9.99522565e-01 -5.56065404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.81, Y:-18.17, Z:-5.56 [[ 9.77937737e-01 2.06743668e-01 2.99138570e-02 1.31808105e+02] [-2.06658528e-01 9.78395073e-01 -5.94416878e-03 -1.81705771e+01] [-3.04964896e-02 -3.68926683e-04 9.99534806e-01 -5.56383033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264000000003 meters Centerline goodness [0,1] 0.9998714239794279 Centerline is valid? [True, True] Translation: X:131.84, Y:-18.17, Z:-5.57 [[ 9.77813914e-01 2.07329761e-01 2.99051712e-02 1.31837213e+02] [-2.07245007e-01 9.78271035e-01 -5.94039446e-03 -1.81730170e+01] [-3.04869834e-02 -3.89097051e-04 9.99535088e-01 -5.56759908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.87, Y:-18.18, Z:-5.57 [[ 9.77637919e-01 2.08187699e-01 2.96981834e-02 1.31865590e+02] [-2.08104553e-01 9.78088805e-01 -5.89785857e-03 -1.81773561e+01] [-3.02753223e-02 -4.14357009e-04 9.99541511e-01 -5.56556094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.89, Y:-18.18, Z:-5.57 [[ 9.77552966e-01 2.08606116e-01 2.95582068e-02 1.31893760e+02] [-2.08523985e-01 9.77999645e-01 -5.86867373e-03 -1.81784904e+01] [-3.01321570e-02 -4.26655663e-04 9.99545832e-01 -5.56764685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35264000000004 meters Centerline goodness [0,1] 0.999934796783308 Centerline is valid? [True, True] Translation: X:131.92, Y:-18.19, Z:-5.57 [[ 9.77714645e-01 2.07812528e-01 2.97997542e-02 1.31921716e+02] [-2.07728743e-01 9.78168588e-01 -5.91455567e-03 -1.81860443e+01] [-3.03783022e-02 -4.07517778e-04 9.99538390e-01 -5.57017193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:131.95, Y:-18.19, Z:-5.57 [[ 9.77824900e-01 2.07334574e-01 2.95099757e-02 1.31948624e+02] [-2.07252227e-01 9.78270015e-01 -5.85592531e-03 -1.81896404e+01] [-3.00828602e-02 -3.89938606e-04 9.99547332e-01 -5.57266775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41264 meters Centerline goodness [0,1] 0.9998918170409797 Centerline is valid? [True, True] Translation: X:131.98, Y:-18.20, Z:-5.57 [[ 9.78380550e-01 2.04705948e-01 2.94444312e-02 1.31975882e+02] [-2.04622872e-01 9.78823466e-01 -5.83973586e-03 -1.81998750e+01] [-3.00163288e-02 -3.11520094e-04 9.99549360e-01 -5.57422918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.00, Y:-18.20, Z:-5.57 [[ 9.78569804e-01 2.03852756e-01 2.90722097e-02 1.32002611e+02] [-2.03771405e-01 9.79001519e-01 -5.76544976e-03 -1.82039947e+01] [-2.96370403e-02 -2.82189968e-04 9.99560687e-01 -5.57491975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47264 meters Centerline goodness [0,1] 0.9997648064998931 Centerline is valid? [True, True] Translation: X:132.03, Y:-18.21, Z:-5.58 [[ 9.78751342e-01 2.02919993e-01 2.94836619e-02 1.32030880e+02] [-2.02836053e-01 9.79195286e-01 -5.84194206e-03 -1.82105539e+01] [-3.00557096e-02 -2.62540973e-04 9.99548191e-01 -5.57617224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.06, Y:-18.22, Z:-5.58 [[ 9.78652438e-01 2.03574797e-01 2.82260019e-02 1.32059718e+02] [-2.03498177e-01 9.79059359e-01 -5.59140386e-03 -1.82153283e+01] [-2.87732002e-02 -2.71898905e-04 9.99585929e-01 -5.57606742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53264000000001 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:132.09, Y:-18.22, Z:-5.58 [[ 9.78562895e-01 2.03982809e-01 2.83844048e-02 1.32088418e+02] [-2.03905540e-01 9.78974428e-01 -5.62131681e-03 -1.82192408e+01] [-2.89342584e-02 -2.86925338e-04 9.99581276e-01 -5.57906918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.12, Y:-18.22, Z:-5.58 [[ 9.78315671e-01 2.05184156e-01 2.82473069e-02 1.32116560e+02] [-2.05108169e-01 9.78723331e-01 -5.59289995e-03 -1.82232223e+01] [-2.87938727e-02 -3.22131741e-04 9.99585319e-01 -5.57822685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.15, Y:-18.22, Z:-5.58 [[ 9.77766689e-01 2.07643893e-01 2.92628782e-02 1.32145161e+02] [-2.07563503e-01 9.78204398e-01 -5.79199188e-03 -1.82208457e+01] [-2.98277479e-02 -4.10688788e-04 9.99554969e-01 -5.57885787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.17, Y:-18.22, Z:-5.58 [[ 9.77480497e-01 2.08938350e-01 2.96081722e-02 1.32174560e+02] [-2.08856708e-01 9.77928707e-01 -5.85823443e-03 -1.82223867e+01] [-3.01786914e-02 -4.57555480e-04 9.99544415e-01 -5.57917910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65264000000002 meters Centerline goodness [0,1] 0.9998923759094236 Centerline is valid? [True, True] Translation: X:132.20, Y:-18.22, Z:-5.58 [[ 9.77240625e-01 2.09925305e-01 3.05307539e-02 1.32204137e+02] [-2.09839026e-01 9.77717296e-01 -6.03917601e-03 -1.82224999e+01] [-3.11182221e-02 -5.04815540e-04 9.99515583e-01 -5.58222339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:132.23, Y:-18.23, Z:-5.58 [[ 9.77148511e-01 2.10420370e-01 3.00675197e-02 1.32231991e+02] [-2.10336966e-01 9.77610865e-01 -5.94619141e-03 -1.82260075e+01] [-3.06455338e-02 -5.13998791e-04 9.99530183e-01 -5.58264536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.26, Y:-18.23, Z:-5.58 [[ 9.77267818e-01 2.09924566e-01 2.96527970e-02 1.32260513e+02] [-2.09843278e-01 9.77717461e-01 -5.86221221e-03 -1.82317923e+01] [-3.02226798e-02 -4.93488792e-04 9.99543069e-01 -5.58377316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.29, Y:-18.24, Z:-5.59 [[ 9.77669491e-01 2.08088997e-01 2.93485327e-02 1.32287937e+02] [-2.08008582e-01 9.78109800e-01 -5.80074304e-03 -1.82355956e+01] [-2.99131582e-02 -4.33537171e-04 9.99552407e-01 -5.58635249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.32, Y:-18.24, Z:-5.59 [[ 9.77898113e-01 2.07036947e-01 2.91716275e-02 1.32315876e+02] [-2.06957089e-01 9.78333042e-01 -5.76382098e-03 -1.82420636e+01] [-2.97328910e-02 -4.00845444e-04 9.99557799e-01 -5.58811230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.34, Y:-18.25, Z:-5.59 [[ 9.78392199e-01 2.04761802e-01 2.86584963e-02 1.32343916e+02] [-2.04683751e-01 9.78811779e-01 -5.66248093e-03 -1.82512274e+01] [-2.92107335e-02 -3.25801340e-04 9.99573222e-01 -5.58855950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83264000000003 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:132.37, Y:-18.26, Z:-5.59 [[ 9.78618901e-01 2.03655653e-01 2.87996863e-02 1.32371336e+02] [-2.03576531e-01 9.79042535e-01 -5.68429756e-03 -1.82550610e+01] [-2.93537572e-02 -3.00179180e-04 9.99569041e-01 -5.59081043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264000000003 meters Centerline goodness [0,1] 0.9999138525155066 Centerline is valid? [True, True] Translation: X:132.40, Y:-18.26, Z:-5.59 [[ 9.78932971e-01 2.02060373e-01 2.93571853e-02 1.32399385e+02] [-2.01977503e-01 9.79373033e-01 -5.79225211e-03 -1.82610066e+01] [-2.99220203e-02 -2.59264408e-04 9.99552202e-01 -5.59383222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.43, Y:-18.27, Z:-5.59 [[ 9.79094586e-01 2.01409448e-01 2.84258042e-02 1.32427421e+02] [-2.01331517e-01 9.79507111e-01 -5.60717797e-03 -1.82679696e+01] [-2.89726159e-02 -2.33052680e-04 9.99580178e-01 -5.59219830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.45, Y:-18.27, Z:-5.59 [[ 9.79225901e-01 2.00773049e-01 2.84045428e-02 1.32454021e+02] [-2.00694977e-01 9.79637758e-01 -5.60261759e-03 -1.82723899e+01] [-2.89510172e-02 -2.14420801e-04 9.99580808e-01 -5.59472293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95264000000003 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:132.48, Y:-18.28, Z:-5.60 [[ 9.79285780e-01 2.00655534e-01 2.71425427e-02 1.32481388e+02] [-2.00584327e-01 9.79661837e-01 -5.34916565e-03 -1.82751161e+01] [-2.76638529e-02 -2.06006798e-04 9.99617261e-01 -5.59820486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264000000003 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:132.51, Y:-18.28, Z:-5.60 [[ 9.79201556e-01 2.01070833e-01 2.71077862e-02 1.32510230e+02] [-2.01000016e-01 9.79576680e-01 -5.34051738e-03 -1.82791591e+01] [-2.76279775e-02 -2.19222546e-04 9.99618251e-01 -5.59913284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.54, Y:-18.28, Z:-5.60 [[ 9.78866444e-01 2.02648060e-01 2.74635908e-02 1.32539378e+02] [-2.02575985e-01 9.79251598e-01 -5.41090681e-03 -1.82807743e+01] [-2.79902749e-02 -2.66908837e-04 9.99608160e-01 -5.59888940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.57, Y:-18.28, Z:-5.60 [[ 9.78552240e-01 2.04168781e-01 2.73975038e-02 1.32567191e+02] [-2.04097820e-01 9.78935651e-01 -5.39171342e-03 -1.82811875e+01] [-2.79212128e-02 -3.15697555e-04 9.99610077e-01 -5.60149695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.60, Y:-18.29, Z:-5.60 [[ 9.78300141e-01 2.05419233e-01 2.70513163e-02 1.32595909e+02] [-2.05350532e-01 9.78674010e-01 -5.32358277e-03 -1.82854809e+01] [-2.75679865e-02 -3.46940441e-04 9.99619871e-01 -5.59995903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264000000004 meters Centerline goodness [0,1] 0.9999140801202878 Centerline is valid? [True, True] Translation: X:132.62, Y:-18.28, Z:-5.60 [[ 9.77771364e-01 2.07760019e-01 2.82654093e-02 1.32624912e+02] [-2.07686188e-01 9.78179729e-01 -5.55562949e-03 -1.82833285e+01] [-2.88028881e-02 -4.38199687e-04 9.99585015e-01 -5.60321012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.65, Y:-18.28, Z:-5.60 [[ 9.77561166e-01 2.08740890e-01 2.83091594e-02 1.32653285e+02] [-2.08667293e-01 9.77970869e-01 -5.56238634e-03 -1.82831175e+01] [-2.88466307e-02 -4.69622801e-04 9.99583739e-01 -5.60483273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters Centerline goodness [0,1] 0.9999131492096578 Centerline is valid? [True, True] Translation: X:132.68, Y:-18.29, Z:-5.61 [[ 9.77488853e-01 2.09057342e-01 2.84705310e-02 1.32681870e+02] [-2.08983049e-01 9.77903265e-01 -5.59370399e-03 -1.82877829e+01] [-2.90108301e-02 -4.82075098e-04 9.99578981e-01 -5.60508020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.71, Y:-18.29, Z:-5.60 [[ 9.77505385e-01 2.09007691e-01 2.82667332e-02 1.32709168e+02] [-2.08934573e-01 9.77913878e-01 -5.54899044e-03 -1.82922357e+01] [-2.88022124e-02 -4.81729779e-04 9.99585014e-01 -5.60429877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:132.74, Y:-18.30, Z:-5.61 [[ 9.77626480e-01 2.08385369e-01 2.86705991e-02 1.32736927e+02] [-2.08310103e-01 9.78046681e-01 -5.62060367e-03 -1.82961186e+01] [-2.92124359e-02 -4.77524467e-04 9.99573112e-01 -5.60848087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.77, Y:-18.30, Z:-5.61 [[ 9.77716021e-01 2.08070607e-01 2.78927295e-02 1.32765314e+02] [-2.07999248e-01 9.78113702e-01 -5.46788917e-03 -1.83020346e+01] [-2.84199680e-02 -4.55623933e-04 9.99595967e-01 -5.60714650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.79, Y:-18.30, Z:-5.61 [[ 9.77992187e-01 2.06738666e-01 2.81141726e-02 1.32793410e+02] [-2.06665796e-01 9.78396107e-01 -5.50514484e-03 -1.83028142e+01] [-2.86449234e-02 -4.26249227e-04 9.99589559e-01 -5.60903583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31264000000002 meters Centerline goodness [0,1] 0.9999786916684423 Centerline is valid? [True, True] Translation: X:132.82, Y:-18.31, Z:-5.61 [[ 9.78183435e-01 2.05879783e-01 2.77611801e-02 1.32820663e+02] [-2.05808470e-01 9.78577210e-01 -5.43303806e-03 -1.83068496e+01] [-2.82850109e-02 -3.98978187e-04 9.99599819e-01 -5.61159794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.85, Y:-18.31, Z:-5.61 [[ 9.78402574e-01 2.04925894e-01 2.70883898e-02 1.32847658e+02] [-2.04857625e-01 9.78777424e-01 -5.30158434e-03 -1.83135736e+01] [-2.75999363e-02 -3.62179440e-04 9.99618984e-01 -5.61357740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.88, Y:-18.32, Z:-5.61 [[ 9.78782375e-01 2.03191082e-01 2.64281319e-02 1.32875671e+02] [-2.03125609e-01 9.79139054e-01 -5.16714219e-03 -1.83224951e+01] [-2.69267333e-02 -3.10722682e-04 9.99637361e-01 -5.61439449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters Centerline goodness [0,1] 0.9998280568272186 Centerline is valid? [True, True] Translation: X:132.90, Y:-18.33, Z:-5.62 [[ 9.79024938e-01 2.01946360e-01 2.69784966e-02 1.32902885e+02] [-2.01877829e-01 9.79396541e-01 -5.26853953e-03 -1.83271865e+01] [-2.74866086e-02 -2.88328736e-04 9.99622130e-01 -5.61872926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.93, Y:-18.33, Z:-5.62 [[ 9.79453965e-01 1.99917348e-01 2.65138630e-02 1.32930067e+02] [-1.99850493e-01 9.79812738e-01 -5.17489005e-03 -1.83320173e+01] [-2.70131710e-02 -2.30242019e-04 9.99635051e-01 -5.61727295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:132.96, Y:-18.34, Z:-5.62 [[ 9.79797334e-01 1.98230912e-01 2.64894230e-02 1.32958733e+02] [-1.98163571e-01 9.80155330e-01 -5.16985768e-03 -1.83379894e+01] [-2.69885747e-02 -1.83825865e-04 9.99635725e-01 -5.61879288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49264000000002 meters Centerline goodness [0,1] 0.9999360559297468 Centerline is valid? [True, True] Translation: X:132.99, Y:-18.34, Z:-5.62 [[ 9.80156542e-01 1.96349205e-01 2.72055521e-02 1.32987245e+02] [-1.96277575e-01 9.80534023e-01 -5.30503057e-03 -1.83443128e+01] [-2.77176080e-02 -1.40079380e-04 9.99615783e-01 -5.62105263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.02, Y:-18.35, Z:-5.62 [[ 9.80472946e-01 1.94760028e-01 2.72274278e-02 1.33015881e+02] [-1.94687836e-01 9.80850917e-01 -5.30333281e-03 -1.83510095e+01] [-2.77389247e-02 -1.01074652e-04 9.99615197e-01 -5.61936173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55264000000003 meters Centerline goodness [0,1] 0.9998929198612242 Centerline is valid? [True, True] Translation: X:133.04, Y:-18.36, Z:-5.62 [[ 9.81203691e-01 1.90951729e-01 2.78703214e-02 1.33041988e+02] [-1.90874575e-01 9.81599428e-01 -5.42764481e-03 -1.83598161e+01] [-2.83939097e-02 5.88937820e-06 9.99596812e-01 -5.62286601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264000000003 meters Centerline goodness [0,1] 0.9999783056730664 Centerline is valid? [True, True] Translation: X:133.07, Y:-18.37, Z:-5.62 [[ 9.81579271e-01 1.89071968e-01 2.74577000e-02 1.33069713e+02] [-1.88996434e-01 9.81963231e-01 -5.34417350e-03 -1.83690032e+01] [-2.79728853e-02 5.63225247e-05 9.99608681e-01 -5.62254521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.10, Y:-18.38, Z:-5.62 [[ 9.81891607e-01 1.87323211e-01 2.82645743e-02 1.33096990e+02] [-1.87242489e-01 9.82298327e-01 -5.49974459e-03 -1.83780042e+01] [-2.87944738e-02 1.07823811e-04 9.99585347e-01 -5.62141424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.12, Y:-18.39, Z:-5.62 [[ 9.82398751e-01 1.84591067e-01 2.86152353e-02 1.33123233e+02] [-1.84507209e-01 9.82815396e-01 -5.56665656e-03 -1.83882176e+01] [-2.91510489e-02 1.88959245e-04 9.99575000e-01 -5.62232109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67264000000003 meters Centerline goodness [0,1] 0.9998502641767738 Centerline is valid? [True, True] Translation: X:133.15, Y:-18.39, Z:-5.63 [[ 9.82508673e-01 1.83936428e-01 2.90533644e-02 1.33149602e+02] [-1.83849743e-01 9.82938119e-01 -5.65029961e-03 -1.83944660e+01] [-2.95969553e-02 2.10014796e-04 9.99561892e-01 -5.62630393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.18, Y:-18.40, Z:-5.62 [[ 9.82488713e-01 1.84042041e-01 2.90595359e-02 1.33177184e+02] [-1.83955442e-01 9.82918351e-01 -5.64889082e-03 -1.83983272e+01] [-2.96027845e-02 2.04311688e-04 9.99561721e-01 -5.62285166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73264000000003 meters Centerline goodness [0,1] 0.9997872566748218 Centerline is valid? [True, True] Translation: X:133.20, Y:-18.40, Z:-5.63 [[ 9.82410647e-01 1.84384282e-01 2.95255513e-02 1.33204237e+02] [-1.84295110e-01 9.82854210e-01 -5.73703050e-03 -1.84037480e+01] [-3.00771306e-02 1.94705109e-04 9.99547562e-01 -5.62844563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.23, Y:-18.41, Z:-5.63 [[ 9.82372911e-01 1.84744650e-01 2.85110240e-02 1.33233002e+02] [-1.84661709e-01 9.82786540e-01 -5.53799747e-03 -1.84088121e+01] [-2.90433660e-02 1.75484273e-04 9.99578137e-01 -5.62787586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79264000000003 meters Centerline goodness [0,1] 0.99967878710009 Centerline is valid? [True, True] Translation: X:133.26, Y:-18.41, Z:-5.63 [[ 9.82332725e-01 1.85120380e-01 2.74383267e-02 1.33261422e+02] [-1.85043747e-01 9.82715839e-01 -5.32836395e-03 -1.84134636e+01] [-2.79504670e-02 1.56935503e-04 9.99609297e-01 -5.63422563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.29, Y:-18.42, Z:-5.63 [[ 9.82310467e-01 1.85230862e-01 2.74895442e-02 1.33288850e+02] [-1.85154013e-01 9.82695021e-01 -5.33731147e-03 -1.84190715e+01] [-2.80024730e-02 1.53097493e-04 9.99607842e-01 -5.63156213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85264000000004 meters Centerline goodness [0,1] 0.9998928280533288 Centerline is valid? [True, True] Translation: X:133.32, Y:-18.43, Z:-5.64 [[ 9.82330474e-01 1.85032723e-01 2.81021508e-02 1.33315972e+02] [-1.84952397e-01 9.82732347e-01 -5.45390289e-03 -1.84252823e+01] [-2.86260432e-02 1.59974843e-04 9.99590178e-01 -5.63632033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264000000004 meters Centerline goodness [0,1] 0.9999571449998929 Centerline is valid? [True, True] Translation: X:133.34, Y:-18.43, Z:-5.64 [[ 9.82533450e-01 1.83935478e-01 2.82092141e-02 1.33343771e+02] [-1.83854141e-01 9.82938301e-01 -5.47275312e-03 -1.84337554e+01] [-2.87345504e-02 1.90782166e-04 9.99587059e-01 -5.63650758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91264000000004 meters Centerline goodness [0,1] 0.9998923086863813 Centerline is valid? [True, True] Translation: X:133.37, Y:-18.44, Z:-5.64 [[ 9.82738404e-01 1.82894408e-01 2.78363810e-02 1.33371985e+02] [-1.82814827e-01 9.83132539e-01 -5.39913154e-03 -1.84401756e+01] [-2.83543229e-02 2.17030730e-04 9.99597912e-01 -5.63658238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.40, Y:-18.45, Z:-5.64 [[ 9.82921936e-01 1.81937979e-01 2.76231675e-02 1.33400256e+02] [-1.81859274e-01 9.83309978e-01 -5.35637989e-03 -1.84482044e+01] [-2.81366652e-02 2.41374096e-04 9.99604057e-01 -5.63603755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.43, Y:-18.46, Z:-5.64 [[ 9.83156989e-01 1.80560977e-01 2.82854959e-02 1.33427102e+02] [-1.80477920e-01 9.83563751e-01 -5.48347514e-03 -1.84585148e+01] [-2.88106900e-02 2.86209434e-04 9.99584845e-01 -5.63622292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.45, Y:-18.47, Z:-5.64 [[ 9.83258564e-01 1.79862273e-01 2.91917774e-02 1.33454061e+02] [-1.79773557e-01 9.83691752e-01 -5.65722530e-03 -1.84671465e+01] [-2.97332321e-02 3.14605554e-04 9.99557820e-01 -5.63699938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.48, Y:-18.48, Z:-5.64 [[ 9.83417241e-01 1.78946181e-01 2.94753310e-02 1.33480007e+02] [-1.78855379e-01 9.83858804e-01 -5.71026572e-03 -1.84768257e+01] [-3.00213941e-02 3.43752261e-04 9.99549197e-01 -5.63766496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters Centerline goodness [0,1] 0.9998079385403329 Centerline is valid? [True, True] Translation: X:133.51, Y:-18.48, Z:-5.64 [[ 9.83474592e-01 1.78588768e-01 2.97284157e-02 1.33507091e+02] [-1.78496286e-01 9.83923740e-01 -5.75766553e-03 -1.84832281e+01] [-3.02787484e-02 3.56105967e-04 9.99541430e-01 -5.64078491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09264000000002 meters Centerline goodness [0,1] 0.9998079385403329 Centerline is valid? [True, True] Translation: X:133.53, Y:-18.49, Z:-5.64 [[ 9.83487422e-01 1.78518031e-01 2.97288312e-02 1.33534084e+02] [-1.78425581e-01 9.83936576e-01 -5.75551959e-03 -1.84883230e+01] [-3.02787484e-02 3.56097141e-04 9.99541430e-01 -5.64192335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.56, Y:-18.50, Z:-5.64 [[ 9.83588351e-01 1.78097946e-01 2.88976867e-02 1.33561071e+02] [-1.78010479e-01 9.84012700e-01 -5.59238917e-03 -1.84972585e+01] [-2.94316838e-02 3.56517773e-04 9.99566731e-01 -5.64192690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15264000000002 meters Centerline goodness [0,1] 0.9999787206877474 Centerline is valid? [True, True] Translation: X:133.59, Y:-18.51, Z:-5.64 [[ 9.83638539e-01 1.77771931e-01 2.91953084e-02 1.33587076e+02] [-1.77682555e-01 9.84071646e-01 -5.64843307e-03 -1.85067090e+01] [-2.97344081e-02 3.68519445e-04 9.99557767e-01 -5.64401030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.62, Y:-18.52, Z:-5.64 [[ 9.83534393e-01 1.78279991e-01 2.96030665e-02 1.33615212e+02] [-1.78188422e-01 9.83979735e-01 -5.72432243e-03 -1.85150610e+01] [-3.01493497e-02 3.55144290e-04 9.99545342e-01 -5.64340402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21264000000002 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:133.64, Y:-18.52, Z:-5.65 [[ 9.83385266e-01 1.79128158e-01 2.94367481e-02 1.33643080e+02] [-1.79038038e-01 9.83825694e-01 -5.69070669e-03 -1.85215914e+01] [-2.99799949e-02 3.25859494e-04 9.99550446e-01 -5.64569737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters Centerline goodness [0,1] 0.9999787338111137 Centerline is valid? [True, True] Translation: X:133.67, Y:-18.53, Z:-5.65 [[ 9.83235129e-01 1.79967718e-01 2.93309048e-02 1.33670435e+02] [-1.79878658e-01 9.83672472e-01 -5.66893739e-03 -1.85283979e+01] [-2.98722293e-02 2.97894598e-04 9.99553681e-01 -5.64645839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.70, Y:-18.53, Z:-5.65 [[ 9.82741482e-01 1.82774831e-01 2.85051004e-02 1.33699414e+02] [-1.82691950e-01 9.83154779e-01 -5.50747476e-03 -1.85320613e+01] [-2.90315535e-02 2.04771529e-04 9.99578475e-01 -5.64821795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.73, Y:-18.54, Z:-5.65 [[ 9.82538903e-01 1.83889645e-01 2.83178707e-02 1.33728177e+02] [-1.83808351e-01 9.82946880e-01 -5.46997081e-03 -1.85364568e+01] [-2.88408336e-02 1.69398012e-04 9.99584002e-01 -5.64862206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.76, Y:-18.54, Z:-5.65 [[ 9.82117821e-01 1.85965312e-01 2.93511259e-02 1.33755525e+02] [-1.85878949e-01 9.82556304e-01 -5.66798022e-03 -1.85441346e+01] [-2.98931815e-02 1.10867943e-04 9.99553093e-01 -5.65066442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.78, Y:-18.55, Z:-5.65 [[ 9.81971781e-01 1.86682989e-01 2.96796782e-02 1.33783777e+02] [-1.86595055e-01 9.82420202e-01 -5.72988611e-03 -1.85502476e+01] [-3.02275877e-02 8.85052717e-05 9.99543038e-01 -5.65011030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.81, Y:-18.56, Z:-5.65 [[ 9.81867141e-01 1.87258518e-01 2.95155013e-02 1.33810946e+02] [-1.87171851e-01 9.82310665e-01 -5.69698104e-03 -1.85570087e+01] [-3.00601999e-02 6.92074737e-05 9.99548088e-01 -5.65176795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264000000003 meters Centerline goodness [0,1] 0.9998926670101322 Centerline is valid? [True, True] Translation: X:133.84, Y:-18.57, Z:-5.66 [[ 9.81697171e-01 1.88199931e-01 2.91796054e-02 1.33836490e+02] [-1.88115702e-01 9.82130737e-01 -5.63011246e-03 -1.85659926e+01] [-2.97177742e-02 3.79235123e-05 9.99558329e-01 -5.65687260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45264000000003 meters Centerline goodness [0,1] 0.999829703897652 Centerline is valid? [True, True] Translation: X:133.86, Y:-18.57, Z:-5.66 [[ 9.81625294e-01 1.88549449e-01 2.93408707e-02 1.33863030e+02] [-1.88464520e-01 9.82063697e-01 -5.65862561e-03 -1.85720373e+01] [-2.98815347e-02 2.49369133e-05 9.99553447e-01 -5.65923007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.89, Y:-18.58, Z:-5.66 [[ 9.81516608e-01 1.89181704e-01 2.89038223e-02 1.33891693e+02] [-1.89099648e-01 9.81942097e-01 -5.57139796e-03 -1.85771342e+01] [-2.94358865e-02 2.71701346e-06 9.99566670e-01 -5.65763527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51264000000003 meters Centerline goodness [0,1] 0.9999354241556708 Centerline is valid? [True, True] Translation: X:133.92, Y:-18.58, Z:-5.66 [[ 9.80995651e-01 1.91891291e-01 2.87274134e-02 1.33920800e+02] [-1.91811435e-01 9.81416184e-01 -5.53600560e-03 -1.85793702e+01] [-2.92558597e-02 -7.94489865e-05 9.99571953e-01 -5.66138031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264000000003 meters Centerline goodness [0,1] 0.9999141870293695 Centerline is valid? [True, True] Translation: X:133.95, Y:-18.58, Z:-5.66 [[ 9.80695829e-01 1.93357746e-01 2.91285752e-02 1.33948655e+02] [-1.93276324e-01 9.81128313e-01 -5.61217401e-03 -1.85838870e+01] [-2.96640272e-02 -1.26028300e-04 9.99559918e-01 -5.66162385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:133.98, Y:-18.59, Z:-5.66 [[ 9.80192947e-01 1.96019930e-01 2.82484156e-02 1.33976285e+02] [-1.95944523e-01 9.80599891e-01 -5.44038214e-03 -1.85863599e+01] [-2.87668165e-02 -2.02498111e-04 9.99586129e-01 -5.66293590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.00, Y:-18.59, Z:-5.67 [[ 9.80011071e-01 1.96991775e-01 2.77946407e-02 1.34003458e+02] [-1.96919201e-01 9.80405114e-01 -5.35160401e-03 -1.85897537e+01] [-2.83042299e-02 -2.28667274e-04 9.99599329e-01 -5.66584798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.03, Y:-18.59, Z:-5.67 [[ 9.79823708e-01 1.97956052e-01 2.75482048e-02 1.34032011e+02] [-1.97885223e-01 9.80210863e-01 -5.30124236e-03 -1.85944568e+01] [-2.80524626e-02 -2.57099712e-04 9.99606419e-01 -5.66694516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264000000004 meters Centerline goodness [0,1] 0.9997859589041096 Centerline is valid? [True, True] Translation: X:134.06, Y:-18.60, Z:-5.67 [[ 9.79647512e-01 1.98665523e-01 2.86838173e-02 1.34060696e+02] [-1.98589081e-01 9.80067307e-01 -5.51828140e-03 -1.85996449e+01] [-2.92083638e-02 -2.90322269e-04 9.99573303e-01 -5.66998599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.09, Y:-18.60, Z:-5.67 [[ 9.79506254e-01 1.99248739e-01 2.94523129e-02 1.34088364e+02] [-1.99168445e-01 9.79948896e-01 -5.66490214e-03 -1.86038311e+01] [-2.99904861e-02 -3.17164288e-04 9.99550134e-01 -5.66621006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters Centerline goodness [0,1] 0.9999788274650124 Centerline is valid? [True, True] Translation: X:134.12, Y:-18.61, Z:-5.67 [[ 9.79527959e-01 1.99030668e-01 3.01955466e-02 1.34115568e+02] [-1.98946240e-01 9.79993209e-01 -5.80542471e-03 -1.86086997e+01] [-3.07468882e-02 -3.20714653e-04 9.99527151e-01 -5.66653184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.14, Y:-18.62, Z:-5.67 [[ 9.79610276e-01 1.98514513e-01 3.09143086e-02 1.34143987e+02] [-1.98425825e-01 9.80097898e-01 -5.94154777e-03 -1.86154154e+01] [-3.14785323e-02 -3.13795944e-04 9.99504379e-01 -5.66629344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.17, Y:-18.62, Z:-5.67 [[ 9.79858662e-01 1.97326556e-01 3.06468973e-02 1.34171856e+02] [-1.97238863e-01 9.80337776e-01 -5.88865564e-03 -1.86246272e+01] [-3.12062993e-02 -2.74708930e-04 9.99512927e-01 -5.66825174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.20, Y:-18.63, Z:-5.67 [[ 9.79899482e-01 1.97219586e-01 3.00239825e-02 1.34199498e+02] [-1.97135414e-01 9.80359303e-01 -5.76761513e-03 -1.86292718e+01] [-3.05717772e-02 -2.67107124e-04 9.99532538e-01 -5.67194957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.23, Y:-18.63, Z:-5.68 [[ 9.79904918e-01 1.97350085e-01 2.89706161e-02 1.34227922e+02] [-1.97271829e-01 9.80333043e-01 -5.56335736e-03 -1.86337441e+01] [-2.94987813e-02 -2.63525182e-04 9.99564782e-01 -5.67519667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.26, Y:-18.64, Z:-5.68 [[ 9.79928527e-01 1.97481185e-01 2.72261421e-02 1.34256015e+02] [-1.97412155e-01 9.80306645e-01 -5.22717046e-03 -1.86382775e+01] [-2.77222358e-02 -2.52517920e-04 9.99615633e-01 -5.67891384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters Centerline goodness [0,1] 0.9999350649350649 Centerline is valid? [True, True] Translation: X:134.28, Y:-18.64, Z:-5.68 [[ 9.79878839e-01 1.97792246e-01 2.67523421e-02 1.34284121e+02] [-1.97725749e-01 9.80243929e-01 -5.13488455e-03 -1.86436990e+01] [-2.72394613e-02 -2.58062179e-04 9.99628904e-01 -5.68322027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93264000000002 meters Centerline goodness [0,1] 0.9998070284525826 Centerline is valid? [True, True] Translation: X:134.31, Y:-18.65, Z:-5.69 [[ 9.80059387e-01 1.96930424e-01 2.64954136e-02 1.34311347e+02] [-1.96864920e-01 9.80417438e-01 -5.08423645e-03 -1.86512565e+01] [-2.69778064e-02 -2.33163843e-04 9.99636006e-01 -5.68776412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.34, Y:-18.66, Z:-5.68 [[ 9.80315656e-01 1.95678770e-01 2.62875271e-02 1.34339035e+02] [-1.95613875e-01 9.80668027e-01 -5.04302560e-03 -1.86598898e+01] [-2.67661504e-02 -1.98448100e-04 9.99641703e-01 -5.68464070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.37, Y:-18.67, Z:-5.68 [[ 9.80484049e-01 1.94741868e-01 2.69561761e-02 1.34366676e+02] [-1.94673314e-01 9.80854512e-01 -5.16990877e-03 -1.86669088e+01] [-2.74468847e-02 -1.78635053e-04 9.99623247e-01 -5.68352268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.39, Y:-18.67, Z:-5.68 [[ 9.80825173e-01 1.92827121e-01 2.82786292e-02 1.34393551e+02] [-1.92750918e-01 9.81232737e-01 -5.42213931e-03 -1.86727707e+01] [-2.87934522e-02 -1.32561022e-04 9.99585374e-01 -5.68276994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.42, Y:-18.68, Z:-5.68 [[ 9.80955126e-01 1.92092968e-01 2.87633954e-02 1.34421845e+02] [-1.92013874e-01 9.81376726e-01 -5.51305391e-03 -1.86796324e+01] [-2.92867457e-02 -1.14912482e-04 9.99571045e-01 -5.68266681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.45, Y:-18.69, Z:-5.68 [[ 9.81125755e-01 1.91153137e-01 2.92015480e-02 1.34449069e+02] [-1.91071239e-01 9.81560222e-01 -5.59564662e-03 -1.86871761e+01] [-2.97327033e-02 -8.95429383e-05 9.99557881e-01 -5.68353842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.48, Y:-18.70, Z:-5.68 [[ 9.81376223e-01 1.89800556e-01 2.96050402e-02 1.34476246e+02] [-1.89715826e-01 9.81822665e-01 -5.67089747e-03 -1.86972432e+01] [-3.01432390e-02 -5.12607201e-05 9.99545588e-01 -5.68435181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264000000003 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:134.50, Y:-18.70, Z:-5.69 [[ 9.81477090e-01 1.89176982e-01 3.02455180e-02 1.34504507e+02] [-1.89088297e-01 9.81943007e-01 -5.79201662e-03 -1.87049548e+01] [-3.07950911e-02 -3.43418798e-05 9.99525718e-01 -5.68614344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.53, Y:-18.71, Z:-5.69 [[ 9.81599374e-01 1.88487601e-01 3.05793046e-02 1.34532771e+02] [-1.88396662e-01 9.82075569e-01 -5.85437089e-03 -1.87123090e+01] [-3.11346643e-02 -1.43921198e-05 9.99515199e-01 -5.68557247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.56, Y:-18.72, Z:-5.69 [[ 9.81604815e-01 1.88520046e-01 3.02023100e-02 1.34561099e+02] [-1.88431398e-01 9.82069342e-01 -5.78070169e-03 -1.87182684e+01] [-3.07505408e-02 -1.66988716e-05 9.99527090e-01 -5.68652628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.59, Y:-18.72, Z:-5.69 [[ 9.81595793e-01 1.88594606e-01 3.00295447e-02 1.34588526e+02] [-1.88507046e-01 9.82055026e-01 -5.74626708e-03 -1.87235675e+01] [-3.05743803e-02 -2.02691681e-05 9.99532494e-01 -5.69088586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.62, Y:-18.73, Z:-5.69 [[ 9.81563301e-01 1.88839846e-01 2.95465576e-02 1.34616281e+02] [-1.88755249e-01 9.82007898e-01 -5.65190919e-03 -1.87300339e+01] [-3.00822586e-02 -2.93611954e-05 9.99547426e-01 -5.69093398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.64, Y:-18.74, Z:-5.70 [[ 9.81552820e-01 1.89120066e-01 2.80653379e-02 1.34643263e+02] [-1.89043892e-01 9.81953970e-01 -5.36726072e-03 -1.87380052e+01] [-2.85739267e-02 -3.73308205e-05 9.99591681e-01 -5.69510364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.67, Y:-18.74, Z:-5.70 [[ 9.81488053e-01 1.89477996e-01 2.79157670e-02 1.34670721e+02] [-1.89402812e-01 9.81884966e-01 -5.33742564e-03 -1.87435707e+01] [-2.84213967e-02 -4.87052832e-05 9.99596029e-01 -5.69804317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.70, Y:-18.75, Z:-5.70 [[ 9.81404476e-01 1.89935128e-01 2.77470988e-02 1.34699293e+02] [-1.89861085e-01 9.81796640e-01 -5.30333147e-03 -1.87491284e+01] [-2.82492973e-02 -6.33810281e-05 9.99600907e-01 -5.69796402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.73, Y:-18.75, Z:-5.70 [[ 9.81244394e-01 1.90802262e-01 2.74579072e-02 1.34727358e+02] [-1.90730131e-01 9.81628488e-01 -5.24673831e-03 -1.87541061e+01] [-2.79545535e-02 -8.87176874e-05 9.99609191e-01 -5.69836522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.75, Y:-18.76, Z:-5.70 [[ 9.81158653e-01 1.91218038e-01 2.76289579e-02 1.34753703e+02] [-1.91145196e-01 9.81547580e-01 -5.27849796e-03 -1.87585114e+01] [-2.81284808e-02 -1.02098612e-04 9.99604311e-01 -5.69983245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters Centerline goodness [0,1] 0.9999130699352371 Centerline is valid? [True, True] Translation: X:134.78, Y:-18.77, Z:-5.70 [[ 9.81124925e-01 1.91286249e-01 2.83452319e-02 1.34781772e+02] [-1.91209696e-01 9.81534288e-01 -5.41230065e-03 -1.87656711e+01] [-2.88571157e-02 -1.09740118e-04 9.99583541e-01 -5.70213846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.81, Y:-18.77, Z:-5.70 [[ 9.81316098e-01 1.90373419e-01 2.78689322e-02 1.34809252e+02] [-1.90299089e-01 9.81711747e-01 -5.31998262e-03 -1.87736886e+01] [-2.83720414e-02 -8.28478341e-05 9.99597429e-01 -5.70075278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.84, Y:-18.78, Z:-5.70 [[ 9.81471999e-01 1.89561540e-01 2.79130279e-02 1.34836039e+02] [-1.89486681e-01 9.81868840e-01 -5.32717869e-03 -1.87811125e+01] [-2.84167605e-02 -6.06702805e-05 9.99596160e-01 -5.70449788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.86, Y:-18.79, Z:-5.70 [[ 9.81649319e-01 1.88579809e-01 2.83243661e-02 1.34863738e+02] [-1.88502382e-01 9.82057867e-01 -5.40347501e-03 -1.87922392e+01] [-2.88351528e-02 -3.48929138e-05 9.99584180e-01 -5.70383665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.89, Y:-18.80, Z:-5.70 [[ 9.81686187e-01 1.88305335e-01 2.88674722e-02 1.34890644e+02] [-1.88224830e-01 9.82110534e-01 -5.50574085e-03 -1.87991305e+01] [-2.93878089e-02 -2.86653142e-05 9.99568085e-01 -5.70453147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.92, Y:-18.81, Z:-5.70 [[ 9.81668505e-01 1.88343929e-01 2.92148942e-02 1.34919339e+02] [-1.88261555e-01 9.82103133e-01 -5.56985702e-03 -1.88053939e+01] [-2.97410878e-02 -3.22881945e-05 9.99557635e-01 -5.70454052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.95, Y:-18.81, Z:-5.71 [[ 9.81538458e-01 1.88997398e-01 2.93639224e-02 1.34946404e+02] [-1.88914499e-01 9.81977587e-01 -5.59743743e-03 -1.88113165e+01] [-2.98926147e-02 -5.31705939e-05 9.99553115e-01 -5.70590249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:134.97, Y:-18.82, Z:-5.71 [[ 9.81430384e-01 1.89597159e-01 2.91087246e-02 1.34974367e+02] [-1.89516016e-01 9.81861962e-01 -5.54685496e-03 -1.88171713e+01] [-2.96324174e-02 -7.27175333e-05 9.99560861e-01 -5.70680262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters Centerline goodness [0,1] 0.999956938314135 Centerline is valid? [True, True] Translation: X:135.00, Y:-18.82, Z:-5.71 [[ 9.81084693e-01 1.91384503e-01 2.90654104e-02 1.35002364e+02] [-1.91304428e-01 9.81515133e-01 -5.53713338e-03 -1.88226910e+01] [-2.95878617e-02 -1.27944917e-04 9.99562175e-01 -5.71103583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.03, Y:-18.83, Z:-5.71 [[ 9.80974128e-01 1.91927532e-01 2.92161501e-02 1.35030538e+02] [-1.91846911e-01 9.81409090e-01 -5.56434207e-03 -1.88289933e+01] [-2.97409457e-02 -1.46552538e-04 9.99557629e-01 -5.70979683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.06, Y:-18.83, Z:-5.71 [[ 9.80782913e-01 1.92831032e-01 2.96828268e-02 1.35058578e+02] [-1.92748274e-01 9.81231961e-01 -5.65168179e-03 -1.88349601e+01] [-3.02155579e-02 -1.78240691e-04 9.99543390e-01 -5.70966937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.09, Y:-18.84, Z:-5.71 [[ 9.80556657e-01 1.93884136e-01 3.02916593e-02 1.35085634e+02] [-1.93798496e-01 9.81024411e-01 -5.76612161e-03 -1.88391590e+01] [-3.08348167e-02 -2.16469068e-04 9.99524471e-01 -5.71117513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.11, Y:-18.84, Z:-5.71 [[ 9.80178852e-01 1.95856482e-01 2.98271188e-02 1.35113664e+02] [-1.95774420e-01 9.80632532e-01 -5.67578338e-03 -1.88421024e+01] [-3.03610820e-02 -2.76104040e-04 9.99538958e-01 -5.71480545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83264000000003 meters Centerline goodness [0,1] 0.9998493003229278 Centerline is valid? [True, True] Translation: X:135.14, Y:-18.85, Z:-5.72 [[ 9.79925046e-01 1.97029698e-01 3.04335657e-02 1.35142017e+02] [-1.96944893e-01 9.80397468e-01 -5.78911219e-03 -1.88476457e+01] [-3.09776178e-02 -3.20839302e-04 9.99520027e-01 -5.71762158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264000000003 meters Centerline goodness [0,1] 0.9999786119131644 Centerline is valid? [True, True] Translation: X:135.17, Y:-18.85, Z:-5.72 [[ 9.79578550e-01 1.98890445e-01 2.94695694e-02 1.35169577e+02] [-1.98811809e-01 9.80021660e-01 -5.60443747e-03 -1.88509776e+01] [-2.99954854e-02 -3.68911680e-04 9.99549966e-01 -5.71706342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.20, Y:-18.86, Z:-5.72 [[ 9.79392318e-01 1.99902938e-01 2.88010837e-02 1.35197946e+02] [-1.99828324e-01 9.79815626e-01 -5.47538212e-03 -1.88551708e+01] [-2.93142969e-02 -3.92725088e-04 9.99570167e-01 -5.71901640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264000000003 meters Centerline goodness [0,1] 0.9999787184234608 Centerline is valid? [True, True] Translation: X:135.23, Y:-18.86, Z:-5.72 [[ 9.79177017e-01 2.01019957e-01 2.83433626e-02 1.35226003e+02] [-2.00948195e-01 9.79587056e-01 -5.38729137e-03 -1.88579068e+01] [-2.88477442e-02 -4.20435663e-04 9.99583729e-01 -5.72223579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.25, Y:-18.86, Z:-5.73 [[ 9.78804354e-01 2.03011602e-01 2.69875212e-02 1.35254309e+02] [-2.02947362e-01 9.79176225e-01 -5.12728944e-03 -1.88613212e+01] [-2.74664384e-02 -4.58433011e-04 9.99622621e-01 -5.72513386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.28, Y:-18.87, Z:-5.73 [[ 9.78624961e-01 2.03952753e-01 2.63905362e-02 1.35282140e+02] [-2.03891689e-01 9.78980617e-01 -5.01302036e-03 -1.88662534e+01] [-2.68582427e-02 -4.74944141e-04 9.99639140e-01 -5.72655736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.31, Y:-18.87, Z:-5.73 [[ 9.78639963e-01 2.03880705e-01 2.63909222e-02 1.35309158e+02] [-2.03819670e-01 9.78995624e-01 -5.01098737e-03 -1.88712486e+01] [-2.68582410e-02 -4.75036538e-04 9.99639140e-01 -5.72769597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.34, Y:-18.87, Z:-5.73 [[ 9.78498764e-01 2.04552015e-01 2.64318453e-02 1.35337285e+02] [-2.04491085e-01 9.78855570e-01 -5.01687532e-03 -1.88733426e+01] [-2.68991709e-02 -4.96070416e-04 9.99638029e-01 -5.73044867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.37, Y:-18.88, Z:-5.73 [[ 9.78276948e-01 2.05524957e-01 2.70869980e-02 1.35365651e+02] [-2.05461421e-01 9.78651727e-01 -5.13833864e-03 -1.88778366e+01] [-2.75647942e-02 -5.38614875e-04 9.99619874e-01 -5.73006568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264000000004 meters Centerline goodness [0,1] 0.9999353029976278 Centerline is valid? [True, True] Translation: X:135.39, Y:-18.88, Z:-5.73 [[ 9.78176395e-01 2.05870517e-01 2.80761609e-02 1.35393592e+02] [-2.05802436e-01 9.78579075e-01 -5.32462795e-03 -1.88815690e+01] [-2.85709275e-02 -5.69716931e-04 9.99591605e-01 -5.73252092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13264000000004 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:135.42, Y:-18.88, Z:-5.73 [[ 9.78206637e-01 2.05647503e-01 2.86510153e-02 1.35421136e+02] [-2.05576564e-01 9.78625961e-01 -5.43177298e-03 -1.88840579e+01] [-2.91556580e-02 -5.76580915e-04 9.99574717e-01 -5.73113230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.45, Y:-18.89, Z:-5.73 [[ 9.78341957e-01 2.04838028e-01 2.98059903e-02 1.35449066e+02] [-2.04760942e-01 9.78795714e-01 -5.64864070e-03 -1.88921000e+01] [-3.03310320e-02 -5.76800444e-04 9.99539742e-01 -5.72938071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.48, Y:-18.89, Z:-5.73 [[ 9.78444666e-01 2.04257712e-01 3.04108924e-02 1.35477036e+02] [-2.04177227e-01 9.78916983e-01 -5.76190788e-03 -1.88946775e+01] [-3.09466531e-02 -5.71503644e-04 9.99520874e-01 -5.73151633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.50, Y:-18.90, Z:-5.73 [[ 9.78785341e-01 2.02557430e-01 3.08179184e-02 1.35504641e+02] [-2.02474012e-01 9.79270243e-01 -5.83650267e-03 -1.89046757e+01] [-3.13612975e-02 -5.27144336e-04 9.99507975e-01 -5.73050106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25264 meters Centerline goodness [0,1] 0.9998503474078033 Centerline is valid? [True, True] Translation: X:135.53, Y:-18.91, Z:-5.74 [[ 9.78949956e-01 2.01616104e-01 3.17479207e-02 1.35532594e+02] [-2.01527130e-01 9.79464488e-01 -6.01105248e-03 -1.89068251e+01] [-3.23078859e-02 -5.13547787e-04 9.99477832e-01 -5.73595675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.56, Y:-18.92, Z:-5.73 [[ 9.79277153e-01 2.00049730e-01 3.15652129e-02 1.35560435e+02] [-1.99961032e-01 9.79785636e-01 -5.97435388e-03 -1.89163917e+01] [-3.21223101e-02 -4.61264292e-04 9.99483839e-01 -5.73162527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.59, Y:-18.92, Z:-5.73 [[ 9.79806233e-01 1.97584855e-01 3.06589296e-02 1.35587711e+02] [-1.97500019e-01 9.80285717e-01 -5.80130518e-03 -1.89223941e+01] [-3.12007608e-02 -3.70984198e-04 9.99513069e-01 -5.73475213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.62, Y:-18.93, Z:-5.74 [[ 9.80024772e-01 1.96531428e-01 3.04441012e-02 1.35615459e+02] [-1.96447312e-01 9.80497468e-01 -5.75924106e-03 -1.89259805e+01] [-3.09822360e-02 -3.36462952e-04 9.99519879e-01 -5.73869300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37264000000002 meters Centerline goodness [0,1] 0.9999788059258631 Centerline is valid? [True, True] Translation: X:135.64, Y:-18.93, Z:-5.74 [[ 9.80224564e-01 1.95509594e-01 3.05908875e-02 1.35642938e+02] [-1.95424230e-01 9.80701741e-01 -5.78499555e-03 -1.89319145e+01] [-3.11315587e-02 -3.07605890e-04 9.99515248e-01 -5.73951494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters Centerline goodness [0,1] 0.9998506061123442 Centerline is valid? [True, True] Translation: X:135.67, Y:-18.94, Z:-5.74 [[ 9.80388814e-01 1.94592665e-01 3.11683920e-02 1.35670618e+02] [-1.94503646e-01 9.80884098e-01 -5.89225314e-03 -1.89385694e+01] [-3.17191693e-02 -2.85666810e-04 9.99496780e-01 -5.74172311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.70, Y:-18.94, Z:-5.74 [[ 9.80525182e-01 1.93949996e-01 3.08831105e-02 1.35699093e+02] [-1.93862328e-01 9.81011381e-01 -5.83680749e-03 -1.89431115e+01] [-3.14287316e-02 -2.63934979e-04 9.99505961e-01 -5.74019536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.73, Y:-18.95, Z:-5.74 [[ 9.80591695e-01 1.93742270e-01 3.00642744e-02 1.35727791e+02] [-1.93659137e-01 9.81052429e-01 -5.68062755e-03 -1.89452862e+01] [-3.05952071e-02 -2.51845217e-04 9.99531825e-01 -5.74300682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.76, Y:-18.95, Z:-5.74 [[ 9.80590930e-01 1.93768425e-01 2.99203100e-02 1.35756520e+02] [-1.93686143e-01 9.81047264e-01 -5.65194498e-03 -1.89480103e+01] [-3.04484068e-02 -2.52903459e-04 9.99536308e-01 -5.74466302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264000000002 meters Centerline goodness [0,1] 0.9997868349249659 Centerline is valid? [True, True] Translation: X:135.78, Y:-18.95, Z:-5.75 [[ 9.80514689e-01 1.94133823e-01 3.00500237e-02 1.35783941e+02] [-1.94051040e-01 9.80975019e-01 -5.67506968e-03 -1.89501485e+01] [-3.05800456e-02 -2.66749164e-04 9.99532285e-01 -5.74989479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.81, Y:-18.96, Z:-5.75 [[ 9.80702185e-01 1.93071244e-01 3.07687957e-02 1.35812229e+02] [-1.92983994e-01 9.81184711e-01 -5.80873678e-03 -1.89570553e+01] [-3.13113719e-02 -2.41244219e-04 9.99509650e-01 -5.74609555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.84, Y:-18.97, Z:-5.74 [[ 9.81172091e-01 1.90478738e-01 3.19245878e-02 1.35840314e+02] [-1.90383491e-01 9.81691307e-01 -6.02524223e-03 -1.89660707e+01] [-3.24877709e-02 -1.66114945e-04 9.99472119e-01 -5.74482579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.87, Y:-18.97, Z:-5.75 [[ 9.81483785e-01 1.88850375e-01 3.20174148e-02 1.35867134e+02] [-1.88753758e-01 9.82005867e-01 -6.04121017e-03 -1.89717842e+01] [-3.25821740e-02 -1.14057539e-04 9.99469054e-01 -5.74642457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264000000003 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:135.90, Y:-18.98, Z:-5.75 [[ 9.81758870e-01 1.87393333e-01 3.21443494e-02 1.35895114e+02] [-1.87295238e-01 9.82284956e-01 -6.06297655e-03 -1.89777351e+01] [-3.27110722e-02 -6.81025839e-05 9.99464847e-01 -5.74974502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67264000000003 meters Centerline goodness [0,1] 0.9999569827716001 Centerline is valid? [True, True] Translation: X:135.92, Y:-18.99, Z:-5.75 [[ 9.82434966e-01 1.83797914e-01 3.22469251e-02 1.35923346e+02] [-1.83697308e-01 9.82964050e-01 -6.08070239e-03 -1.89860236e+01] [-3.28151885e-02 5.02213213e-05 9.99461435e-01 -5.75027330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:135.95, Y:-18.99, Z:-5.75 [[ 9.82782619e-01 1.81958515e-01 3.20846021e-02 1.35950935e+02] [-1.81857995e-01 9.83306202e-01 -6.04837072e-03 -1.89945179e+01] [-3.26495408e-02 1.09392200e-04 9.99466856e-01 -5.75126286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73264000000003 meters Centerline goodness [0,1] 0.9999350283709447 Centerline is valid? [True, True] Translation: X:135.98, Y:-19.00, Z:-5.75 [[ 9.83186262e-01 1.79810111e-01 3.18292040e-02 1.35979036e+02] [-1.79710101e-01 9.83701323e-01 -5.99893803e-03 -1.90043440e+01] [-3.23890998e-02 1.78043996e-04 9.99475320e-01 -5.75325485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.01, Y:-19.01, Z:-5.75 [[ 9.83361145e-01 1.78711701e-01 3.26034631e-02 1.36007878e+02] [-1.78606200e-01 9.83901459e-01 -6.14370418e-03 -1.90123617e+01] [-3.31765468e-02 2.18299323e-04 9.99449483e-01 -5.75249166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.04, Y:-19.02, Z:-5.75 [[ 9.83507870e-01 1.77982741e-01 3.21622886e-02 1.36037738e+02] [-1.77879670e-01 9.84033580e-01 -6.06107284e-03 -1.90193203e+01] [-3.27275383e-02 2.40095556e-04 9.99464282e-01 -5.75398989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.07, Y:-19.03, Z:-5.76 [[ 9.83682466e-01 1.77203583e-01 3.11078254e-02 1.36066110e+02] [-1.77106768e-01 9.84174184e-01 -5.86247726e-03 -1.90261168e+01] [-3.16543706e-02 2.57409660e-04 9.99498842e-01 -5.75675401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85264000000004 meters Centerline goodness [0,1] 0.9998056743101438 Centerline is valid? [True, True] Translation: X:136.10, Y:-19.03, Z:-5.76 [[ 9.83662077e-01 1.77400819e-01 3.06246227e-02 1.36095912e+02] [-1.77307101e-01 9.84138653e-01 -5.77090866e-03 -1.90320247e+01] [-3.11626389e-02 2.46660934e-04 9.99514297e-01 -5.76168402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.12, Y:-19.04, Z:-5.76 [[ 9.83622791e-01 1.77619385e-01 3.06195840e-02 1.36124846e+02] [-1.77525796e-01 9.84099231e-01 -5.77021320e-03 -1.90389271e+01] [-3.11576108e-02 2.39947187e-04 9.99514455e-01 -5.76074589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.15, Y:-19.04, Z:-5.76 [[ 9.83493392e-01 1.78256092e-01 3.10727241e-02 1.36153359e+02] [-1.78160050e-01 9.83984104e-01 -5.85492682e-03 -1.90446404e+01] [-3.16187430e-02 2.22363742e-04 9.99499978e-01 -5.76133173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.18, Y:-19.05, Z:-5.76 [[ 9.83320659e-01 1.79150503e-01 3.13939192e-02 1.36181466e+02] [-1.79052959e-01 9.83821660e-01 -5.91424628e-03 -1.90499678e+01] [-3.19455579e-02 1.94426415e-04 9.99489592e-01 -5.76238634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.21, Y:-19.05, Z:-5.76 [[ 9.82861141e-01 1.81566091e-01 3.19019126e-02 1.36210283e+02] [-1.81466679e-01 9.83378737e-01 -6.00861989e-03 -1.90549926e+01] [-3.24626242e-02 1.16504859e-04 9.99472943e-01 -5.76244966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.24, Y:-19.06, Z:-5.76 [[ 9.82625849e-01 1.82807476e-01 3.20603645e-02 1.36238335e+02] [-1.82707756e-01 9.83148728e-01 -6.03776937e-03 -1.90599455e+01] [-3.26238560e-02 7.51909927e-05 9.99467698e-01 -5.76379129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.27, Y:-19.06, Z:-5.77 [[ 9.82397401e-01 1.84031246e-01 3.20600558e-02 1.36266256e+02] [-1.83932219e-01 9.82920393e-01 -6.03651174e-03 -1.90642844e+01] [-3.26233894e-02 3.33762569e-05 9.99467715e-01 -5.76513827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters Centerline goodness [0,1] 0.9999572256560515 Centerline is valid? [True, True] Translation: X:136.29, Y:-19.07, Z:-5.77 [[ 9.82005682e-01 1.86176730e-01 3.16712115e-02 1.36294783e+02] [-1.86081239e-01 9.82516271e-01 -5.96227885e-03 -1.90683204e+01] [-3.22275182e-02 -3.84265674e-05 9.99480558e-01 -5.76807799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.32, Y:-19.07, Z:-5.77 [[ 9.81845906e-01 1.86890386e-01 3.24129693e-02 1.36323459e+02] [-1.86790810e-01 9.82380771e-01 -6.10031499e-03 -1.90736471e+01] [-3.29819680e-02 -6.48754949e-05 9.99455945e-01 -5.76702923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.35, Y:-19.08, Z:-5.76 [[ 9.81388333e-01 1.89066790e-01 3.36257178e-02 1.36352375e+02] [-1.88960955e-01 9.81964219e-01 -6.32688626e-03 -1.90776146e+01] [-3.42154558e-02 -1.44815392e-04 9.99414469e-01 -5.76454450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.38, Y:-19.08, Z:-5.76 [[ 9.81126886e-01 1.90388212e-01 3.37988665e-02 1.36381549e+02] [-1.90282132e-01 9.81708863e-01 -6.35759378e-03 -1.90820865e+01] [-3.43910577e-02 -1.93714183e-04 9.99408434e-01 -5.76460159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.41, Y:-19.08, Z:-5.77 [[ 9.80836495e-01 1.91863118e-01 3.38867827e-02 1.36409396e+02] [-1.91757387e-01 9.81421664e-01 -6.37351807e-03 -1.90846642e+01] [-3.44800658e-02 -2.46661772e-04 9.99405355e-01 -5.76651887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.44, Y:-19.09, Z:-5.77 [[ 9.80245553e-01 1.94938095e-01 3.34334456e-02 1.36438680e+02] [-1.94837035e-01 9.80815485e-01 -6.28606974e-03 -1.90862595e+01] [-3.40174356e-02 -3.52181518e-04 9.99421178e-01 -5.76871452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264000000002 meters Centerline goodness [0,1] 0.999978807722466 Centerline is valid? [True, True] Translation: X:136.47, Y:-19.09, Z:-5.77 [[ 9.79944585e-01 1.96550027e-01 3.28130629e-02 1.36466723e+02] [-1.96453637e-01 9.80493715e-01 -6.16789682e-03 -1.90881659e+01] [-3.33853023e-02 -4.02048480e-04 9.99442475e-01 -5.77246289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.49, Y:-19.09, Z:-5.78 [[ 9.79651088e-01 1.98068845e-01 3.24419124e-02 1.36494471e+02] [-1.97975521e-01 9.80188007e-01 -6.09618397e-03 -1.90898326e+01] [-3.30066376e-02 -4.50571268e-04 9.99455031e-01 -5.77528605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.52, Y:-19.09, Z:-5.77 [[ 9.79144438e-01 2.00461511e-01 3.30356036e-02 1.36523324e+02] [-2.00366189e-01 9.79701428e-01 -6.20509225e-03 -1.90927433e+01] [-3.36089102e-02 -5.43536443e-04 9.99434913e-01 -5.77363515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.55, Y:-19.10, Z:-5.77 [[ 9.79045420e-01 2.00871201e-01 3.34787326e-02 1.36552051e+02] [-2.00773601e-01 9.79617497e-01 -6.28661750e-03 -1.90971588e+01] [-3.40591527e-02 -5.66761640e-04 9.99419658e-01 -5.77374250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264000000003 meters Centerline goodness [0,1] 0.999891497764854 Centerline is valid? [True, True] Translation: X:136.58, Y:-19.10, Z:-5.78 [[ 9.79251630e-01 2.00174902e-01 3.15634877e-02 1.36579251e+02] [-2.00087835e-01 9.79760045e-01 -5.92560342e-03 -1.91019277e+01] [-3.21108012e-02 -5.12813107e-04 9.99484184e-01 -5.77925933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39264000000003 meters Centerline goodness [0,1] 0.9998704523372558 Centerline is valid? [True, True] Translation: X:136.61, Y:-19.11, Z:-5.78 [[ 9.79379386e-01 1.99561698e-01 3.14824890e-02 1.36607207e+02] [-1.99474827e-01 9.79885139e-01 -5.90831771e-03 -1.91079191e+01] [-3.20282970e-02 -4.93479455e-04 9.99486841e-01 -5.78022114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.64, Y:-19.11, Z:-5.78 [[ 9.79514528e-01 1.98774323e-01 3.22499321e-02 1.36635967e+02] [-1.98682796e-01 9.80045171e-01 -6.05055432e-03 -1.91136693e+01] [-3.28090851e-02 -4.80900831e-04 9.99461521e-01 -5.77956713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.66, Y:-19.12, Z:-5.78 [[ 9.79834316e-01 1.97173323e-01 3.23634558e-02 1.36662579e+02] [-1.97080310e-01 9.80368551e-01 -6.07083958e-03 -1.91212119e+01] [-3.29251219e-02 -4.29782969e-04 9.99457729e-01 -5.78071242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.69, Y:-19.13, Z:-5.78 [[ 9.80494411e-01 1.93834232e-01 3.25422914e-02 1.36689814e+02] [-1.93738424e-01 9.81034244e-01 -6.10213441e-03 -1.91324859e+01] [-3.31079047e-02 -3.21583554e-04 9.99451731e-01 -5.78128850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51264000000003 meters Centerline goodness [0,1] 0.9997861374280888 Centerline is valid? [True, True] Translation: X:136.72, Y:-19.14, Z:-5.79 [[ 9.80813126e-01 1.92387680e-01 3.15054319e-02 1.36716902e+02] [-1.92297181e-01 9.81318964e-01 -5.90630134e-03 -1.91389973e+01] [-3.20531774e-02 -2.65427853e-04 9.99486130e-01 -5.78525652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.74, Y:-19.14, Z:-5.79 [[ 9.80994686e-01 1.91400403e-01 3.18639408e-02 1.36744216e+02] [-1.91307377e-01 9.81512012e-01 -5.97147240e-03 -1.91449560e+01] [-3.24177828e-02 -2.37824231e-04 9.99474377e-01 -5.78509477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.77, Y:-19.15, Z:-5.79 [[ 9.81097358e-01 1.90853504e-01 3.19830386e-02 1.36772184e+02] [-1.90759559e-01 9.81618506e-01 -5.99168498e-03 -1.91524412e+01] [-3.25386766e-02 -2.22644040e-04 9.99470452e-01 -5.78519391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.80, Y:-19.16, Z:-5.79 [[ 9.80953143e-01 1.91510606e-01 3.24749134e-02 1.36800388e+02] [-1.91414162e-01 9.81490512e-01 -6.08217596e-03 -1.91573045e+01] [-3.30386206e-02 -2.49828729e-04 9.99454045e-01 -5.78517876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.83, Y:-19.15, Z:-5.79 [[ 9.80294677e-01 1.94780396e-01 3.29081119e-02 1.36829448e+02] [-1.94683256e-01 9.80846809e-01 -6.16170143e-03 -1.91545613e+01] [-3.34779952e-02 -3.66375271e-04 9.99439388e-01 -5.78770624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.86, Y:-19.16, Z:-5.79 [[ 9.79905599e-01 1.96751042e-01 3.27726050e-02 1.36857726e+02] [-1.96655875e-01 9.80453384e-01 -6.13415780e-03 -1.91585277e+01] [-3.33389134e-02 -4.34029724e-04 9.99444010e-01 -5.78739878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:136.89, Y:-19.16, Z:-5.79 [[ 9.79448257e-01 1.99057195e-01 3.25168417e-02 1.36885315e+02] [-1.98964823e-01 9.79987741e-01 -6.08490247e-03 -1.91593894e+01] [-3.30773498e-02 -5.09860520e-04 9.99452665e-01 -5.78907941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters Centerline goodness [0,1] 0.9999785835135888 Centerline is valid? [True, True] Translation: X:136.92, Y:-19.16, Z:-5.79 [[ 9.78619994e-01 2.03259717e-01 3.14387319e-02 1.36915534e+02] [-2.03175617e-01 9.79124653e-01 -5.88062456e-03 -1.91565352e+01] [-3.19777316e-02 -6.32686983e-04 9.99488381e-01 -5.79277793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75264 meters Centerline goodness [0,1] 0.9999572393739844 Centerline is valid? [True, True] Translation: X:136.94, Y:-19.16, Z:-5.80 [[ 9.78380478e-01 2.04421599e-01 3.13600234e-02 1.36943095e+02] [-2.04338545e-01 9.78882711e-01 -5.86498604e-03 -1.91579977e+01] [-3.18967145e-02 -6.69873690e-04 9.99490946e-01 -5.79508264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:136.97, Y:-19.16, Z:-5.80 [[ 9.78295502e-01 2.04910340e-01 3.08166019e-02 1.36971174e+02] [-2.04830442e-01 9.78780515e-01 -5.76141349e-03 -1.91626598e+01] [-3.13432627e-02 -6.75813300e-04 9.99508451e-01 -5.79661592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81264000000002 meters Centerline goodness [0,1] 0.999871512088571 Centerline is valid? [True, True] Translation: X:137.00, Y:-19.17, Z:-5.80 [[ 9.78512330e-01 2.04048387e-01 2.96289581e-02 1.36999354e+02] [-2.03974177e-01 9.78960605e-01 -5.53801593e-03 -1.91694646e+01] [-3.01356060e-02 -6.24525467e-04 9.99545624e-01 -5.80062433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters Centerline goodness [0,1] 0.9999148174964863 Centerline is valid? [True, True] Translation: X:137.03, Y:-19.18, Z:-5.80 [[ 9.78580781e-01 2.03581193e-01 3.05671856e-02 1.37027757e+02] [-2.03502027e-01 9.79057863e-01 -5.71185988e-03 -1.91768011e+01] [-3.10898706e-02 -6.30967917e-04 9.99516394e-01 -5.79887206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87264000000002 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:137.06, Y:-19.18, Z:-5.80 [[ 9.78656712e-01 2.03560287e-01 2.81824357e-02 1.37055374e+02] [-2.03357316e-01 9.79054334e-01 -9.92029475e-03 -1.91788255e+01] [-2.96115139e-02 3.97745855e-03 9.99553569e-01 -5.80096378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters Centerline goodness [0,1] 0.999978458953536 Centerline is valid? [True, True] Translation: X:137.08, Y:-19.19, Z:-5.80 [[ 9.78682144e-01 2.03325834e-01 2.89804497e-02 1.37081925e+02] [-2.03250907e-01 9.79111018e-01 -5.53929925e-03 -1.91863518e+01] [-2.95013603e-02 -4.69089414e-04 9.99564630e-01 -5.80230353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.11, Y:-19.20, Z:-5.80 [[ 9.79012603e-01 2.01484148e-01 3.06343309e-02 1.37109490e+02] [-2.01548825e-01 9.79477965e-01 -9.93760932e-04 -1.91951047e+01] [-3.02058791e-02 -5.20140892e-03 9.99530165e-01 -5.80460949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.14, Y:-19.20, Z:-5.80 [[ 9.79080212e-01 2.01267368e-01 2.98895447e-02 1.37137547e+02] [-2.01190783e-01 9.79536188e-01 -5.57905821e-03 -1.92008387e+01] [-3.04007730e-02 -5.51155405e-04 9.99537638e-01 -5.80341595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.17, Y:-19.21, Z:-5.80 [[ 9.79184404e-01 2.00658035e-01 3.05655912e-02 1.37165794e+02] [-2.00577703e-01 9.79661194e-01 -5.70351875e-03 -1.92061500e+01] [-3.10883804e-02 -5.45979451e-04 9.99516490e-01 -5.80286290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264000000002 meters Centerline goodness [0,1] 0.9999785614749706 Centerline is valid? [True, True] Translation: X:137.19, Y:-19.21, Z:-5.80 [[ 9.79324903e-01 2.00006358e-01 3.03346507e-02 1.37193143e+02] [-1.99926951e-01 9.79794460e-01 -5.65953447e-03 -1.92110435e+01] [-3.08536656e-02 -5.22191178e-04 9.99523776e-01 -5.80494508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.22, Y:-19.22, Z:-5.80 [[ 9.79454459e-01 1.99331434e-01 3.05931599e-02 1.37221468e+02] [-1.99250403e-01 9.79931999e-01 -5.70565770e-03 -1.92190182e+01] [-3.11165333e-02 -5.07267579e-04 9.99515635e-01 -5.80390888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.25, Y:-19.22, Z:-5.81 [[ 9.79561819e-01 1.98836080e-01 3.03785422e-02 1.37249391e+02] [-1.98755993e-01 9.80032639e-01 -5.66404908e-03 -1.92234554e+01] [-3.08981802e-02 -4.89631106e-04 9.99522417e-01 -5.80612526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.28, Y:-19.23, Z:-5.81 [[ 9.79716418e-01 1.98064590e-01 3.04328500e-02 1.37277851e+02] [-1.97983894e-01 9.80188859e-01 -5.67257902e-03 -1.92292350e+01] [-3.09534776e-02 -4.67695360e-04 9.99520717e-01 -5.80663838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.31, Y:-19.23, Z:-5.81 [[ 9.79754340e-01 1.97837738e-01 3.06865102e-02 1.37305763e+02] [-1.97755629e-01 9.80234672e-01 -5.71828587e-03 -1.92347068e+01] [-3.12112740e-02 -4.65914737e-04 9.99512701e-01 -5.80713415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17264000000003 meters Centerline goodness [0,1] 0.9998061806826747 Centerline is valid? [True, True] Translation: X:137.33, Y:-19.24, Z:-5.81 [[ 9.79829865e-01 1.97522406e-01 3.03040248e-02 1.37333594e+02] [-1.97442223e-01 9.80298268e-01 -5.64566143e-03 -1.92392995e+01] [-3.08221277e-02 -4.51506348e-04 9.99524783e-01 -5.80953706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.36, Y:-19.24, Z:-5.81 [[ 9.79785596e-01 1.97471987e-01 3.20156385e-02 1.37361147e+02] [-1.97382541e-01 9.80308414e-01 -5.96209639e-03 -1.92444709e+01] [-3.25625468e-02 -4.77751905e-04 9.99469585e-01 -5.80765023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.39, Y:-19.25, Z:-5.81 [[ 9.79833111e-01 1.97280392e-01 3.17414783e-02 1.37389623e+02] [-1.97192439e-01 9.80346993e-01 -5.90893117e-03 -1.92504731e+01] [-3.22833791e-02 -4.69413097e-04 9.99478646e-01 -5.80830889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.42, Y:-19.25, Z:-5.81 [[ 9.79937224e-01 1.96866119e-01 3.10929120e-02 1.37417507e+02] [-1.96781560e-01 9.80430278e-01 -5.78677611e-03 -1.92539941e+01] [-3.16236525e-02 -4.47834416e-04 9.99499747e-01 -5.81190118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.45, Y:-19.26, Z:-5.81 [[ 9.79977500e-01 1.96789563e-01 3.02979666e-02 1.37445859e+02] [-1.96709299e-01 9.80445653e-01 -5.63682516e-03 -1.92599175e+01] [-3.08147780e-02 -4.35929949e-04 9.99525017e-01 -5.81330267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.47, Y:-19.27, Z:-5.81 [[ 9.80040010e-01 1.96594583e-01 2.95321648e-02 1.37474061e+02] [-1.96518279e-01 9.80484775e-01 -5.49294146e-03 -1.92656483e+01] [-3.00357205e-02 -4.20307819e-04 9.99548738e-01 -5.81438885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.50, Y:-19.27, Z:-5.82 [[ 9.80207478e-01 1.95769764e-01 2.94533434e-02 1.37501397e+02] [-1.95693535e-01 9.80649807e-01 -5.47693614e-03 -1.92715779e+01] [-2.99556340e-02 -3.95295129e-04 9.99551151e-01 -5.81593960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264000000004 meters Centerline goodness [0,1] 0.999934943834844 Centerline is valid? [True, True] Translation: X:137.53, Y:-19.28, Z:-5.82 [[ 9.80390845e-01 1.94991369e-01 2.84983787e-02 1.37529799e+02] [-1.94919730e-01 9.80804892e-01 -5.29748797e-03 -1.92778395e+01] [-2.89843137e-02 -3.61287570e-04 9.99579801e-01 -5.81916664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.56, Y:-19.28, Z:-5.82 [[ 9.80566467e-01 1.94133606e-01 2.83115901e-02 1.37556634e+02] [-1.94062582e-01 9.80975041e-01 -5.26150714e-03 -1.92833660e+01] [-2.87943986e-02 -3.34962810e-04 9.99585299e-01 -5.82030414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.58, Y:-19.29, Z:-5.82 [[ 9.80685631e-01 1.93558567e-01 2.81207123e-02 1.37584510e+02] [-1.93488316e-01 9.81088671e-01 -5.22411674e-03 -1.92897527e+01] [-2.86000848e-02 -3.17813054e-04 9.99590883e-01 -5.82108700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.61, Y:-19.30, Z:-5.82 [[ 9.80842037e-01 1.92733716e-01 2.83304271e-02 1.37611258e+02] [-1.92662106e-01 9.81251052e-01 -5.26181223e-03 -1.92960993e+01] [-2.88133901e-02 -2.97193132e-04 9.99584764e-01 -5.82224624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.64, Y:-19.31, Z:-5.82 [[ 9.81043094e-01 1.91642198e-01 2.87700616e-02 1.37639330e+02] [-1.91567935e-01 9.81464821e-01 -5.34152501e-03 -1.93051978e+01] [-2.92604650e-02 -2.71155076e-04 9.99571784e-01 -5.82064758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.67, Y:-19.31, Z:-5.82 [[ 9.81096421e-01 1.91311268e-01 2.91515293e-02 1.37667834e+02] [-1.91234921e-01 9.81529382e-01 -5.41084557e-03 -1.93106967e+01] [-2.96482383e-02 -2.66229183e-04 9.99560359e-01 -5.82123094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.69, Y:-19.32, Z:-5.82 [[ 9.81126771e-01 1.91105921e-01 2.94751866e-02 1.37694984e+02] [-1.91027817e-01 9.81569385e-01 -5.46954900e-03 -1.93152228e+01] [-2.99772040e-02 -2.64259617e-04 9.99550548e-01 -5.82354684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59264000000002 meters Centerline goodness [0,1] 0.9999143670655735 Centerline is valid? [True, True] Translation: X:137.72, Y:-19.32, Z:-5.83 [[ 9.81241184e-01 1.90618420e-01 2.88159268e-02 1.37721894e+02] [-1.90543611e-01 9.81664178e-01 -5.34549218e-03 -1.93201307e+01] [-2.93065124e-02 -2.45473687e-04 9.99570442e-01 -5.82646233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters Centerline goodness [0,1] 0.999956934605198 Centerline is valid? [True, True] Translation: X:137.75, Y:-19.32, Z:-5.82 [[ 9.81126730e-01 1.91100955e-01 2.95087085e-02 1.37749971e+02] [-1.91022790e-01 9.81570351e-01 -5.47181117e-03 -1.93248884e+01] [-3.00105417e-02 -2.68295632e-04 9.99549546e-01 -5.82438453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65264000000002 meters Centerline goodness [0,1] 0.9999786068800274 Centerline is valid? [True, True] Translation: X:137.78, Y:-19.33, Z:-5.83 [[ 9.81044966e-01 1.91618500e-01 2.88639147e-02 1.37777299e+02] [-1.91543974e-01 9.81469446e-01 -5.35102849e-03 -1.93281071e+01] [-2.93544064e-02 -2.79109366e-04 9.99569028e-01 -5.82709309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.81, Y:-19.33, Z:-5.83 [[ 9.80956343e-01 1.92050676e-01 2.90033023e-02 1.37805749e+02] [-1.91975673e-01 9.81384966e-01 -5.37498120e-03 -1.93339690e+01] [-2.94956736e-02 -2.95306572e-04 9.99564864e-01 -5.82703866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71264000000002 meters Centerline goodness [0,1] 0.9999572100984168 Centerline is valid? [True, True] Translation: X:137.83, Y:-19.34, Z:-5.83 [[ 9.80954495e-01 1.92122242e-01 2.85888644e-02 1.37833795e+02] [-1.92049437e-01 9.81370958e-01 -5.29680452e-03 -1.93394146e+01] [-2.90739152e-02 -2.94551124e-04 9.99577221e-01 -5.82979823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.86, Y:-19.35, Z:-5.83 [[ 9.80848593e-01 1.92680139e-01 2.84675631e-02 1.37861967e+02] [-1.92608226e-01 9.81261569e-01 -5.27296946e-03 -1.93460969e+01] [-2.89501222e-02 -3.11102156e-04 9.99580809e-01 -5.82820690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.89, Y:-19.35, Z:-5.83 [[ 9.80637804e-01 1.93679246e-01 2.89455917e-02 1.37890205e+02] [-1.93605372e-01 9.81064844e-01 -5.36014196e-03 -1.93481561e+01] [-2.94356507e-02 -3.47664223e-04 9.99566617e-01 -5.83030065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:137.92, Y:-19.35, Z:-5.83 [[ 9.80399301e-01 1.94831758e-01 2.92881672e-02 1.37918057e+02] [-1.94756697e-01 9.80836599e-01 -5.42164461e-03 -1.93507697e+01] [-2.97832148e-02 -3.88690105e-04 9.99556306e-01 -5.83101575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83264000000003 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:137.95, Y:-19.35, Z:-5.83 [[ 9.80115178e-01 1.96261010e-01 2.92549673e-02 1.37947347e+02] [-1.96186812e-01 9.80551594e-01 -5.41359183e-03 -1.93530667e+01] [-2.97484818e-02 -4.33495242e-04 9.99557322e-01 -5.83177700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264000000003 meters Centerline goodness [0,1] 0.9999571008772871 Centerline is valid? [True, True] Translation: X:137.98, Y:-19.35, Z:-5.83 [[ 9.79521552e-01 1.99348569e-01 2.82431956e-02 1.37977159e+02] [-1.99280738e-01 9.79928511e-01 -5.22493992e-03 -1.93523618e+01] [-2.87178969e-02 -5.10383603e-04 9.99587426e-01 -5.83329218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89264000000003 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:138.01, Y:-19.36, Z:-5.83 [[ 9.79305741e-01 2.00535730e-01 2.73072698e-02 1.38005767e+02] [-2.00472802e-01 9.79686247e-01 -5.05104498e-03 -1.93567266e+01] [-2.77654717e-02 -5.27847562e-04 9.99614326e-01 -5.83368492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264000000003 meters Centerline goodness [0,1] 0.9999784733284539 Centerline is valid? [True, True] Translation: X:138.03, Y:-19.36, Z:-5.84 [[ 9.78888561e-01 2.02671006e-01 2.64886366e-02 1.38033849e+02] [-2.02612602e-01 9.79246719e-01 -4.89868381e-03 -1.93550365e+01] [-2.69317317e-02 -5.71666034e-04 9.99637112e-01 -5.83693544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95264000000003 meters Centerline goodness [0,1] 0.9998489849632171 Centerline is valid? [True, True] Translation: X:138.06, Y:-19.36, Z:-5.84 [[ 9.78816212e-01 2.03085578e-01 2.59821444e-02 1.38061661e+02] [-2.03029588e-01 9.79160824e-01 -4.80290493e-03 -1.93563203e+01] [-2.64160986e-02 -5.73982864e-04 9.99650869e-01 -5.84022266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264000000003 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:138.09, Y:-19.36, Z:-5.84 [[ 9.78778485e-01 2.03164649e-01 2.67731872e-02 1.38089980e+02] [-2.03105280e-01 9.79144407e-01 -4.94718941e-03 -1.93600029e+01] [-2.72199105e-02 -5.95573123e-04 9.99629292e-01 -5.83854713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01264000000003 meters Centerline goodness [0,1] 0.9999785006342313 Centerline is valid? [True, True] Translation: X:138.12, Y:-19.36, Z:-5.84 [[ 9.79098297e-01 2.01449060e-01 2.80142922e-02 1.38118254e+02] [-2.01383399e-01 9.79498824e-01 -5.17501373e-03 -1.93642201e+01] [-2.84824679e-02 -5.74766249e-04 9.99594127e-01 -5.83750895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264000000003 meters Centerline goodness [0,1] 0.9998932171535965 Centerline is valid? [True, True] Translation: X:138.15, Y:-19.37, Z:-5.84 [[ 9.79441040e-01 1.99736760e-01 2.82926982e-02 1.38146779e+02] [-1.99669115e-01 9.79849450e-01 -5.22500246e-03 -1.93698009e+01] [-2.87662098e-02 -5.31596154e-04 9.99586026e-01 -5.83990682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.17, Y:-19.37, Z:-5.84 [[ 9.79798452e-01 1.97936183e-01 2.85702827e-02 1.38174297e+02] [-1.97866476e-01 9.80214789e-01 -5.27495599e-03 -1.93745879e+01] [-2.90491183e-02 -4.84707440e-04 9.99577868e-01 -5.83943665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264000000004 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:138.20, Y:-19.38, Z:-5.84 [[ 9.80739016e-01 1.93065310e-01 2.96102830e-02 1.38202582e+02] [-1.92988284e-01 9.81185844e-01 -5.46462115e-03 -1.93839927e+01] [-3.01082193e-02 -3.55070538e-04 9.99546582e-01 -5.83851675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.23, Y:-19.39, Z:-5.84 [[ 9.81209515e-01 1.90551707e-01 3.02974498e-02 1.38230182e+02] [-1.90469880e-01 9.81677119e-01 -5.59095083e-03 -1.93935411e+01] [-3.08076784e-02 -2.84857484e-04 9.99525290e-01 -5.83733371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.26, Y:-19.40, Z:-5.84 [[ 9.81737218e-01 1.87764267e-01 3.06041634e-02 1.38257067e+02] [-1.87679466e-01 9.82214101e-01 -5.64609890e-03 -1.94018191e+01] [-3.11199764e-02 -2.00787602e-04 9.99515636e-01 -5.83825142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.28, Y:-19.41, Z:-5.84 [[ 9.82678113e-01 1.82790916e-01 3.05156810e-02 1.38283769e+02] [-1.82704269e-01 9.83151809e-01 -5.62772646e-03 -1.94141381e+01] [-3.10302442e-02 -4.51015532e-05 9.99518445e-01 -5.83932029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.31, Y:-19.42, Z:-5.84 [[ 9.83120340e-01 1.80523695e-01 2.97589225e-02 1.38310452e+02] [-1.80440291e-01 9.83570636e-01 -5.48692017e-03 -1.94230741e+01] [-3.02605214e-02 2.45941882e-05 9.99542045e-01 -5.84125232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25264 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:138.34, Y:-19.43, Z:-5.84 [[ 9.83828533e-01 1.76780312e-01 2.88121157e-02 1.38338686e+02] [-1.76700595e-01 9.84250326e-01 -5.30998760e-03 -1.94348092e+01] [-2.92970355e-02 1.32999314e-04 9.99570741e-01 -5.84360071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.37, Y:-19.44, Z:-5.85 [[ 9.84019250e-01 1.75840020e-01 2.80428933e-02 1.38366477e+02] [-1.75764141e-01 9.84418744e-01 -5.16756935e-03 -1.94421951e+01] [-2.85146153e-02 1.56052658e-04 9.99593364e-01 -5.84572901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.39, Y:-19.45, Z:-5.85 [[ 9.84181373e-01 1.74998789e-01 2.76124708e-02 1.38394281e+02] [-1.74924908e-01 9.84568633e-01 -5.08761554e-03 -1.94490875e+01] [-2.80766992e-02 1.77027522e-04 9.99605756e-01 -5.84860134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters Centerline goodness [0,1] 0.9999140228699166 Centerline is valid? [True, True] Translation: X:138.42, Y:-19.46, Z:-5.85 [[ 9.84382208e-01 1.73947884e-01 2.70887762e-02 1.38422897e+02] [-1.73876413e-01 9.84754839e-01 -4.99000592e-03 -1.94565984e+01] [-2.75438044e-02 2.01973821e-04 9.99620577e-01 -5.85013228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.45, Y:-19.46, Z:-5.85 [[ 9.84388071e-01 1.73903860e-01 2.71582868e-02 1.38452114e+02] [-1.73832024e-01 9.84762614e-01 -5.00212605e-03 -1.94636365e+01] [-2.76143546e-02 2.03053245e-04 9.99618630e-01 -5.84941936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.48, Y:-19.47, Z:-5.85 [[ 9.84387008e-01 1.73927265e-01 2.70467232e-02 1.38481367e+02] [-1.73856046e-01 9.84758481e-01 -4.98089955e-03 -1.94702453e+01] [-2.75008043e-02 2.00896464e-04 9.99621761e-01 -5.85099525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.51, Y:-19.48, Z:-5.85 [[ 9.84353559e-01 1.74172756e-01 2.66818533e-02 1.38510393e+02] [-1.74103553e-01 9.84715093e-01 -4.91304966e-03 -1.94770709e+01] [-2.71297430e-02 1.90772467e-04 9.99631903e-01 -5.85279201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.54, Y:-19.49, Z:-5.86 [[ 9.84208027e-01 1.75100234e-01 2.59705072e-02 1.38538288e+02] [-1.75035007e-01 9.84550599e-01 -4.78162356e-03 -1.94851360e+01] [-2.64065419e-02 1.60364363e-04 9.99651274e-01 -5.85561741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.57, Y:-19.49, Z:-5.86 [[ 9.84053694e-01 1.75917921e-01 2.62909267e-02 1.38566098e+02] [-1.75851394e-01 9.84404828e-01 -4.83960279e-03 -1.94899833e+01] [-2.67322880e-02 1.39132902e-04 9.99642619e-01 -5.85719955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.60, Y:-19.49, Z:-5.86 [[ 9.83675359e-01 1.78048386e-01 2.61066930e-02 1.38595383e+02] [-1.77983558e-01 9.84021730e-01 -4.80490597e-03 -1.94924273e+01] [-2.65450590e-02 7.99054828e-05 9.99647615e-01 -5.85770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.62, Y:-19.50, Z:-5.86 [[ 9.83539680e-01 1.78875294e-01 2.55602667e-02 1.38623269e+02] [-1.78813463e-01 9.83871753e-01 -4.70311226e-03 -1.94978426e+01] [-2.59892950e-02 5.51777185e-05 9.99662220e-01 -5.85968302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.65, Y:-19.50, Z:-5.86 [[ 9.83363152e-01 1.79747115e-01 2.62275985e-02 1.38650261e+02] [-1.79682353e-01 9.83712851e-01 -4.82476750e-03 -1.95035304e+01] [-2.66676638e-02 3.18619608e-05 9.99644354e-01 -5.86156682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.68, Y:-19.51, Z:-5.86 [[ 9.82883155e-01 1.82320134e-01 2.64588662e-02 1.38679009e+02] [-1.82255213e-01 9.83239222e-01 -4.86519335e-03 -1.95087965e+01] [-2.69024177e-02 -4.03497029e-05 9.99638064e-01 -5.85995316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.71, Y:-19.51, Z:-5.86 [[ 9.82619337e-01 1.83651430e-01 2.70442376e-02 1.38706361e+02] [-1.83584128e-01 9.82991427e-01 -4.97210898e-03 -1.95128127e+01] [-2.74973886e-02 -7.92023478e-05 9.99621872e-01 -5.86250626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.74, Y:-19.52, Z:-5.86 [[ 9.82363060e-01 1.85012942e-01 2.70745360e-02 1.38735222e+02] [-1.84946058e-01 9.82736077e-01 -4.97576522e-03 -1.95172622e+01] [-2.75277042e-02 -1.19320763e-04 9.99621034e-01 -5.86189628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264000000003 meters Centerline goodness [0,1] 0.9998919386211368 Centerline is valid? [True, True] Translation: X:138.76, Y:-19.54, Z:-5.87 [[ 9.81623842e-01 1.85310393e-01 4.55487676e-02 1.38760876e+02] [-1.86654059e-01 9.82048241e-01 2.72307816e-02 -1.95391709e+01] [-3.96849403e-02 -3.52322468e-02 9.98590904e-01 -5.86547196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73264000000003 meters Centerline goodness [0,1] 0.9999356430333584 Centerline is valid? [True, True] Translation: X:138.80, Y:-19.50, Z:-5.86 [[ 9.81429697e-01 1.90663861e-01 2.10485388e-02 1.38798464e+02] [-1.89740776e-01 9.81039202e-01 -3.95034517e-02 -1.95041476e+01] [-2.81813223e-02 3.47760946e-02 9.98997716e-01 -5.86285058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.82, Y:-19.53, Z:-5.87 [[ 9.81125071e-01 1.91349377e-01 2.79107723e-02 1.38822412e+02] [-1.91280916e-01 9.81521941e-01 -5.12742056e-03 -1.95274680e+01] [-2.83761642e-02 -3.08157224e-04 9.99597268e-01 -5.86583965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.85, Y:-19.53, Z:-5.87 [[ 9.81039879e-01 1.91869434e-01 2.73290334e-02 1.38850990e+02] [-1.91804051e-01 9.81420409e-01 -5.01866512e-03 -1.95326544e+01] [-2.77841996e-02 -3.18308698e-04 9.99613894e-01 -5.86761922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.88, Y:-19.54, Z:-5.87 [[ 9.81048940e-01 1.91823067e-01 2.73292703e-02 1.38878850e+02] [-1.91757702e-01 9.81429473e-01 -5.01737435e-03 -1.95376763e+01] [-2.77841995e-02 -3.18308284e-04 9.99613894e-01 -5.86879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.91, Y:-19.54, Z:-5.87 [[ 9.81003146e-01 1.92065505e-01 2.72703012e-02 1.38907236e+02] [-1.92000553e-01 9.81382054e-01 -5.00521841e-03 -1.95427847e+01] [-2.77239140e-02 -3.25777899e-04 9.99615565e-01 -5.87063472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.93, Y:-19.55, Z:-5.87 [[ 9.80974132e-01 1.92274549e-01 2.68374613e-02 1.38934840e+02] [-1.92211749e-01 9.81341118e-01 -4.92471160e-03 -1.95495310e+01] [-2.72836010e-02 -3.27460697e-04 9.99627680e-01 -5.87061777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:138.96, Y:-19.55, Z:-5.87 [[ 9.80840391e-01 1.92926732e-01 2.70444567e-02 1.38961882e+02] [-1.92863256e-01 9.81213103e-01 -4.96093952e-03 -1.95537328e+01] [-2.74934731e-02 -3.49992115e-04 9.99621922e-01 -5.87246502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters Centerline goodness [0,1] 0.999957179865973 Centerline is valid? [True, True] Translation: X:138.99, Y:-19.56, Z:-5.88 [[ 9.80787353e-01 1.93275689e-01 2.64702842e-02 1.38989525e+02] [-1.93215051e-01 9.81144425e-01 -4.85398631e-03 -1.95560429e+01] [-2.69093293e-02 -3.53728923e-04 9.99637816e-01 -5.87732581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.02, Y:-19.56, Z:-5.88 [[ 9.80522828e-01 1.94654499e-01 2.61650618e-02 1.39018199e+02] [-1.94595791e-01 9.80871793e-01 -4.79618739e-03 -1.95591669e+01] [-2.65981705e-02 -3.88839676e-04 9.99646130e-01 -5.87859803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.05, Y:-19.56, Z:-5.88 [[ 9.80400638e-01 1.95296291e-01 2.59605191e-02 1.39046436e+02] [-1.95238755e-01 9.80744205e-01 -4.75746357e-03 -1.95641603e+01] [-2.63897437e-02 -4.04279115e-04 9.99651648e-01 -5.87915434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03264000000001 meters Centerline goodness [0,1] 0.9999146957838391 Centerline is valid? [True, True] Translation: X:139.07, Y:-19.57, Z:-5.88 [[ 9.80277985e-01 1.95911970e-01 2.59532724e-02 1.39073767e+02] [-1.95854706e-01 9.80621396e-01 -4.75520287e-03 -1.95661293e+01] [-2.63819353e-02 -4.21649835e-04 9.99651847e-01 -5.88280251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.10, Y:-19.57, Z:-5.88 [[ 9.80209993e-01 1.96168227e-01 2.65781255e-02 1.39101923e+02] [-1.96108330e-01 9.80570157e-01 -4.86730591e-03 -1.95726535e+01] [-2.70165275e-02 -4.41209932e-04 9.99634890e-01 -5.88041443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09264000000002 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:139.13, Y:-19.57, Z:-5.88 [[ 9.80277882e-01 1.95853405e-01 2.63954014e-02 1.39129503e+02] [-1.95794246e-01 9.80633091e-01 -4.83269886e-03 -1.95747787e+01] [-2.68307046e-02 -4.30679902e-04 9.99639899e-01 -5.88414911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.16, Y:-19.58, Z:-5.88 [[ 9.80305723e-01 1.95667519e-01 2.67378414e-02 1.39157163e+02] [-1.95606793e-01 9.80670197e-01 -4.89365603e-03 -1.95795617e+01] [-2.71785338e-02 -4.32824417e-04 9.99630502e-01 -5.88465688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.19, Y:-19.59, Z:-5.88 [[ 9.80504770e-01 1.94507238e-01 2.78806339e-02 1.39185347e+02] [-1.94440796e-01 9.80900993e-01 -5.10086008e-03 -1.95856623e+01] [-2.83402957e-02 -4.19714994e-04 9.99598245e-01 -5.88423864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.21, Y:-19.59, Z:-5.88 [[ 9.80642817e-01 1.93806267e-01 2.79069238e-02 1.39212958e+02] [-1.93739453e-01 9.81039739e-01 -5.10434407e-03 -1.95930186e+01] [-2.83670552e-02 -4.01133806e-04 9.99597494e-01 -5.88357948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.24, Y:-19.60, Z:-5.89 [[ 9.80930518e-01 1.92428316e-01 2.73251229e-02 1.39241564e+02] [-1.92363766e-01 9.81310969e-01 -4.99642854e-03 -1.95993280e+01] [-2.77758972e-02 -3.55214319e-04 9.99614112e-01 -5.88501877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264000000002 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:139.27, Y:-19.60, Z:-5.89 [[ 9.81072055e-01 1.91658904e-01 2.76493645e-02 1.39269402e+02] [-1.91592529e-01 9.81461538e-01 -5.05497483e-03 -1.96027626e+01] [-2.81056188e-02 -3.38117129e-04 9.99604902e-01 -5.88876448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.30, Y:-19.61, Z:-5.89 [[ 9.81254116e-01 1.90779339e-01 2.72691120e-02 1.39297779e+02] [-1.90714489e-01 9.81632899e-01 -4.98360151e-03 -1.96102075e+01] [-2.77190256e-02 -3.10435259e-04 9.99615706e-01 -5.88842732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.33, Y:-19.62, Z:-5.89 [[ 9.81643398e-01 1.88882418e-01 2.64513008e-02 1.39325055e+02] [-1.88820739e-01 9.81999679e-01 -4.83309185e-03 -1.96157463e+01] [-2.68880550e-02 -2.50181470e-04 9.99638420e-01 -5.89261035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.35, Y:-19.62, Z:-5.90 [[ 9.81845729e-01 1.87807909e-01 2.65923654e-02 1.39352246e+02] [-1.87745226e-01 9.82205752e-01 -4.85703508e-03 -1.96213888e+01] [-2.70313639e-02 -2.23730514e-04 9.99634561e-01 -5.89532994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.38, Y:-19.63, Z:-5.90 [[ 9.82056342e-01 1.86710705e-01 2.65415571e-02 1.39380188e+02] [-1.86647913e-01 9.82414920e-01 -4.84582950e-03 -1.96286242e+01] [-2.69795900e-02 -1.95048658e-04 9.99635966e-01 -5.89593391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.41, Y:-19.64, Z:-5.90 [[ 9.82251044e-01 1.85644146e-01 2.68167263e-02 1.39407561e+02] [-1.85579680e-01 9.82617027e-01 -4.89488672e-03 -1.96350628e+01] [-2.72592789e-02 -1.68631881e-04 9.99628383e-01 -5.89697567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.44, Y:-19.64, Z:-5.90 [[ 9.82424732e-01 1.84645536e-01 2.73435761e-02 1.39435482e+02] [-1.84578176e-01 9.82805171e-01 -4.98917821e-03 -1.96421163e+01] [-2.77946375e-02 -1.45535341e-04 9.99613644e-01 -5.89510145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.46, Y:-19.65, Z:-5.90 [[ 9.82430505e-01 1.84637913e-01 2.71872027e-02 1.39463023e+02] [-1.84571353e-01 9.82806603e-01 -4.95943215e-03 -1.96461225e+01] [-2.76354615e-02 -1.45681353e-04 9.99618057e-01 -5.89843902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.49, Y:-19.65, Z:-5.90 [[ 9.82227358e-01 1.85678636e-01 2.74383236e-02 1.39491603e+02] [-1.85611300e-01 9.82610509e-01 -5.00329735e-03 -1.96499930e+01] [-2.78901905e-02 -1.78487389e-04 9.99610977e-01 -5.89811314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.52, Y:-19.65, Z:-5.90 [[ 9.82019159e-01 1.86647582e-01 2.83028666e-02 1.39518997e+02] [-1.86576374e-01 9.82426911e-01 -5.15965599e-03 -1.96521327e+01] [-2.87685351e-02 -2.13765205e-04 9.99586077e-01 -5.89916619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.55, Y:-19.65, Z:-5.90 [[ 9.81712027e-01 1.88205442e-01 2.86392653e-02 1.39546978e+02] [-1.88133254e-01 9.82129646e-01 -5.21893665e-03 -1.96535074e+01] [-2.91097038e-02 -2.64505283e-04 9.99576188e-01 -5.89994879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.58, Y:-19.65, Z:-5.90 [[ 9.81119185e-01 1.91280307e-01 2.85830183e-02 1.39576656e+02] [-1.91209760e-01 9.81535387e-01 -5.20681411e-03 -1.96533516e+01] [-2.90512049e-02 -3.56846841e-04 9.99577861e-01 -5.90147209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.60, Y:-19.66, Z:-5.90 [[ 9.80949569e-01 1.92213707e-01 2.81395412e-02 1.39604782e+02] [-1.92145751e-01 9.81353018e-01 -5.12481118e-03 -1.96552660e+01] [-2.85998827e-02 -3.79711976e-04 9.99590868e-01 -5.90460332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63264000000004 meters Centerline goodness [0,1] 0.9999566724436741 Centerline is valid? [True, True] Translation: X:139.63, Y:-19.66, Z:-5.91 [[ 9.80838091e-01 1.92889918e-01 2.73882909e-02 1.39632779e+02] [-1.92825856e-01 9.81220325e-01 -4.98621172e-03 -1.96599297e+01] [-2.78357376e-02 -3.90504235e-04 9.99612435e-01 -5.90597282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264000000004 meters Centerline goodness [0,1] 0.9999141612480954 Centerline is valid? [True, True] Translation: X:139.66, Y:-19.66, Z:-5.91 [[ 9.80881129e-01 1.92701981e-01 2.71690421e-02 1.39660495e+02] [-1.92638900e-01 9.81257255e-01 -4.94517069e-03 -1.96629942e+01] [-2.76127639e-02 -3.83189764e-04 9.99618621e-01 -5.90868386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69264 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:139.69, Y:-19.66, Z:-5.91 [[ 9.80944727e-01 1.92343930e-01 2.74090434e-02 1.39688823e+02] [-1.92279649e-01 9.81327504e-01 -4.98669945e-03 -1.96649922e+01] [-2.78564095e-02 -3.78524725e-04 9.99611863e-01 -5.91186187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:139.72, Y:-19.67, Z:-5.91 [[ 9.80969140e-01 1.92172817e-01 2.77336489e-02 1.39716781e+02] [-1.92106976e-01 9.81361026e-01 -5.04434125e-03 -1.96707035e+01] [-2.81861074e-02 -3.79484339e-04 9.99602621e-01 -5.90995288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.74, Y:-19.67, Z:-5.91 [[ 9.81046360e-01 1.91766253e-01 2.78162357e-02 1.39744438e+02] [-1.91699892e-01 9.81440557e-01 -5.05810798e-03 -1.96729431e+01] [-2.82699562e-02 -3.70130941e-04 9.99600256e-01 -5.91303961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.77, Y:-19.68, Z:-5.91 [[ 9.81181305e-01 1.91053727e-01 2.79592609e-02 1.39772801e+02] [-1.90986447e-01 9.81579517e-01 -5.08215646e-03 -1.96783730e+01] [-2.84152028e-02 -3.53323003e-04 9.99596144e-01 -5.91453653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81264000000002 meters Centerline goodness [0,1] 0.9999143212097845 Centerline is valid? [True, True] Translation: X:139.80, Y:-19.68, Z:-5.92 [[ 9.81398581e-01 1.89944212e-01 2.78930429e-02 1.39800680e+02] [-1.89876841e-01 9.81794832e-01 -5.06879948e-03 -1.96847759e+01] [-2.83480345e-02 -3.21730236e-04 9.99598062e-01 -5.91545529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.83, Y:-19.69, Z:-5.91 [[ 9.82049978e-01 1.86373685e-01 2.90291371e-02 1.39827775e+02] [-1.86299192e-01 9.82478904e-01 -5.27387318e-03 -1.96928532e+01] [-2.95034260e-02 -2.28897757e-04 9.99564653e-01 -5.91438121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.86, Y:-19.70, Z:-5.91 [[ 9.82411721e-01 1.84327924e-01 2.98400076e-02 1.39855851e+02] [-1.84248329e-01 9.82864785e-01 -5.41914616e-03 -1.97011276e+01] [-3.03275926e-02 -1.74138831e-04 9.99539998e-01 -5.91383855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.88, Y:-19.71, Z:-5.91 [[ 9.83266243e-01 1.79560294e-01 3.07505547e-02 1.39882056e+02] [-1.79473479e-01 9.83746970e-01 -5.58304622e-03 -1.97118903e+01] [-3.12532584e-02 -2.92881552e-05 9.99511497e-01 -5.91380558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.91, Y:-19.72, Z:-5.91 [[ 9.83677186e-01 1.77142790e-01 3.16168574e-02 1.39911233e+02] [-1.77049839e-01 9.84185160e-01 -5.73801439e-03 -1.97201886e+01] [-3.21332898e-02 4.65943245e-05 9.99483591e-01 -5.91223269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:139.94, Y:-19.73, Z:-5.91 [[ 9.84025422e-01 1.75113955e-01 3.20791365e-02 1.39939578e+02] [-1.75017225e-01 9.84548165e-01 -5.82075033e-03 -1.97293159e+01] [-3.26027496e-02 1.13364860e-04 9.99468383e-01 -5.91407735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99264000000002 meters Centerline goodness [0,1] 0.9998931692412879 Centerline is valid? [True, True] Translation: X:139.97, Y:-19.74, Z:-5.92 [[ 9.84242536e-01 1.73924645e-01 3.18880478e-02 1.39968241e+02] [-1.73828420e-01 9.84758953e-01 -5.78668449e-03 -1.97383253e+01] [-3.24084876e-02 1.52452045e-04 9.99474695e-01 -5.91709555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.00, Y:-19.75, Z:-5.92 [[ 9.84422484e-01 1.73111904e-01 3.07350145e-02 1.39998003e+02] [-1.73022132e-01 9.84902147e-01 -5.57697082e-03 -1.97474283e+01] [-3.12364218e-02 1.72257723e-04 9.99512009e-01 -5.91786535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05264000000003 meters Centerline goodness [0,1] 0.9996991964247346 Centerline is valid? [True, True] Translation: X:140.03, Y:-19.75, Z:-5.92 [[ 9.84334466e-01 1.73686008e-01 3.03122097e-02 1.40027542e+02] [-1.73598966e-01 9.84801070e-01 -5.50012722e-03 -1.97516247e+01] [-3.08067917e-02 1.51796512e-04 9.99525347e-01 -5.92221959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264000000003 meters Centerline goodness [0,1] 0.9999144641176974 Centerline is valid? [True, True] Translation: X:140.06, Y:-19.75, Z:-5.92 [[ 9.84102069e-01 1.75053960e-01 2.99871555e-02 1.40057317e+02] [-1.74969388e-01 9.84558835e-01 -5.44189300e-03 -1.97544426e+01] [-3.04767438e-02 1.08543922e-04 9.99535470e-01 -5.92264981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11264000000003 meters Centerline goodness [0,1] 0.999871512088571 Centerline is valid? [True, True] Translation: X:140.09, Y:-19.76, Z:-5.92 [[ 9.84010153e-01 1.75492840e-01 3.04348937e-02 1.40087061e+02] [-1.75405956e-01 9.84480703e-01 -5.52238020e-03 -1.97590610e+01] [-3.09317037e-02 9.56165765e-05 9.99521496e-01 -5.92264716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.12, Y:-19.77, Z:-5.92 [[ 9.83996154e-01 1.75439899e-01 3.11835150e-02 1.40116118e+02] [-1.75348689e-01 9.84490138e-01 -5.65729218e-03 -1.97653193e+01] [-3.16923778e-02 9.87652587e-05 9.99497666e-01 -5.92249805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.14, Y:-19.77, Z:-5.92 [[ 9.84032262e-01 1.75188714e-01 3.14550689e-02 1.40144477e+02] [-1.75095787e-01 9.84534866e-01 -5.70637653e-03 -1.97712740e+01] [-3.19683048e-02 1.07608577e-04 9.99488877e-01 -5.92377411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.17, Y:-19.78, Z:-5.92 [[ 9.84063197e-01 1.74921858e-01 3.19682266e-02 1.40173408e+02] [-1.74825773e-01 9.84582312e-01 -5.79820346e-03 -1.97770459e+01] [-3.24895830e-02 1.16928714e-04 9.99472067e-01 -5.92342890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.20, Y:-19.78, Z:-5.92 [[ 9.84071902e-01 1.74724840e-01 3.27676838e-02 1.40202010e+02] [-1.74623809e-01 9.84617293e-01 -5.94228955e-03 -1.97825218e+01] [-3.33018937e-02 1.25622423e-04 9.99445330e-01 -5.92361355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.23, Y:-19.79, Z:-5.92 [[ 9.84019170e-01 1.74706798e-01 3.44064982e-02 1.40232097e+02] [-1.74595412e-01 9.84620494e-01 -6.23896844e-03 -1.97875353e+01] [-3.49673335e-02 1.32047810e-04 9.99388447e-01 -5.92184752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.26, Y:-19.79, Z:-5.92 [[ 9.84044214e-01 1.74438559e-01 3.50453109e-02 1.40260953e+02] [-1.74322830e-01 9.84668050e-01 -6.35473233e-03 -1.97938368e+01] [-3.56165083e-02 1.44139802e-04 9.99365520e-01 -5.92244761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.29, Y:-19.80, Z:-5.92 [[ 9.84257461e-01 1.73393124e-01 3.42355858e-02 1.40292131e+02] [-1.73282073e-01 9.84852676e-01 -6.20724426e-03 -1.98025207e+01] [-3.47933017e-02 1.77113198e-04 9.99394514e-01 -5.92435144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.32, Y:-19.81, Z:-5.93 [[ 9.84461072e-01 1.72374716e-01 3.35164835e-02 1.40321834e+02] [-1.72267488e-01 9.85031427e-01 -6.08286357e-03 -1.98109726e+01] [-3.40633214e-02 2.14541971e-04 9.99419654e-01 -5.92769961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.35, Y:-19.82, Z:-5.93 [[ 9.84714197e-01 1.70996153e-01 3.31400976e-02 1.40351228e+02] [-1.70890321e-01 9.85271660e-01 -6.02107868e-03 -1.98202469e+01] [-3.36815803e-02 2.65719759e-04 9.99432579e-01 -5.93049149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.38, Y:-19.83, Z:-5.93 [[ 9.85240092e-01 1.68139589e-01 3.21097939e-02 1.40379909e+02] [-1.68038730e-01 9.85763133e-01 -5.83354554e-03 -1.98346073e+01] [-3.26335009e-02 3.51753957e-04 9.99467324e-01 -5.93452550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters Centerline goodness [0,1] 0.9999787437559783 Centerline is valid? [True, True] Translation: X:140.41, Y:-19.84, Z:-5.94 [[ 9.85454077e-01 1.67053330e-01 3.12001181e-02 1.40410958e+02] [-1.66957418e-01 9.85947788e-01 -5.67282833e-03 -1.98433146e+01] [-3.17093523e-02 3.81220659e-04 9.99497059e-01 -5.93592349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.44, Y:-19.85, Z:-5.94 [[ 9.85570050e-01 1.66436765e-01 3.08298371e-02 1.40442480e+02] [-1.66342658e-01 9.86052048e-01 -5.61050827e-03 -1.98507444e+01] [-3.13336188e-02 4.01231866e-04 9.99508901e-01 -5.93747065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters Centerline goodness [0,1] 0.9998499785683669 Centerline is valid? [True, True] Translation: X:140.47, Y:-19.86, Z:-5.94 [[ 9.85540660e-01 1.66699119e-01 3.03481786e-02 1.40473717e+02] [-1.66607884e-01 9.86007733e-01 -5.52841126e-03 -1.98589885e+01] [-3.08451201e-02 3.92228264e-04 9.99524099e-01 -5.94104242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53264000000001 meters Centerline goodness [0,1] 0.9999785089510219 Centerline is valid? [True, True] Translation: X:140.50, Y:-19.87, Z:-5.94 [[ 9.85363705e-01 1.67821163e-01 2.99069682e-02 1.40504939e+02] [-1.67732988e-01 9.85817392e-01 -5.45101125e-03 -1.98653652e+01] [-3.03976044e-02 3.54843506e-04 9.99537823e-01 -5.94056457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.54, Y:-19.87, Z:-5.94 [[ 9.84643449e-01 1.71913335e-01 3.03822993e-02 1.40536287e+02] [-1.71824110e-01 9.85112049e-01 -5.54313112e-03 -1.98691430e+01] [-3.08829072e-02 2.37596213e-04 9.99522981e-01 -5.94155278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59264000000002 meters Centerline goodness [0,1] 0.9999133880432194 Centerline is valid? [True, True] Translation: X:140.57, Y:-19.87, Z:-5.94 [[ 9.84148620e-01 1.74623301e-01 3.09547428e-02 1.40568424e+02] [-1.74531828e-01 9.84635301e-01 -5.65369519e-03 -1.98704959e+01] [-3.14663994e-02 1.61488486e-04 9.99504797e-01 -5.94167339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.60, Y:-19.87, Z:-5.94 [[ 9.83604712e-01 1.77636694e-01 3.10962222e-02 1.40599300e+02] [-1.77545829e-01 9.84096134e-01 -5.68139509e-03 -1.98729682e+01] [-3.16108963e-02 6.72424360e-05 9.99500248e-01 -5.94245117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.63, Y:-19.87, Z:-5.94 [[ 9.82584641e-01 1.83160515e-01 3.12993490e-02 1.40629461e+02] [-1.83071217e-01 9.83083015e-01 -5.71977171e-03 -1.98716995e+01] [-3.18174947e-02 -1.09850061e-04 9.99493689e-01 -5.94291654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.66, Y:-19.87, Z:-5.94 [[ 9.81995048e-01 1.86195314e-01 3.18909063e-02 1.40658243e+02] [-1.86104230e-01 9.82512727e-01 -5.82717748e-03 -1.98717163e+01] [-3.24182145e-02 -2.12773133e-04 9.99474369e-01 -5.94350324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.69, Y:-19.88, Z:-5.94 [[ 9.81999436e-01 1.86172131e-01 3.18911348e-02 1.40686918e+02] [-1.86081075e-01 9.82517120e-01 -5.82592705e-03 -1.98769090e+01] [-3.24182112e-02 -2.13279567e-04 9.99474369e-01 -5.94471028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264000000002 meters Centerline goodness [0,1] 0.9997638268636208 Centerline is valid? [True, True] Translation: X:140.72, Y:-19.88, Z:-5.95 [[ 9.81402376e-01 1.89119423e-01 3.29122943e-02 1.40716635e+02] [-1.89024118e-01 9.81954042e-01 -6.01183727e-03 -1.98768489e+01] [-3.34553156e-02 -3.21186026e-04 9.99440163e-01 -5.94580469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.75, Y:-19.88, Z:-5.94 [[ 9.80432806e-01 1.93969153e-01 3.35779678e-02 1.40747172e+02] [-1.93872857e-01 9.81007502e-01 -6.13155085e-03 -1.98762216e+01] [-3.41295700e-02 -4.98282943e-04 9.99417292e-01 -5.94477117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.77, Y:-19.88, Z:-5.95 [[ 9.80059346e-01 1.95754994e-01 3.41124818e-02 1.40774898e+02] [-1.95656711e-01 9.80652669e-01 -6.22849634e-03 -1.98766861e+01] [-3.46717556e-02 -5.70039939e-04 9.99398591e-01 -5.94621579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.80, Y:-19.88, Z:-5.95 [[ 9.79605360e-01 1.97905082e-01 3.47407186e-02 1.40804219e+02] [-1.97804569e-01 9.80220966e-01 -6.34112060e-03 -1.98768505e+01] [-3.53085207e-02 -6.60077134e-04 9.99376242e-01 -5.94595676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.83, Y:-19.88, Z:-5.95 [[ 9.79501302e-01 1.98428573e-01 3.46886263e-02 1.40832073e+02] [-1.98328747e-01 9.80115116e-01 -6.32996354e-03 -1.98821835e+01] [-3.52548926e-02 -6.79544249e-04 9.99378122e-01 -5.94668613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.86, Y:-19.88, Z:-5.95 [[ 9.79441455e-01 1.98734236e-01 3.46286101e-02 1.40859706e+02] [-1.98635005e-01 9.80053175e-01 -6.31735068e-03 -1.98832563e+01] [-3.51933532e-02 -6.90978992e-04 9.99380283e-01 -5.94884202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264000000003 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:140.89, Y:-19.89, Z:-5.95 [[ 9.79460256e-01 1.98725706e-01 3.41423677e-02 1.40887867e+02] [-1.98629313e-01 9.80054910e-01 -6.22645885e-03 -1.98871791e+01] [-3.46987525e-02 -6.83106081e-04 9.99397584e-01 -5.95294451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.92, Y:-19.89, Z:-5.95 [[ 9.79578826e-01 1.98270055e-01 3.33812713e-02 1.40916077e+02] [-1.98177702e-01 9.80147212e-01 -6.08609207e-03 -1.98916814e+01] [-3.39252498e-02 -6.53616711e-04 9.99424159e-01 -5.95407916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:140.94, Y:-19.90, Z:-5.96 [[ 9.79697995e-01 1.97774063e-01 3.28216163e-02 1.40944297e+02] [-1.97684553e-01 9.80247431e-01 -5.98252591e-03 -1.98991467e+01] [-3.33564935e-02 -6.27257918e-04 9.99443320e-01 -5.95514045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01264000000003 meters Centerline goodness [0,1] 0.999893235394602 Centerline is valid? [True, True] Translation: X:140.97, Y:-19.90, Z:-5.96 [[ 9.79859496e-01 1.96999842e-01 3.26562476e-02 1.40972359e+02] [-1.96910858e-01 9.80403337e-01 -5.95072833e-03 -1.99023176e+01] [-3.31885866e-02 -5.99492072e-04 9.99448927e-01 -5.95931919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.00, Y:-19.91, Z:-5.96 [[ 9.80068909e-01 1.96037066e-01 3.21621205e-02 1.41000720e+02] [-1.95950289e-01 9.80596326e-01 -5.85909148e-03 -1.99081362e+01] [-3.26866563e-02 -5.59863426e-04 9.99465492e-01 -5.95866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.03, Y:-19.91, Z:-5.96 [[ 9.80419053e-01 1.94238982e-01 3.23990576e-02 1.41028369e+02] [-1.94149991e-01 9.80954108e-01 -5.90069699e-03 -1.99113068e+01] [-3.29281340e-02 -5.05121002e-04 9.99457594e-01 -5.96080998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.06, Y:-19.92, Z:-5.96 [[ 9.80634442e-01 1.93132304e-01 3.24962334e-02 1.41056829e+02] [-1.93042242e-01 9.81172610e-01 -5.91622827e-03 -1.99169302e+01] [-3.30270289e-02 -4.71488548e-04 9.99454348e-01 -5.96133781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.08, Y:-19.92, Z:-5.96 [[ 9.80876152e-01 1.91832652e-01 3.28969178e-02 1.41084284e+02] [-1.91739678e-01 9.81427555e-01 -5.98758345e-03 -1.99207306e+01] [-3.34345556e-02 -4.34566609e-04 9.99440814e-01 -5.96269905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264000000004 meters Centerline goodness [0,1] 0.9998932125923711 Centerline is valid? [True, True] Translation: X:141.11, Y:-19.93, Z:-5.97 [[ 9.81099932e-01 1.90565690e-01 3.35803714e-02 1.41111684e+02] [-1.90468144e-01 9.81674364e-01 -6.10979915e-03 -1.99251147e+01] [-3.41293078e-02 -4.01667479e-04 9.99417345e-01 -5.96501962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.14, Y:-19.93, Z:-5.96 [[ 9.81516070e-01 1.88309965e-01 3.41403083e-02 1.41139354e+02] [-1.88207847e-01 9.82109591e-01 -6.20954214e-03 -1.99297425e+01] [-3.46988429e-02 -3.30708531e-04 9.99397759e-01 -5.96338872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.17, Y:-19.94, Z:-5.96 [[ 9.81623950e-01 1.87634590e-01 3.47516991e-02 1.41167978e+02] [-1.87528437e-01 9.82238852e-01 -6.31852673e-03 -1.99355419e+01] [-3.53200431e-02 -3.14514626e-04 9.99376003e-01 -5.96250974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.20, Y:-19.94, Z:-5.96 [[ 9.81638171e-01 1.87460955e-01 3.52830102e-02 1.41196364e+02] [-1.87351483e-01 9.82272005e-01 -6.41330047e-03 -1.99376516e+01] [-3.58597566e-02 -3.14783733e-04 9.99356783e-01 -5.96333817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.23, Y:-19.94, Z:-5.96 [[ 9.81497262e-01 1.88141606e-01 3.55789497e-02 1.41226082e+02] [-1.88030803e-01 9.82141852e-01 -6.46527180e-03 -1.99371684e+01] [-3.61599622e-02 -3.44291910e-04 9.99345955e-01 -5.96384574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.26, Y:-19.94, Z:-5.97 [[ 9.81380185e-01 1.88741075e-01 3.56333969e-02 1.41255446e+02] [-1.88630390e-01 9.82026818e-01 -6.47342541e-03 -1.99389113e+01] [-3.62147526e-02 -3.68650127e-04 9.99343963e-01 -5.96508088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.28, Y:-19.94, Z:-5.97 [[ 9.81217806e-01 1.89660419e-01 3.52213309e-02 1.41284649e+02] [-1.89552932e-01 9.81849666e-01 -6.39688591e-03 -1.99378589e+01] [-3.57952881e-02 -3.99568189e-04 9.99359063e-01 -5.96790705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.31, Y:-19.94, Z:-5.97 [[ 9.81238544e-01 1.89625775e-01 3.48279516e-02 1.41313035e+02] [-1.89520713e-01 9.81856359e-01 -6.32377882e-03 -1.99406496e+01] [-3.53951972e-02 -3.95482700e-04 9.99373315e-01 -5.97024030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.34, Y:-19.94, Z:-5.97 [[ 9.81381938e-01 1.88944717e-01 3.44874752e-02 1.41340985e+02] [-1.88841333e-01 9.81987657e-01 -6.26043066e-03 -1.99438998e+01] [-3.50491502e-02 -3.68787228e-04 9.99385522e-01 -5.97210930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.37, Y:-19.95, Z:-5.97 [[ 9.81817715e-01 1.86495409e-01 3.54039049e-02 1.41369141e+02] [-1.86384960e-01 9.82455789e-01 -6.42409655e-03 -1.99497282e+01] [-3.59808359e-02 -2.91463622e-04 9.99352438e-01 -5.97158920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters Centerline goodness [0,1] 0.9998498337445029 Centerline is valid? [True, True] Translation: X:141.40, Y:-19.96, Z:-5.97 [[ 9.82040009e-01 1.85219946e-01 3.59303695e-02 1.41397769e+02] [-1.85105400e-01 9.82697059e-01 -6.51780891e-03 -1.99550748e+01] [-3.65158967e-02 -2.50156302e-04 9.99333041e-01 -5.97415485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.43, Y:-19.96, Z:-5.97 [[ 9.82413088e-01 1.83352510e-01 3.53041190e-02 1.41425496e+02] [-1.83240778e-01 9.83047214e-01 -6.40252548e-03 -1.99605382e+01] [-3.58795349e-02 -1.79229382e-04 9.99356106e-01 -5.97387671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.45, Y:-19.97, Z:-5.98 [[ 9.83050086e-01 1.79863070e-01 3.55218945e-02 1.41453706e+02] [-1.79747760e-01 9.83691655e-01 -6.43969965e-03 -1.99674190e+01] [-3.61008554e-02 -5.44336897e-05 9.99348150e-01 -5.97542492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.48, Y:-19.97, Z:-5.98 [[ 9.83373401e-01 1.78117177e-01 3.53698461e-02 1.41480546e+02] [-1.78001783e-01 9.84009284e-01 -6.41047143e-03 -1.99734171e+01] [-3.59460720e-02 7.99143662e-06 9.99353731e-01 -5.97708722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.51, Y:-19.98, Z:-5.98 [[ 9.83937219e-01 1.75110335e-01 3.46975385e-02 1.41509092e+02] [-1.74997497e-01 9.84548809e-01 -6.28634637e-03 -1.99816604e+01] [-3.52622244e-02 1.13387768e-04 9.99378088e-01 -5.97968346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.54, Y:-19.99, Z:-5.98 [[ 9.84131644e-01 1.74075470e-01 3.43894985e-02 1.41537155e+02] [-1.73964021e-01 9.84732303e-01 -6.22983461e-03 -1.99876461e+01] [-3.49489114e-02 1.48441948e-04 9.99389089e-01 -5.98162236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.56, Y:-19.99, Z:-5.98 [[ 9.84275794e-01 1.73316905e-01 3.40941590e-02 1.41564900e+02] [-1.73206969e-01 9.84866093e-01 -6.17453327e-03 -1.99942528e+01] [-3.46483322e-02 1.72097683e-04 9.99399551e-01 -5.98423651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.59, Y:-20.00, Z:-5.99 [[ 9.84305120e-01 1.73200327e-01 3.38389958e-02 1.41592977e+02] [-1.73092003e-01 9.84886601e-01 -6.12713522e-03 -1.99987811e+01] [-3.43887954e-02 1.73710999e-04 9.99408515e-01 -5.98539044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264000000003 meters Centerline goodness [0,1] 0.9999364554870687 Centerline is valid? [True, True] Translation: X:141.62, Y:-20.00, Z:-5.99 [[ 9.84056222e-01 1.74608474e-01 3.38413040e-02 1.41620943e+02] [-1.74501022e-01 9.84637936e-01 -6.12595462e-03 -1.99997874e+01] [-3.43910754e-02 1.22941601e-04 9.99408444e-01 -5.99099586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.65, Y:-20.00, Z:-5.99 [[ 9.83959231e-01 1.75254680e-01 3.33170903e-02 1.41649519e+02] [-1.75150982e-01 9.84523127e-01 -6.02874398e-03 -2.00021736e+01] [-3.38580115e-02 9.65172180e-05 9.99426649e-01 -5.99046510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.68, Y:-20.00, Z:-5.99 [[ 9.83688316e-01 1.76885616e-01 3.26921290e-02 1.41678284e+02] [-1.76786725e-01 9.84231415e-01 -5.91407157e-03 -2.00026601e+01] [-3.32227346e-02 3.80686813e-05 9.99447972e-01 -5.99306877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.71, Y:-20.01, Z:-5.99 [[ 9.83557460e-01 1.77626863e-01 3.26101266e-02 1.41706972e+02] [-1.77528930e-01 9.84097910e-01 -5.89761243e-03 -2.00054206e+01] [-3.31391318e-02 1.13998305e-05 9.99450748e-01 -5.99413101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264000000004 meters Centerline goodness [0,1] 0.9998712833054447 Centerline is valid? [True, True] Translation: X:141.73, Y:-20.01, Z:-6.00 [[ 9.83285587e-01 1.78938716e-01 3.36212676e-02 1.41734755e+02] [-1.78835437e-01 9.83860221e-01 -6.07879681e-03 -2.00069162e+01] [-3.41663599e-02 -3.54808095e-05 9.99416159e-01 -5.99632831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.76, Y:-20.01, Z:-5.99 [[ 9.83372289e-01 1.78419083e-01 3.38462880e-02 1.41763440e+02] [-1.78314186e-01 9.83954588e-01 -6.11723981e-03 -2.00125250e+01] [-3.43946427e-02 -1.97491983e-05 9.99408329e-01 -5.99496455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264000000004 meters Centerline goodness [0,1] 0.9998933651815991 Centerline is valid? [True, True] Translation: X:141.79, Y:-20.02, Z:-6.00 [[ 9.83349697e-01 1.78421863e-01 3.44820525e-02 1.41790657e+02] [-1.78313048e-01 9.83954084e-01 -6.23043824e-03 -2.00168987e+01] [-3.50404028e-02 -2.19003376e-05 9.99385896e-01 -5.99824850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.82, Y:-20.02, Z:-6.00 [[ 9.83692719e-01 1.76520034e-01 3.44864084e-02 1.41817714e+02] [-1.76410100e-01 9.84297046e-01 -6.22904482e-03 -2.00227379e+01] [-3.50444211e-02 4.37152768e-05 9.99385755e-01 -5.99722352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.85, Y:-20.03, Z:-6.00 [[ 9.83902391e-01 1.75333640e-01 3.45571832e-02 1.41845623e+02] [-1.75222599e-01 9.84509069e-01 -6.23964812e-03 -2.00293452e+01] [-3.51158805e-02 8.40052597e-05 9.99383244e-01 -5.99832617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.87, Y:-20.04, Z:-6.00 [[ 9.84422160e-01 1.72606917e-01 3.34643514e-02 1.41872590e+02] [-1.72501268e-01 9.84990772e-01 -6.04075181e-03 -2.00395427e+01] [-3.40047529e-02 1.74006886e-04 9.99421656e-01 -6.00133520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.90, Y:-20.05, Z:-6.00 [[ 9.84660494e-01 1.71234158e-01 3.35048392e-02 1.41899279e+02] [-1.71127511e-01 9.85230336e-01 -6.04650672e-03 -2.00467765e+01] [-3.40453525e-02 2.20156537e-04 9.99420265e-01 -6.00357907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03264000000001 meters Centerline goodness [0,1] 0.9998930115119613 Centerline is valid? [True, True] Translation: X:141.93, Y:-20.05, Z:-6.01 [[ 9.84844359e-01 1.70081774e-01 3.39673186e-02 1.41927895e+02] [-1.69971562e-01 9.85429917e-01 -6.12748330e-03 -2.00525644e+01] [-3.45145852e-02 2.61139156e-04 9.99404160e-01 -6.00576270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.96, Y:-20.06, Z:-6.00 [[ 9.85064763e-01 1.68800432e-01 3.39680316e-02 1.41955426e+02] [-1.68689516e-01 9.85650202e-01 -6.12582305e-03 -2.00597507e+01] [-3.45146388e-02 3.04281621e-04 9.99404146e-01 -6.00474582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:141.98, Y:-20.07, Z:-6.00 [[ 9.85300816e-01 1.67288663e-01 3.45948735e-02 1.41984293e+02] [-1.67172731e-01 9.85907892e-01 -6.23746448e-03 -2.00668362e+01] [-3.51508159e-02 3.62459361e-04 9.99381953e-01 -6.00477366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters Centerline goodness [0,1] 0.9999787766883145 Centerline is valid? [True, True] Translation: X:142.01, Y:-20.07, Z:-6.01 [[ 9.85323020e-01 1.67050647e-01 3.51088060e-02 1.42011698e+02] [-1.66931125e-01 9.85948244e-01 -6.32922908e-03 -2.00734503e+01] [-3.56727674e-02 3.75582624e-04 9.99363454e-01 -6.00605418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.04, Y:-20.08, Z:-6.01 [[ 9.85322458e-01 1.67008797e-01 3.53230209e-02 1.42039637e+02] [-1.66887814e-01 9.85955333e-01 -6.36701091e-03 -2.00793241e+01] [-3.58902676e-02 3.78577089e-04 9.99355665e-01 -6.00757288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters Centerline goodness [0,1] 0.999957123869142 Centerline is valid? [True, True] Translation: X:142.07, Y:-20.08, Z:-6.01 [[ 9.85202678e-01 1.67865498e-01 3.45956227e-02 1.42069178e+02] [-1.67750022e-01 9.85809850e-01 -6.23461266e-03 -2.00842442e+01] [-3.51512820e-02 3.38940619e-04 9.99381945e-01 -6.01079957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.10, Y:-20.09, Z:-6.01 [[ 9.85113703e-01 1.68452869e-01 3.42727757e-02 1.42097657e+02] [-1.68339920e-01 9.85709659e-01 -6.17568816e-03 -2.00897984e+01] [-3.48233184e-02 3.14278712e-04 9.99393435e-01 -6.01193577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.13, Y:-20.10, Z:-6.02 [[ 9.84965313e-01 1.69588811e-01 3.29084590e-02 1.42125787e+02] [-1.69485353e-01 9.85514874e-01 -5.92862479e-03 -2.00956015e+01] [-3.34372043e-02 2.61987992e-04 9.99440786e-01 -6.01559763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.15, Y:-20.10, Z:-6.02 [[ 9.84911558e-01 1.70119654e-01 3.17572918e-02 1.42154723e+02] [-1.70023602e-01 9.85423385e-01 -5.72073193e-03 -2.00996291e+01] [-3.22675869e-02 2.34925873e-04 9.99479238e-01 -6.01787380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264000000003 meters Centerline goodness [0,1] 0.9999135677088961 Centerline is valid? [True, True] Translation: X:142.18, Y:-20.10, Z:-6.02 [[ 9.84813082e-01 1.70854580e-01 3.08529846e-02 1.42183658e+02] [-1.70764328e-01 9.85296235e-01 -5.55636364e-03 -2.01033749e+01] [-3.13486597e-02 2.03390419e-04 9.99508489e-01 -6.02236450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.21, Y:-20.11, Z:-6.02 [[ 9.84637472e-01 1.72004751e-01 3.00568532e-02 1.42211863e+02] [-1.71919678e-01 9.85096107e-01 -5.41153697e-03 -2.01076766e+01] [-3.05396991e-02 1.61037569e-04 9.99533542e-01 -6.02371555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.24, Y:-20.11, Z:-6.03 [[ 9.84540046e-01 1.72494165e-01 3.04410909e-02 1.42238960e+02] [-1.72407180e-01 9.85010529e-01 -5.47928942e-03 -2.01131015e+01] [-3.09299405e-02 1.46317209e-04 9.99521544e-01 -6.02576199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.27, Y:-20.12, Z:-6.03 [[ 9.84452554e-01 1.72959332e-01 3.06306769e-02 1.42266898e+02] [-1.72871549e-01 9.84928958e-01 -5.51135969e-03 -2.01180146e+01] [-3.11222817e-02 1.30499547e-04 9.99515576e-01 -6.02591635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.30, Y:-20.12, Z:-6.03 [[ 9.84185883e-01 1.74357739e-01 3.12654064e-02 1.42295778e+02] [-1.74267036e-01 9.84682371e-01 -5.62395353e-03 -2.01221195e+01] [-3.17670743e-02 8.64859710e-05 9.99495295e-01 -6.02626708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45264000000003 meters Centerline goodness [0,1] 0.9999361226445225 Centerline is valid? [True, True] Translation: X:142.32, Y:-20.13, Z:-6.03 [[ 9.84024976e-01 1.75279456e-01 3.11762716e-02 1.42323571e+02] [-1.75189777e-01 9.84518720e-01 -5.60648253e-03 -2.01268052e+01] [-3.16763242e-02 5.51547548e-05 9.99498178e-01 -6.03013928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.35, Y:-20.13, Z:-6.03 [[ 9.83773517e-01 1.76825233e-01 3.03727446e-02 1.42352070e+02] [-1.76740916e-01 9.84242265e-01 -5.46002840e-03 -2.01316481e+01] [-3.08596098e-02 3.32464636e-06 9.99523729e-01 -6.03097947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.38, Y:-20.14, Z:-6.03 [[ 9.83655836e-01 1.77484635e-01 3.03381121e-02 1.42380594e+02] [-1.77400869e-01 9.84123571e-01 -5.45230748e-03 -2.01359124e+01] [-3.08241520e-02 -1.88133828e-05 9.99524823e-01 -6.03227639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264000000003 meters Centerline goodness [0,1] 0.9998706227358979 Centerline is valid? [True, True] Translation: X:142.41, Y:-20.14, Z:-6.03 [[ 9.83572698e-01 1.77958436e-01 3.02579540e-02 1.42408714e+02] [-1.77875383e-01 9.84038004e-01 -5.43640231e-03 -2.01403415e+01] [-3.07424303e-02 -3.50482501e-05 9.99527339e-01 -6.03432605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.44, Y:-20.15, Z:-6.03 [[ 9.83503263e-01 1.78146456e-01 3.13874515e-02 1.42435315e+02] [-1.78057230e-01 9.84003983e-01 -5.63777752e-03 -2.01479316e+01] [-3.18897274e-02 -4.39900958e-05 9.99491392e-01 -6.03407141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.46, Y:-20.15, Z:-6.03 [[ 9.83440776e-01 1.78495647e-01 3.13614953e-02 1.42463267e+02] [-1.78406813e-01 9.83940700e-01 -5.63101365e-03 -2.01544382e+01] [-3.18629631e-02 -5.73360033e-05 9.99492245e-01 -6.03485445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.49, Y:-20.16, Z:-6.04 [[ 9.83449501e-01 1.78447522e-01 3.13617707e-02 1.42491141e+02] [-1.78358712e-01 9.83949429e-01 -5.62947929e-03 -2.01593526e+01] [-3.18629630e-02 -5.73364469e-05 9.99492245e-01 -6.03602689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.52, Y:-20.16, Z:-6.04 [[ 9.83349092e-01 1.78994309e-01 3.13942837e-02 1.42519668e+02] [-1.78905644e-01 9.83850106e-01 -5.63372843e-03 -2.01646227e+01] [-3.18956747e-02 -7.66928248e-05 9.99491201e-01 -6.03756789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.55, Y:-20.17, Z:-6.04 [[ 9.83070484e-01 1.80503389e-01 3.14793615e-02 1.42546922e+02] [-1.80415060e-01 9.83574354e-01 -5.64762967e-03 -2.01670764e+01] [-3.19817089e-02 -1.27332843e-04 9.99488446e-01 -6.03995132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.58, Y:-20.17, Z:-6.04 [[ 9.82913922e-01 1.81394277e-01 3.12464190e-02 1.42575438e+02] [-1.81307783e-01 9.83410439e-01 -5.60325701e-03 -2.01716939e+01] [-3.17444534e-02 -1.57699633e-04 9.99496005e-01 -6.04142993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75264 meters Centerline goodness [0,1] 0.9998500042855918 Centerline is valid? [True, True] Translation: X:142.60, Y:-20.18, Z:-6.04 [[ 9.82567505e-01 1.83255830e-01 3.12793835e-02 1.42604368e+02] [-1.83170143e-01 9.83065233e-01 -5.60765720e-03 -2.01753266e+01] [-3.17773103e-02 -2.19547423e-04 9.99494950e-01 -6.04372524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.63, Y:-20.18, Z:-6.04 [[ 9.82391635e-01 1.84132349e-01 3.16536632e-02 1.42632266e+02] [-1.84045102e-01 9.82901427e-01 -5.67326052e-03 -2.01777095e+01] [-3.21570615e-02 -2.52338017e-04 9.99482796e-01 -6.04308347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.66, Y:-20.18, Z:-6.05 [[ 9.82172238e-01 1.85331019e-01 3.14659990e-02 1.42661212e+02] [-1.85245486e-01 9.82676105e-01 -5.63754782e-03 -2.01803612e+01] [-3.19656979e-02 -2.91891320e-04 9.99488924e-01 -6.04509694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters Centerline goodness [0,1] 0.9998495141456704 Centerline is valid? [True, True] Translation: X:142.69, Y:-20.18, Z:-6.05 [[ 9.82023779e-01 1.86310285e-01 3.02947947e-02 1.42689447e+02] [-1.86231510e-01 9.82490906e-01 -5.42633862e-03 -2.01846263e+01] [-3.07753429e-02 -3.13051789e-04 9.99526278e-01 -6.04874276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.72, Y:-20.19, Z:-6.05 [[ 9.81786078e-01 1.87571977e-01 3.02134301e-02 1.42717751e+02] [-1.87494263e-01 9.82250797e-01 -5.41037653e-03 -2.01876056e+01] [-3.06920008e-02 -3.53012462e-04 9.99528827e-01 -6.04819766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.75, Y:-20.19, Z:-6.05 [[ 9.81754349e-01 1.87720723e-01 3.03204282e-02 1.42745106e+02] [-1.87642581e-01 9.82222378e-01 -5.42787011e-03 -2.01898290e+01] [-3.08003268e-02 -3.60568314e-04 9.99525492e-01 -6.05055154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.77, Y:-20.19, Z:-6.05 [[ 9.81881540e-01 1.87110373e-01 2.99724848e-02 1.42772460e+02] [-1.87033810e-01 9.82338838e-01 -5.36296479e-03 -2.01920556e+01] [-3.04466023e-02 -3.40071893e-04 9.99536337e-01 -6.05450281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters Centerline goodness [0,1] 0.9999139581406354 Centerline is valid? [True, True] Translation: X:142.80, Y:-20.20, Z:-6.05 [[ 9.82373557e-01 1.84483293e-01 3.01348403e-02 1.42800170e+02] [-1.84404751e-01 9.82835615e-01 -5.38909516e-03 -2.02029331e+01] [-3.06117923e-02 -2.62903141e-04 9.99531315e-01 -6.05441557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.83, Y:-20.21, Z:-6.05 [[ 9.82787236e-01 1.82150836e-01 3.08272931e-02 1.42827537e+02] [-1.82067541e-01 9.83270581e-01 -5.51144671e-03 -2.02105354e+01] [-3.13154850e-02 -1.96069957e-04 9.99509531e-01 -6.05363335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.85, Y:-20.22, Z:-6.05 [[ 9.83915076e-01 1.75825115e-01 3.15698044e-02 1.42854815e+02] [-1.75734562e-01 9.84421418e-01 -5.64222679e-03 -2.02248079e+01] [-3.20700368e-02 3.56625788e-06 9.99485624e-01 -6.05393137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05264000000003 meters Centerline goodness [0,1] 0.9999568137159638 Centerline is valid? [True, True] Translation: X:142.88, Y:-20.23, Z:-6.06 [[ 9.84553205e-01 1.72164143e-01 3.18511143e-02 1.42882898e+02] [-1.72070138e-01 9.85068268e-01 -5.68985446e-03 -2.02348078e+01] [-3.23551110e-02 1.21338813e-04 9.99476429e-01 -6.05513376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.91, Y:-20.25, Z:-6.06 [[ 9.85130021e-01 1.68732221e-01 3.23771433e-02 1.42910628e+02] [-1.68633262e-01 9.85661900e-01 -5.78287169e-03 -2.02456994e+01] [-3.28886734e-02 2.37017229e-04 9.99458993e-01 -6.05521739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11264000000003 meters Centerline goodness [0,1] 0.9998084087280469 Centerline is valid? [True, True] Translation: X:142.94, Y:-20.26, Z:-6.06 [[ 9.86198837e-01 1.62342485e-01 3.25080342e-02 1.42937975e+02] [-1.62239270e-01 9.86734368e-01 -5.80563026e-03 -2.02628417e+01] [-3.30192950e-02 4.51426063e-04 9.99454612e-01 -6.05954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:142.97, Y:-20.27, Z:-6.06 [[ 9.86743991e-01 1.58984503e-01 3.25610825e-02 1.42968521e+02] [-1.58879120e-01 9.87280917e-01 -5.81519208e-03 -2.02729014e+01] [-3.30714608e-02 5.64829696e-04 9.99452830e-01 -6.05715984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17264000000003 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:143.00, Y:-20.29, Z:-6.06 [[ 9.87157876e-01 1.56353762e-01 3.27540749e-02 1.42997431e+02] [-1.56245632e-01 9.87700900e-01 -5.85102599e-03 -2.02850680e+01] [-3.32660592e-02 6.58205264e-04 9.99446315e-01 -6.05913579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.02, Y:-20.30, Z:-6.06 [[ 9.87786309e-01 1.52401108e-01 3.24362543e-02 1.43024518e+02] [-1.52292835e-01 9.88318412e-01 -5.79733459e-03 -2.03021270e+01] [-3.29408676e-02 7.86718612e-04 9.99456993e-01 -6.06178656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23264000000003 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:143.06, Y:-20.31, Z:-6.06 [[ 9.87974028e-01 1.51262086e-01 3.20484249e-02 1.43056005e+02] [-1.51155760e-01 9.88493357e-01 -5.72888051e-03 -2.03088940e+01] [-3.25462176e-02 8.15681112e-04 9.99469899e-01 -6.06397331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264000000003 meters Centerline goodness [0,1] 0.9999786420623225 Centerline is valid? [True, True] Translation: X:143.09, Y:-20.32, Z:-6.07 [[ 9.87995490e-01 1.51284811e-01 3.12700752e-02 1.43085627e+02] [-1.51183431e-01 9.88489891e-01 -5.59507205e-03 -2.03199759e+01] [-3.17566027e-02 8.00388686e-04 9.99495311e-01 -6.06541351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29264000000003 meters Centerline goodness [0,1] 0.9998065847158945 Centerline is valid? [True, True] Translation: X:143.12, Y:-20.32, Z:-6.07 [[ 9.87804519e-01 1.52657942e-01 3.06232614e-02 1.43117621e+02] [-1.52561232e-01 9.88278806e-01 -5.48389646e-03 -2.03214468e+01] [-3.11014806e-02 7.45095221e-04 9.99515954e-01 -6.06856877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264000000004 meters Centerline goodness [0,1] 0.9998711506249195 Centerline is valid? [True, True] Translation: X:143.15, Y:-20.33, Z:-6.07 [[ 9.87528465e-01 1.54533591e-01 3.01147727e-02 1.43148586e+02] [-1.54440774e-01 9.87987301e-01 -5.39816325e-03 -2.03262937e+01] [-3.05872106e-02 6.79891061e-04 9.99531871e-01 -6.07066572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.18, Y:-20.33, Z:-6.07 [[ 9.87131291e-01 1.57041958e-01 3.01602072e-02 1.43180115e+02] [-1.56949848e-01 9.87591744e-01 -5.41226813e-03 -2.03310663e+01] [-3.06359248e-02 6.08979302e-04 9.99530424e-01 -6.07007031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264000000004 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:143.21, Y:-20.33, Z:-6.07 [[ 9.86166981e-01 1.63048688e-01 2.98296945e-02 1.43211813e+02] [-1.62961263e-01 9.86617935e-01 -5.35517482e-03 -2.03320949e+01] [-3.03036658e-02 4.20011903e-04 9.99540650e-01 -6.07371385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.24, Y:-20.33, Z:-6.07 [[ 9.84919544e-01 1.70497693e-01 2.93943572e-02 1.43242662e+02] [-1.70416088e-01 9.85358057e-01 -5.27787951e-03 -2.03323090e+01] [-2.98638330e-02 1.89015319e-04 9.99553958e-01 -6.07445198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters Centerline goodness [0,1] 0.9998052875254207 Centerline is valid? [True, True] Translation: X:143.27, Y:-20.33, Z:-6.07 [[ 9.84151151e-01 1.74759857e-01 3.00915884e-02 1.43274253e+02] [-1.74676313e-01 9.84611085e-01 -5.40345513e-03 -2.03311826e+01] [-3.05728185e-02 6.15288801e-05 9.99532540e-01 -6.07483378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.30, Y:-20.33, Z:-6.07 [[ 9.83348684e-01 1.79090418e-01 3.08542943e-02 1.43303432e+02] [-1.79004684e-01 9.83832616e-01 -5.54132484e-03 -2.03293961e+01] [-3.13478593e-02 -7.40087300e-05 9.99508532e-01 -6.07366057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.33, Y:-20.32, Z:-6.08 [[ 9.81787382e-01 1.87540438e-01 3.03664509e-02 1.43333932e+02] [-1.87461465e-01 9.82256824e-01 -5.45255728e-03 -2.03197600e+01] [-3.08502286e-02 -3.39287429e-04 9.99523961e-01 -6.07742296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.36, Y:-20.32, Z:-6.08 [[ 9.81117003e-01 1.91066091e-01 3.00528605e-02 1.43363091e+02] [-1.90990423e-01 9.81577073e-01 -5.39526940e-03 -2.03203573e+01] [-3.05300518e-02 -4.46417972e-04 9.99533750e-01 -6.07906344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:143.39, Y:-20.32, Z:-6.08 [[ 9.80569397e-01 1.93882596e-01 2.98864011e-02 1.43391627e+02] [-1.93809105e-01 9.81024595e-01 -5.36425663e-03 -2.03201648e+01] [-3.03593306e-02 -5.32230750e-04 9.99538908e-01 -6.08070968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.42, Y:-20.32, Z:-6.08 [[ 9.80134374e-01 1.96048391e-01 3.00272736e-02 1.43420805e+02] [-1.95975301e-01 9.80594036e-01 -5.38686838e-03 -2.03204354e+01] [-3.05006522e-02 -6.04749119e-04 9.99534564e-01 -6.08203910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters Centerline goodness [0,1] 0.9999570465186204 Centerline is valid? [True, True] Translation: X:143.45, Y:-20.32, Z:-6.08 [[ 9.79623290e-01 1.98658778e-01 2.95448792e-02 1.43451045e+02] [-1.98589255e-01 9.80068483e-01 -5.29865389e-03 -2.03184710e+01] [-3.00086291e-02 -6.76610798e-04 9.99549411e-01 -6.08490510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65264000000002 meters Centerline goodness [0,1] 0.9999358288770054 Centerline is valid? [True, True] Translation: X:143.48, Y:-20.32, Z:-6.09 [[ 9.79585698e-01 1.98878178e-01 2.93143386e-02 1.43479117e+02] [-1.98809847e-01 9.80023984e-01 -5.25688940e-03 -2.03231886e+01] [-2.97742355e-02 -6.78405493e-04 9.99556419e-01 -6.08661793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters Centerline goodness [0,1] 0.999914870070445 Centerline is valid? [True, True] Translation: X:143.51, Y:-20.33, Z:-6.09 [[ 9.79676633e-01 1.98500141e-01 2.88338072e-02 1.43505836e+02] [-1.98433895e-01 9.80100639e-01 -5.16977848e-03 -2.03256314e+01] [-2.92862346e-02 -6.56893498e-04 9.99570850e-01 -6.08950867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.53, Y:-20.33, Z:-6.09 [[ 9.79757716e-01 1.98140131e-01 2.85535651e-02 1.43534424e+02] [-1.98075095e-01 9.80173493e-01 -5.11672819e-03 -2.03319166e+01] [-2.90012768e-02 -6.42596202e-04 9.99579168e-01 -6.08996575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264000000002 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:143.56, Y:-20.34, Z:-6.09 [[ 9.79781470e-01 1.98017920e-01 2.85862476e-02 1.43562235e+02] [-1.97952717e-01 9.80198190e-01 -5.12145412e-03 -2.03361820e+01] [-2.90343278e-02 -6.40819526e-04 9.99578210e-01 -6.09169628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77264000000002 meters Centerline goodness [0,1] 0.9996566007769407 Centerline is valid? [True, True] Translation: X:143.59, Y:-20.34, Z:-6.09 [[ 9.79936273e-01 1.97193611e-01 2.89755061e-02 1.43589836e+02] [-1.97126330e-01 9.80364364e-01 -5.18879356e-03 -2.03387132e+01] [-2.94297505e-02 -6.27148139e-04 9.99566654e-01 -6.09404428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264000000003 meters Centerline goodness [0,1] 0.999785531987904 Centerline is valid? [True, True] Translation: X:143.62, Y:-20.34, Z:-6.10 [[ 9.80136758e-01 1.96199823e-01 2.89407043e-02 1.43618140e+02] [-1.96132329e-01 9.80563752e-01 -5.18057156e-03 -2.03437446e+01] [-2.93946328e-02 -5.98539110e-04 9.99567705e-01 -6.09539384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83264000000003 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:143.65, Y:-20.35, Z:-6.10 [[ 9.80514600e-01 1.94261610e-01 2.92155247e-02 1.43646094e+02] [-1.94192012e-01 9.80949605e-01 -5.22830038e-03 -2.03486757e+01] [-2.96746154e-02 -5.46996647e-04 9.99559462e-01 -6.09518450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264000000003 meters Centerline goodness [0,1] 0.9999571303024457 Centerline is valid? [True, True] Translation: X:143.67, Y:-20.35, Z:-6.10 [[ 9.80972646e-01 1.91898206e-01 2.94575291e-02 1.43672935e+02] [-1.91826424e-01 9.81414717e-01 -5.27027828e-03 -2.03541624e+01] [-2.99214096e-02 -4.80733639e-04 9.99552139e-01 -6.09706113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89264000000003 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:143.70, Y:-20.37, Z:-6.10 [[ 9.82184527e-01 1.85781794e-01 2.82609257e-02 1.43700283e+02] [-1.85713243e-01 9.82590985e-01 -5.05442155e-03 -2.03656011e+01] [-2.87079504e-02 -2.84053528e-04 9.99587801e-01 -6.10034628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264000000003 meters Centerline goodness [0,1] 0.9999143322196522 Centerline is valid? [True, True] Translation: X:143.73, Y:-20.37, Z:-6.11 [[ 9.82856222e-01 1.82291344e-01 2.76317458e-02 1.43726563e+02] [-1.82224464e-01 9.83244544e-01 -4.94073412e-03 -2.03732180e+01] [-2.80694164e-02 -1.79148802e-04 9.99605960e-01 -6.10537541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.75, Y:-20.39, Z:-6.10 [[ 9.84148166e-01 1.75212153e-01 2.74424631e-02 1.43753044e+02] [-1.75143482e-01 9.84530701e-01 -4.90506196e-03 -2.03867257e+01] [-2.78773739e-02 2.09391796e-05 9.99611350e-01 -6.10473016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264000000003 meters Centerline goodness [0,1] 0.9999138023919836 Centerline is valid? [True, True] Translation: X:143.78, Y:-20.39, Z:-6.11 [[ 9.84677916e-01 1.72297358e-01 2.68890841e-02 1.43780411e+02] [-1.72230371e-01 9.85044979e-01 -4.80509338e-03 -2.03944201e+01] [-2.73148622e-02 1.00352387e-04 9.99626875e-01 -6.10710368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.81, Y:-20.40, Z:-6.11 [[ 9.85180868e-01 1.69487536e-01 2.63179156e-02 1.43807571e+02] [-1.69422410e-01 9.85532316e-01 -4.70123608e-03 -2.04024672e+01] [-2.67339572e-02 1.72723166e-04 9.99642569e-01 -6.10834305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264000000003 meters Centerline goodness [0,1] 0.9998269185002489 Centerline is valid? [True, True] Translation: X:143.84, Y:-20.41, Z:-6.11 [[ 9.85810733e-01 1.65826151e-01 2.60554440e-02 1.43835685e+02] [-1.65761082e-01 9.86154966e-01 -4.65269464e-03 -2.04110736e+01] [-2.64662439e-02 2.67697721e-04 9.99649672e-01 -6.11197859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.86, Y:-20.42, Z:-6.11 [[ 9.86125832e-01 1.63944755e-01 2.60376735e-02 1.43863432e+02] [-1.63879131e-01 9.86469471e-01 -4.64904958e-03 -2.04175892e+01] [-2.64475573e-02 3.17516558e-04 9.99650152e-01 -6.11175949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:143.89, Y:-20.43, Z:-6.12 [[ 9.86601265e-01 1.61285881e-01 2.45928664e-02 1.43892279e+02] [-1.61226539e-01 9.86907661e-01 -4.39003375e-03 -2.04251429e+01] [-2.49789387e-02 3.66190111e-04 9.99687911e-01 -6.11500261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13264000000004 meters Centerline goodness [0,1] 0.9999786744007506 Centerline is valid? [True, True] Translation: X:143.92, Y:-20.43, Z:-6.12 [[ 9.86764452e-01 1.60266338e-01 2.47106555e-02 1.43921130e+02] [-1.60206123e-01 9.87073729e-01 -4.41044079e-03 -2.04307988e+01] [-2.50980841e-02 3.93267877e-04 9.99684916e-01 -6.11742285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264000000004 meters Centerline goodness [0,1] 0.9999139377770128 Centerline is valid? [True, True] Translation: X:143.95, Y:-20.44, Z:-6.12 [[ 9.86863060e-01 1.59581425e-01 2.52005761e-02 1.43950989e+02] [-1.59518591e-01 9.87184681e-01 -4.49724717e-03 -2.04350051e+01] [-2.55952998e-02 4.18206702e-04 9.99672299e-01 -6.11789108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19264 meters Centerline goodness [0,1] 0.9996996739316972 Centerline is valid? [True, True] Translation: X:143.98, Y:-20.44, Z:-6.12 [[ 9.87008933e-01 1.58833800e-01 2.41907021e-02 1.43979165e+02] [-1.58775717e-01 9.87305246e-01 -4.31542639e-03 -2.04415376e+01] [-2.45690427e-02 4.18468323e-04 9.99698048e-01 -6.12065010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters Centerline goodness [0,1] 0.9997851772287862 Centerline is valid? [True, True] Translation: X:144.01, Y:-20.45, Z:-6.12 [[ 9.87008036e-01 1.58905452e-01 2.37527864e-02 1.44007233e+02] [-1.58849423e-01 9.87293719e-01 -4.23942834e-03 -2.04476943e+01] [-2.41246451e-02 4.11233435e-04 9.99708874e-01 -6.12336677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25264 meters Centerline goodness [0,1] 0.9999350789872322 Centerline is valid? [True, True] Translation: X:144.04, Y:-20.45, Z:-6.12 [[ 9.86661500e-01 1.60925519e-01 2.45369456e-02 1.44037752e+02] [-1.60866382e-01 9.86966483e-01 -4.37823482e-03 -2.04468942e+01] [-2.49217126e-02 3.72666077e-04 9.99689336e-01 -6.12040425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.07, Y:-20.45, Z:-6.12 [[ 9.86445193e-01 1.62221855e-01 2.46971888e-02 1.44066095e+02] [-1.62162359e-01 9.86754252e-01 -4.40639522e-03 -2.04513188e+01] [-2.50848697e-02 3.41712989e-04 9.99685267e-01 -6.12245192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31264000000002 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:144.10, Y:-20.45, Z:-6.12 [[ 9.86225459e-01 1.63588315e-01 2.44582752e-02 1.44095251e+02] [-1.63530403e-01 9.86528647e-01 -4.36302593e-03 -2.04538617e+01] [-2.48425292e-02 3.03255641e-04 9.99691331e-01 -6.12421702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.12, Y:-20.45, Z:-6.12 [[ 9.85960905e-01 1.65187838e-01 2.43735944e-02 1.44124372e+02] [-1.65130842e-01 9.86262090e-01 -4.34681426e-03 -2.04546034e+01] [-2.47567930e-02 2.60956747e-04 9.99693470e-01 -6.12321179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37264000000002 meters Centerline goodness [0,1] 0.9997396963123645 Centerline is valid? [True, True] Translation: X:144.15, Y:-20.45, Z:-6.13 [[ 9.85364450e-01 1.68670749e-01 2.46389676e-02 1.44152747e+02] [-1.68613620e-01 9.85672434e-01 -4.39309249e-03 -2.04515162e+01] [-2.50269374e-02 1.74331662e-04 9.99686762e-01 -6.12540608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.18, Y:-20.45, Z:-6.13 [[ 9.85157942e-01 1.69852144e-01 2.47806261e-02 1.44180425e+02] [-1.69794769e-01 9.85469547e-01 -4.41678961e-03 -2.04531223e+01] [-2.51707535e-02 1.43614690e-04 9.99683156e-01 -6.12548489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.21, Y:-20.45, Z:-6.13 [[ 9.84705189e-01 1.72586841e-01 2.38636293e-02 1.44208404e+02] [-1.72534470e-01 9.84994303e-01 -4.25194905e-03 -2.04513019e+01] [-2.42393694e-02 6.96176553e-05 9.99706181e-01 -6.12897594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.24, Y:-20.45, Z:-6.13 [[ 9.84454243e-01 1.74095554e-01 2.32504244e-02 1.44237569e+02] [-1.74046296e-01 9.84728763e-01 -4.14118264e-03 -2.04528861e+01] [-2.36163231e-02 3.01545702e-05 9.99721095e-01 -6.12887631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.27, Y:-20.45, Z:-6.13 [[ 9.84202080e-01 1.75483592e-01 2.34898775e-02 1.44265326e+02] [-1.75433734e-01 9.84482356e-01 -4.18283017e-03 -2.04549418e+01] [-2.38593880e-02 -4.16676950e-06 9.99715324e-01 -6.13336318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.29, Y:-20.46, Z:-6.13 [[ 9.84214308e-01 1.75414970e-01 2.34901049e-02 1.44292395e+02] [-1.75365123e-01 9.84494585e-01 -4.18155274e-03 -2.04596217e+01] [-2.38593880e-02 -3.80107777e-06 9.99715324e-01 -6.13450117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.32, Y:-20.46, Z:-6.14 [[ 9.83930891e-01 1.77103164e-01 2.26819488e-02 1.44321618e+02] [-1.77057182e-01 9.84192292e-01 -4.03574624e-03 -2.04606592e+01] [-2.30381426e-02 -4.51065398e-05 9.99734586e-01 -6.13503827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.35, Y:-20.46, Z:-6.14 [[ 9.83912081e-01 1.77262085e-01 2.22524251e-02 1.44350643e+02] [-1.77217892e-01 9.84163681e-01 -3.95827458e-03 -2.04634992e+01] [-2.26016806e-02 -4.89336898e-05 9.99744548e-01 -6.13636377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.38, Y:-20.47, Z:-6.14 [[ 9.84018566e-01 1.76635515e-01 2.25245837e-02 1.44379575e+02] [-1.76590096e-01 9.84276330e-01 -4.00554949e-03 -2.04676655e+01] [-2.28779369e-02 -3.60833273e-05 9.99738265e-01 -6.13767896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.41, Y:-20.48, Z:-6.14 [[ 9.84697229e-01 1.72745655e-01 2.30283529e-02 1.44405427e+02] [-1.72697140e-01 9.84966464e-01 -4.09416475e-03 -2.04783349e+01] [-2.33894045e-02 5.45820028e-05 9.99726429e-01 -6.14042385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.43, Y:-20.49, Z:-6.14 [[ 9.85200956e-01 1.69940357e-01 2.23461728e-02 1.44432671e+02] [-1.69893986e-01 9.85454343e-01 -3.97137484e-03 -2.04885130e+01] [-2.26960299e-02 1.16121911e-04 9.99742405e-01 -6.14042584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.46, Y:-20.50, Z:-6.14 [[ 9.85638888e-01 1.67413669e-01 2.21053401e-02 1.44459913e+02] [-1.67367681e-01 9.85886725e-01 -3.92750529e-03 -2.04978524e+01] [-2.24508795e-02 1.71382427e-04 9.99747933e-01 -6.14171881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.49, Y:-20.51, Z:-6.14 [[ 9.86318438e-01 1.63261938e-01 2.28359092e-02 1.44485459e+02] [-1.63211769e-01 9.86582721e-01 -4.05631342e-03 -2.05106282e+01] [-2.31917550e-02 2.73727569e-04 9.99730998e-01 -6.14301672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264000000003 meters Centerline goodness [0,1] 0.9998716989201326 Centerline is valid? [True, True] Translation: X:144.51, Y:-20.52, Z:-6.15 [[ 9.86481015e-01 1.62345406e-01 2.23422337e-02 1.44513448e+02] [-1.62297184e-01 9.86733949e-01 -3.96703262e-03 -2.05182067e+01] [-2.26898700e-02 2.87320745e-04 9.99742510e-01 -6.14679914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.54, Y:-20.52, Z:-6.15 [[ 9.86559935e-01 1.62183714e-01 1.98982045e-02 1.44541878e+02] [-1.62145447e-01 9.86760547e-01 -3.53239398e-03 -2.05231933e+01] [-2.02076600e-02 2.58515099e-04 9.99795771e-01 -6.14575124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264000000004 meters Centerline goodness [0,1] 0.9997202977752916 Centerline is valid? [True, True] Translation: X:144.57, Y:-20.53, Z:-6.15 [[ 9.86361903e-01 1.63445577e-01 1.93840046e-02 1.44568588e+02] [-1.63409519e-01 9.86552326e-01 -3.44044724e-03 -2.05282536e+01] [-1.96856608e-02 2.25995214e-04 9.99806193e-01 -6.15327579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.60, Y:-20.53, Z:-6.15 [[ 9.86109173e-01 1.65007232e-01 1.90082073e-02 1.44597862e+02] [-1.64972877e-01 9.86292339e-01 -3.37232827e-03 -2.05290996e+01] [-1.93041078e-02 1.89645207e-04 9.99813640e-01 -6.14909093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.63, Y:-20.53, Z:-6.15 [[ 9.85765812e-01 1.67031249e-01 1.91396393e-02 1.44625248e+02] [-1.66996812e-01 9.85951591e-01 -3.39492312e-03 -2.05324485e+01] [-1.94378161e-02 1.50340396e-04 9.99811057e-01 -6.15367293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91264000000004 meters Centerline goodness [0,1] 0.9997825283256856 Centerline is valid? [True, True] Translation: X:144.65, Y:-20.53, Z:-6.16 [[ 9.84857148e-01 1.72418064e-01 1.81220411e-02 1.44654998e+02] [-1.72388126e-01 9.85023862e-01 -3.21314485e-03 -2.05302043e+01] [-1.84046471e-02 4.04639625e-05 9.99830619e-01 -6.15505467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters Centerline goodness [0,1] 0.999849095651799 Centerline is valid? [True, True] Translation: X:144.68, Y:-20.53, Z:-6.16 [[ 9.84425550e-01 1.74879596e-01 1.79850660e-02 1.44682435e+02] [-1.74850510e-01 9.84589827e-01 -3.18939727e-03 -2.05319469e+01] [-1.82656735e-02 -4.97380750e-06 9.99833169e-01 -6.15701729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.71, Y:-20.53, Z:-6.16 [[ 9.83644066e-01 1.79210507e-01 1.81092859e-02 1.44711030e+02] [-1.79181811e-01 9.83810747e-01 -3.20816446e-03 -2.05302308e+01] [-1.83910469e-02 -8.91627127e-05 9.99830866e-01 -6.15994721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.74, Y:-20.53, Z:-6.16 [[ 9.83235105e-01 1.81422994e-01 1.82872808e-02 1.44739968e+02] [-1.81394141e-01 9.83405145e-01 -3.23824819e-03 -2.05335668e+01] [-1.85712987e-02 -1.33246293e-04 9.99827530e-01 -6.15732334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.77, Y:-20.53, Z:-6.16 [[ 9.82878620e-01 1.83281155e-01 1.89112801e-02 1.44767166e+02] [-1.83250647e-01 9.83060521e-01 -3.34853411e-03 -2.05329512e+01] [-1.92046561e-02 -1.74301729e-04 9.99815558e-01 -6.16322128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.80, Y:-20.53, Z:-6.16 [[ 9.82208064e-01 1.86770442e-01 1.95990199e-02 1.44796088e+02] [-1.86738403e-01 9.82403551e-01 -3.46854308e-03 -2.05335494e+01] [-1.99019680e-02 -2.53058697e-04 9.99801904e-01 -6.15814288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09264000000002 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:144.82, Y:-20.54, Z:-6.16 [[ 9.81997093e-01 1.87817820e-01 2.01538167e-02 1.44823984e+02] [-1.87784216e-01 9.82203841e-01 -3.56409837e-03 -2.05362382e+01] [-2.04645574e-02 -2.84634433e-04 9.99790538e-01 -6.15983862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.85, Y:-20.54, Z:-6.16 [[ 9.81868084e-01 1.88523554e-01 1.98478024e-02 1.44851975e+02] [-1.88491136e-01 9.82068624e-01 -3.50852250e-03 -2.05421704e+01] [-2.01533431e-02 -2.96228552e-04 9.99796857e-01 -6.16009152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.88, Y:-20.55, Z:-6.16 [[ 9.81955258e-01 1.88151775e-01 1.90468028e-02 1.44879235e+02] [-1.88121868e-01 9.82139925e-01 -3.36609225e-03 -2.05512856e+01] [-1.93399617e-02 -2.77768131e-04 9.99812927e-01 -6.16120209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters Centerline goodness [0,1] 0.9999788922661264 Centerline is valid? [True, True] Translation: X:144.91, Y:-20.56, Z:-6.17 [[ 9.82108656e-01 1.87414822e-01 1.83921896e-02 1.44906728e+02] [-1.87386817e-01 9.82280825e-01 -3.24980233e-03 -2.05554467e+01] [-1.86753563e-02 -2.54794876e-04 9.99825568e-01 -6.16685833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21264000000002 meters Centerline goodness [0,1] 0.9999353364659224 Centerline is valid? [True, True] Translation: X:144.93, Y:-20.56, Z:-6.17 [[ 9.82210672e-01 1.86989311e-01 1.72392886e-02 1.44934842e+02] [-1.86964664e-01 9.82361921e-01 -3.04480274e-03 -2.05629342e+01] [-1.75045662e-02 -2.32500049e-04 9.99846756e-01 -6.16677696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264000000002 meters Centerline goodness [0,1] 0.9999569883223295 Centerline is valid? [True, True] Translation: X:144.96, Y:-20.57, Z:-6.17 [[ 9.82487719e-01 1.85581340e-01 1.66568021e-02 1.44961319e+02] [-1.85558137e-01 9.82628885e-01 -2.94144168e-03 -2.05713159e+01] [-1.69133316e-02 -2.00874835e-04 9.99856939e-01 -6.16959858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:144.99, Y:-20.58, Z:-6.17 [[ 9.82606957e-01 1.84965276e-01 1.64746883e-02 1.44988309e+02] [-1.84942502e-01 9.82745039e-01 -2.90861112e-03 -2.05792859e+01] [-1.67284103e-02 -1.88848544e-04 9.99860053e-01 -6.16941700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.02, Y:-20.59, Z:-6.17 [[ 9.82666186e-01 1.84668491e-01 1.62701001e-02 1.45015006e+02] [-1.84646264e-01 9.82800852e-01 -2.87096087e-03 -2.05880702e+01] [-1.65204442e-02 -1.83017025e-04 9.99863511e-01 -6.17169635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.04, Y:-20.59, Z:-6.18 [[ 9.82607459e-01 1.84977826e-01 1.63029363e-02 1.45042462e+02] [-1.84955569e-01 9.82742676e-01 -2.87569427e-03 -2.05919395e+01] [-1.65535310e-02 -1.89640227e-04 9.99862963e-01 -6.17519273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264000000003 meters Centerline goodness [0,1] 0.999914967794052 Centerline is valid? [True, True] Translation: X:145.07, Y:-20.60, Z:-6.18 [[ 9.82435656e-01 1.85911283e-01 1.60367537e-02 1.45070612e+02] [-1.85889888e-01 9.82566514e-01 -2.82773349e-03 -2.05955510e+01] [-1.62828847e-02 -2.03004143e-04 9.99867404e-01 -6.17658252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39264000000003 meters Centerline goodness [0,1] 0.9996563573883162 Centerline is valid? [True, True] Translation: X:145.10, Y:-20.60, Z:-6.18 [[ 9.82064643e-01 1.87871564e-01 1.59157843e-02 1.45099219e+02] [-1.87850767e-01 9.82193576e-01 -2.80517551e-03 -2.05988512e+01] [-1.61593938e-02 -2.34928599e-04 9.99869401e-01 -6.17779716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.13, Y:-20.60, Z:-6.18 [[ 9.81191388e-01 1.92410778e-01 1.55419868e-02 1.45129052e+02] [-1.92391525e-01 9.81314425e-01 -2.73865738e-03 -2.05980839e+01] [-1.57785230e-02 -3.02999508e-04 9.99875465e-01 -6.17722208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45264000000003 meters Centerline goodness [0,1] 0.9999141133274644 Centerline is valid? [True, True] Translation: X:145.16, Y:-20.60, Z:-6.18 [[ 9.80758414e-01 1.94594032e-01 1.56874244e-02 1.45157402e+02] [-1.94574707e-01 9.80883809e-01 -2.76363276e-03 -2.05973290e+01] [-1.59253270e-02 -3.41919916e-04 9.99873125e-01 -6.18131502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264000000003 meters Centerline goodness [0,1] 0.9998058713142512 Centerline is valid? [True, True] Translation: X:145.19, Y:-20.60, Z:-6.18 [[ 9.79965509e-01 1.98502875e-01 1.62545060e-02 1.45187757e+02] [-1.98482699e-01 9.80100214e-01 -2.86147974e-03 -2.05974023e+01] [-1.64990568e-02 -4.22086768e-04 9.99863792e-01 -6.17985823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51264000000003 meters Centerline goodness [0,1] 0.9998915848132006 Centerline is valid? [True, True] Translation: X:145.22, Y:-20.60, Z:-6.18 [[ 9.79694643e-01 1.99809578e-01 1.65692079e-02 1.45216423e+02] [-1.99788744e-01 9.79834645e-01 -2.92011344e-03 -2.06004199e+01] [-1.68185506e-02 -4.49521747e-04 9.99858457e-01 -6.17841960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264000000003 meters Centerline goodness [0,1] 0.9997637457044674 Centerline is valid? [True, True] Translation: X:145.24, Y:-20.60, Z:-6.18 [[ 9.79447406e-01 2.01011843e-01 1.66438786e-02 1.45244753e+02] [-2.00991078e-01 9.79588695e-01 -2.92833037e-03 -2.06017044e+01] [-1.68927844e-02 -4.77125514e-04 9.99857193e-01 -6.18026584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57264000000004 meters Centerline goodness [0,1] 0.9992323111698724 Centerline is valid? [True, True] Translation: X:145.27, Y:-20.60, Z:-6.18 [[ 9.79254548e-01 2.01964142e-01 1.64625342e-02 1.45272849e+02] [-2.01943999e-01 9.79392794e-01 -2.89415921e-03 -2.06004553e+01] [-1.67078037e-02 -4.90391420e-04 9.99860295e-01 -6.18437063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264000000004 meters Centerline goodness [0,1] 0.9992552082225012 Centerline is valid? [True, True] Translation: X:145.30, Y:-20.60, Z:-6.19 [[ 9.79463281e-01 2.00948341e-01 1.64755760e-02 1.45301396e+02] [-2.00927997e-01 9.79601726e-01 -2.89801500e-03 -2.06049938e+01] [-1.67218540e-02 -4.71905202e-04 9.99860069e-01 -6.18664368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63264000000004 meters Centerline goodness [0,1] 0.9997854353516714 Centerline is valid? [True, True] Translation: X:145.33, Y:-20.61, Z:-6.19 [[ 9.80288297e-01 1.96912894e-01 1.61296953e-02 1.45329693e+02] [-1.96892949e-01 9.80420905e-01 -2.83105872e-03 -2.06141499e+01] [-1.63713625e-02 -4.00569559e-04 9.99865900e-01 -6.18830900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264000000004 meters Centerline goodness [0,1] 0.9999142293507162 Centerline is valid? [True, True] Translation: X:145.36, Y:-20.62, Z:-6.19 [[ 9.80893997e-01 1.93881808e-01 1.60253201e-02 1.45357364e+02] [-1.93861712e-01 9.81024833e-01 -2.81298520e-03 -2.06239152e+01] [-1.62666237e-02 -3.47455700e-04 9.99867629e-01 -6.18847964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69264 meters Centerline goodness [0,1] 0.9999568565696658 Centerline is valid? [True, True] Translation: X:145.38, Y:-20.63, Z:-6.19 [[ 9.81562256e-01 1.90481907e-01 1.58802222e-02 1.45384528e+02] [-1.90461740e-01 9.81690664e-01 -2.78673271e-03 -2.06328973e+01] [-1.61202880e-02 -2.89223105e-04 9.99870018e-01 -6.19187293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters Centerline goodness [0,1] 0.9999783746377752 Centerline is valid? [True, True] Translation: X:145.41, Y:-20.65, Z:-6.19 [[ 9.82281841e-01 1.86721992e-01 1.60400209e-02 1.45411578e+02] [-1.86700929e-01 9.82412767e-01 -2.81400371e-03 -2.06464313e+01] [-1.62833577e-02 -2.30542064e-04 9.99867391e-01 -6.18903713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75264 meters Centerline goodness [0,1] 0.9999783535727428 Centerline is valid? [True, True] Translation: X:145.44, Y:-20.66, Z:-6.19 [[ 9.83544788e-01 1.79948265e-01 1.60708499e-02 1.45437368e+02] [-1.79926215e-01 9.83676069e-01 -2.81944458e-03 -2.06591672e+01] [-1.63158646e-02 -1.18517164e-04 9.99866880e-01 -6.19063867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.47, Y:-20.67, Z:-6.19 [[ 9.84074073e-01 1.77051300e-01 1.58447583e-02 1.45465161e+02] [-1.77029526e-01 9.84201622e-01 -2.77757652e-03 -2.06666505e+01] [-1.60862103e-02 -7.16490028e-05 9.99870606e-01 -6.19125060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.49, Y:-20.68, Z:-6.19 [[ 9.84862874e-01 1.72587820e-01 1.60799021e-02 1.45491502e+02] [-1.72564808e-01 9.84994134e-01 -2.81826027e-03 -2.06750517e+01] [-1.63250066e-02 7.74686852e-07 9.99866738e-01 -6.19294053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters Centerline goodness [0,1] 0.9998262871039889 Centerline is valid? [True, True] Translation: X:145.52, Y:-20.68, Z:-6.20 [[ 9.85150265e-01 1.70881644e-01 1.66859053e-02 1.45518925e+02] [-1.70856640e-01 9.85291562e-01 -2.92329967e-03 -2.06817185e+01] [-1.69400200e-02 2.89917321e-05 9.99856507e-01 -6.19566682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.55, Y:-20.69, Z:-6.19 [[ 9.85512111e-01 1.68776132e-01 1.67480334e-02 1.45546692e+02] [-1.68750660e-01 9.85654409e-01 -2.93285406e-03 -2.06896001e+01] [-1.70027687e-02 6.41215052e-05 9.99855440e-01 -6.19453649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.57, Y:-20.70, Z:-6.20 [[ 9.86207174e-01 1.64617869e-01 1.72153242e-02 1.45572938e+02] [-1.64590333e-01 9.86357409e-01 -3.01405874e-03 -2.07012511e+01] [-1.74766305e-02 1.39010416e-04 9.99847262e-01 -6.19571413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93264000000002 meters Centerline goodness [0,1] 0.9999566987096216 Centerline is valid? [True, True] Translation: X:145.60, Y:-20.71, Z:-6.19 [[ 9.86475392e-01 1.62962599e-01 1.75923820e-02 1.45601366e+02] [-1.62933605e-01 9.86632232e-01 -3.07870100e-03 -2.07069696e+01] [-1.78589242e-02 1.70672570e-04 9.99840502e-01 -6.19395928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters Centerline goodness [0,1] 0.9998062224136075 Centerline is valid? [True, True] Translation: X:145.63, Y:-20.71, Z:-6.20 [[ 9.86776810e-01 1.61104825e-01 1.77978493e-02 1.45627974e+02] [-1.61074855e-01 9.86937279e-01 -3.11418020e-03 -2.07149178e+01] [-1.80670704e-02 2.06214816e-04 9.99836756e-01 -6.19761132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99264000000002 meters Centerline goodness [0,1] 0.9997854767778612 Centerline is valid? [True, True] Translation: X:145.65, Y:-20.73, Z:-6.20 [[ 9.87280841e-01 1.57917513e-01 1.84010623e-02 1.45653701e+02] [-1.57884956e-01 9.87452270e-01 -3.21802450e-03 -2.07262572e+01] [-1.86783532e-02 2.71843027e-04 9.99825507e-01 -6.19910840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264000000002 meters Centerline goodness [0,1] 0.999763339070568 Centerline is valid? [True, True] Translation: X:145.68, Y:-20.73, Z:-6.20 [[ 9.87527586e-01 1.56339902e-01 1.86306732e-02 1.45681593e+02] [-1.56306270e-01 9.87703266e-01 -3.25693042e-03 -2.07347439e+01] [-1.89107649e-02 3.04217600e-04 9.99821129e-01 -6.19946480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05264000000003 meters Centerline goodness [0,1] 0.9999349156072374 Centerline is valid? [True, True] Translation: X:145.71, Y:-20.75, Z:-6.20 [[ 9.87982559e-01 1.53582916e-01 1.73997546e-02 1.45709104e+02] [-1.53553170e-01 9.88135708e-01 -3.04081477e-03 -2.07471433e+01] [-1.76603361e-02 3.32484473e-04 9.99843989e-01 -6.19906920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264000000003 meters Centerline goodness [0,1] 0.9999570179020438 Centerline is valid? [True, True] Translation: X:145.74, Y:-20.76, Z:-6.20 [[ 9.88134602e-01 1.52625121e-01 1.71924678e-02 1.45737381e+02] [-1.52595951e-01 9.88284096e-01 -3.00366551e-03 -2.07553051e+01] [-1.74494773e-02 3.44524837e-04 9.99847687e-01 -6.19983616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11264000000003 meters Centerline goodness [0,1] 0.999914006234548 Centerline is valid? [True, True] Translation: X:145.76, Y:-20.76, Z:-6.20 [[ 9.88199076e-01 1.52131149e-01 1.78521380e-02 1.45764371e+02] [-1.52099625e-01 9.88360248e-01 -3.11844196e-03 -2.07648090e+01] [-1.81187557e-02 3.66337966e-04 9.99835775e-01 -6.20317983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264000000003 meters Centerline goodness [0,1] 0.9997852325931017 Centerline is valid? [True, True] Translation: X:145.79, Y:-20.77, Z:-6.20 [[ 9.88139423e-01 1.52467133e-01 1.82826436e-02 1.45793376e+02] [-1.52434138e-01 9.88308473e-01 -3.19312353e-03 -2.07692722e+01] [-1.85557380e-02 3.68352229e-04 9.99827760e-01 -6.20476297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17264000000003 meters Centerline goodness [0,1] 0.9998920109716852 Centerline is valid? [True, True] Translation: X:145.82, Y:-20.77, Z:-6.20 [[ 9.87714209e-01 1.55287615e-01 1.75042473e-02 1.45823420e+02] [-1.55257819e-01 9.87869255e-01 -3.05683263e-03 -2.07717571e+01] [-1.77665960e-02 3.01605767e-04 9.99842116e-01 -6.20294226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264000000003 meters Centerline goodness [0,1] 0.999807490748861 Centerline is valid? [True, True] Translation: X:145.85, Y:-20.78, Z:-6.21 [[ 9.87366470e-01 1.57506313e-01 1.72978394e-02 1.45851873e+02] [-1.57477557e-01 9.87517946e-01 -3.02065143e-03 -2.07766825e+01] [-1.75576985e-02 2.58468439e-04 9.99845818e-01 -6.20696459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.88, Y:-20.78, Z:-6.21 [[ 9.86391034e-01 1.63564387e-01 1.67158337e-02 1.45880600e+02] [-1.63538404e-01 9.86532650e-01 -2.91898043e-03 -2.07750130e+01] [-1.69681569e-02 1.45575366e-04 9.99856020e-01 -6.20777787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.91, Y:-20.78, Z:-6.21 [[ 9.85820745e-01 1.67037984e-01 1.59928544e-02 1.45909965e+02] [-1.67014675e-01 9.85950458e-01 -2.79159562e-03 -2.07758919e+01] [-1.62344647e-02 8.09714867e-05 9.99868209e-01 -6.20908900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.94, Y:-20.77, Z:-6.21 [[ 9.84611624e-01 1.74084317e-01 1.53166689e-02 1.45940154e+02] [-1.74063780e-01 9.84730750e-01 -2.67413363e-03 -2.07710357e+01] [-1.55483196e-02 -3.30942282e-05 9.99879117e-01 -6.21121746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:145.97, Y:-20.77, Z:-6.21 [[ 9.84097983e-01 1.76943647e-01 1.55597364e-02 1.45969488e+02] [-1.76922854e-01 9.84220981e-01 -2.71380598e-03 -2.07708685e+01] [-1.57944098e-02 -8.22219811e-05 9.99875257e-01 -6.21079510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35264000000004 meters Centerline goodness [0,1] 0.99997842363044 Centerline is valid? [True, True] Translation: X:146.00, Y:-20.77, Z:-6.21 [[ 9.83644954e-01 1.79455643e-01 1.54361851e-02 1.45997437e+02] [-1.79435495e-01 9.83766058e-01 -2.69179942e-03 -2.07709053e+01] [-1.56686535e-02 -1.22024598e-04 9.99877232e-01 -6.21446419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.03, Y:-20.77, Z:-6.22 [[ 9.83297461e-01 1.81313360e-01 1.58609253e-02 1.46025166e+02] [-1.81292336e-01 9.83425361e-01 -2.76544712e-03 -2.07730411e+01] [-1.60994487e-02 -1.56207069e-04 9.99870383e-01 -6.21552524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.05, Y:-20.78, Z:-6.21 [[ 9.82850009e-01 1.83622187e-01 1.69927105e-02 1.46053671e+02] [-1.83598437e-01 9.82996871e-01 -2.96068172e-03 -2.07752934e+01] [-1.72474281e-02 -2.09929029e-04 9.99851230e-01 -6.21224034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.08, Y:-20.78, Z:-6.21 [[ 9.82863477e-01 1.83550066e-01 1.69929280e-02 1.46080763e+02] [-1.83526327e-01 9.83010340e-01 -2.95943238e-03 -2.07798734e+01] [-1.72474280e-02 -2.09931653e-04 9.99851230e-01 -6.21337859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47264 meters Centerline goodness [0,1] 0.9998935468074688 Centerline is valid? [True, True] Translation: X:146.11, Y:-20.78, Z:-6.22 [[ 9.82788689e-01 1.83926238e-01 1.72490829e-02 1.46108012e+02] [-1.83901855e-01 9.82940024e-01 -3.00297852e-03 -2.07792531e+01] [-1.75071405e-02 -2.20844999e-04 9.99846714e-01 -6.22082267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.14, Y:-20.79, Z:-6.22 [[ 9.83140092e-01 1.82018238e-01 1.74620040e-02 1.46136109e+02] [-1.81992991e-01 9.83295136e-01 -3.03755393e-03 -2.07873639e+01] [-1.77231938e-02 -1.91621294e-04 9.99842914e-01 -6.21736292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.16, Y:-20.80, Z:-6.22 [[ 9.83404235e-01 1.80534430e-01 1.79841542e-02 1.46163831e+02] [-1.80507419e-01 9.83568651e-01 -3.12749292e-03 -2.07952475e+01] [-1.82532705e-02 -1.70683476e-04 9.99833381e-01 -6.21552456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.19, Y:-20.80, Z:-6.22 [[ 9.83702443e-01 1.78868786e-01 1.83155727e-02 1.46191407e+02] [-1.78840500e-01 9.83872927e-01 -3.18416546e-03 -2.08013414e+01] [-1.85897439e-02 -1.43294833e-04 9.99827186e-01 -6.21845032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.22, Y:-20.81, Z:-6.22 [[ 9.84512039e-01 1.74342308e-01 1.84609110e-02 1.46218385e+02] [-1.74312792e-01 9.84685105e-01 -3.20850631e-03 -2.08148039e+01] [-1.87375624e-02 -5.91598473e-05 9.99824435e-01 -6.21557661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.24, Y:-20.83, Z:-6.22 [[ 9.85002282e-01 1.71522360e-01 1.87239132e-02 1.46244788e+02] [-1.71491498e-01 9.85180227e-01 -3.25361632e-03 -2.08251939e+01] [-1.90044970e-02 -6.17243749e-06 9.99819398e-01 -6.21875163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65264000000002 meters Centerline goodness [0,1] 0.9997856744824039 Centerline is valid? [True, True] Translation: X:146.27, Y:-20.84, Z:-6.22 [[ 9.85550880e-01 1.68249205e-01 1.95363090e-02 1.46271657e+02] [-1.68214998e-01 9.85744491e-01 -3.39300302e-03 -2.08369474e+01] [-1.98286791e-02 5.76769200e-05 9.99803391e-01 -6.21729984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters Centerline goodness [0,1] 0.9997621724465969 Centerline is valid? [True, True] Translation: X:146.30, Y:-20.86, Z:-6.22 [[ 9.86783359e-01 1.60834783e-01 1.97680073e-02 1.46297279e+02] [-1.60798297e-01 9.86981322e-01 -3.43197271e-03 -2.08577536e+01] [-2.00626346e-02 2.07951652e-04 9.99798703e-01 -6.21852811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71264000000002 meters Centerline goodness [0,1] 0.9999783760406531 Centerline is valid? [True, True] Translation: X:146.33, Y:-20.87, Z:-6.22 [[ 9.87314314e-01 1.57599091e-01 1.93124773e-02 1.46325976e+02] [-1.57563672e-01 9.87503142e-01 -3.35169231e-03 -2.08685261e+01] [-1.95993557e-02 2.66228965e-04 9.99807879e-01 -6.21637167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264000000002 meters Centerline goodness [0,1] 0.9998063558319169 Centerline is valid? [True, True] Translation: X:146.35, Y:-20.88, Z:-6.22 [[ 9.87698782e-01 1.55174035e-01 1.92907925e-02 1.46354910e+02] [-1.55138242e-01 9.87887099e-01 -3.34741873e-03 -2.08796967e+01] [-1.95765575e-02 3.13501775e-04 9.99808312e-01 -6.21830252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77264000000002 meters Centerline goodness [0,1] 0.9998700905036159 Centerline is valid? [True, True] Translation: X:146.38, Y:-20.90, Z:-6.22 [[ 9.88203005e-01 1.51922506e-01 1.93487263e-02 1.46383835e+02] [-1.51885885e-01 9.88392336e-01 -3.35693776e-03 -2.08967185e+01] [-1.96341272e-02 3.78537557e-04 9.99807160e-01 -6.21870125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.41, Y:-20.91, Z:-6.22 [[ 9.88359659e-01 1.50930888e-01 1.91062965e-02 1.46414911e+02] [-1.50895049e-01 9.88544240e-01 -3.31205296e-03 -2.09069513e+01] [-1.93873105e-02 3.90453989e-04 9.99811972e-01 -6.21889376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83264000000003 meters Centerline goodness [0,1] 0.9998276938982101 Centerline is valid? [True, True] Translation: X:146.44, Y:-20.92, Z:-6.22 [[ 9.88393668e-01 1.50738768e-01 1.88621756e-02 1.46444847e+02] [-1.50703736e-01 9.88573553e-01 -3.27328036e-03 -2.09175104e+01] [-1.91400582e-02 3.92689252e-04 9.99816735e-01 -6.22118898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264000000003 meters Centerline goodness [0,1] 0.999805850375356 Centerline is valid? [True, True] Translation: X:146.48, Y:-20.93, Z:-6.22 [[ 9.88325219e-01 1.51225413e-01 1.85509070e-02 1.46475785e+02] [-1.51191574e-01 9.88499232e-01 -3.22131992e-03 -2.09305356e+01] [-1.88247028e-02 3.78970881e-04 9.99822728e-01 -6.22182310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89264000000003 meters Centerline goodness [0,1] 0.9999781935540145 Centerline is valid? [True, True] Translation: X:146.51, Y:-20.94, Z:-6.22 [[ 9.88136186e-01 1.52464654e-01 1.84771855e-02 1.46507784e+02] [-1.52431222e-01 9.88308859e-01 -3.21269893e-03 -2.09369463e+01] [-1.87509892e-02 3.58084100e-04 9.99824121e-01 -6.22163051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264000000003 meters Centerline goodness [0,1] 0.9999782825869782 Centerline is valid? [True, True] Translation: X:146.54, Y:-20.94, Z:-6.22 [[ 9.87853330e-01 1.54289790e-01 1.84515258e-02 1.46538586e+02] [-1.54256707e-01 9.88025584e-01 -3.21156388e-03 -2.09442604e+01] [-1.87260911e-02 3.26282460e-04 9.99824598e-01 -6.22411093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.57, Y:-20.95, Z:-6.22 [[ 9.87101209e-01 1.58965022e-01 1.90085309e-02 1.46570114e+02] [-1.58930654e-01 9.87284183e-01 -3.31488522e-03 -2.09493484e+01] [-1.92937727e-02 2.51088958e-04 9.99813826e-01 -6.22420886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.60, Y:-20.96, Z:-6.23 [[ 9.86660770e-01 1.61681639e-01 1.89624012e-02 1.46600091e+02] [-1.61647969e-01 9.86842951e-01 -3.30531685e-03 -2.09556927e+01] [-1.92473210e-02 1.95992823e-04 9.99814734e-01 -6.22783035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01264000000003 meters Centerline goodness [0,1] 0.9999784068579819 Centerline is valid? [True, True] Translation: X:146.63, Y:-20.96, Z:-6.23 [[ 9.86249015e-01 1.64269491e-01 1.81222007e-02 1.46631389e+02] [-1.64239072e-01 9.86415487e-01 -3.16442981e-03 -2.09598033e+01] [-1.83958387e-02 1.44542358e-04 9.99830772e-01 -6.22913025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264000000003 meters Centerline goodness [0,1] 0.9998704942801641 Centerline is valid? [True, True] Translation: X:146.66, Y:-20.96, Z:-6.23 [[ 9.85167541e-01 1.70731365e-01 1.71964531e-02 1.46661354e+02] [-1.70704923e-01 9.85317614e-01 -3.00478771e-03 -2.09611131e+01] [-1.74569796e-02 2.47001205e-05 9.99847615e-01 -6.23252117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.69, Y:-20.96, Z:-6.23 [[ 9.84568415e-01 1.74155458e-01 1.71730449e-02 1.46691011e+02] [-1.74129616e-01 9.84718170e-01 -3.00029090e-03 -2.09640295e+01] [-1.74331264e-02 -3.63440568e-05 9.99848031e-01 -6.23222898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264000000004 meters Centerline goodness [0,1] 0.9996548153261995 Centerline is valid? [True, True] Translation: X:146.72, Y:-20.97, Z:-6.23 [[ 9.83940253e-01 1.77716690e-01 1.66840032e-02 1.46720571e+02] [-1.77692817e-01 9.84081688e-01 -2.91445504e-03 -2.09663617e+01] [-1.69363694e-02 -9.69778962e-05 9.99856565e-01 -6.23473640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13264000000004 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:146.75, Y:-20.96, Z:-6.24 [[ 9.82776052e-01 1.83997921e-01 1.72045447e-02 1.46749599e+02] [-1.83973511e-01 9.82926610e-01 -3.00453909e-03 -2.09640766e+01] [-1.74636337e-02 -2.12391413e-04 9.99847477e-01 -6.23592550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264000000004 meters Centerline goodness [0,1] 0.9999783132007547 Centerline is valid? [True, True] Translation: X:146.78, Y:-20.97, Z:-6.23 [[ 9.82302179e-01 1.86496487e-01 1.73634436e-02 1.46778659e+02] [-1.86472000e-01 9.82455594e-01 -3.03310485e-03 -2.09680930e+01] [-1.76244757e-02 -2.58370554e-04 9.99844643e-01 -6.23291252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.81, Y:-20.97, Z:-6.23 [[ 9.81590766e-01 1.90189917e-01 1.75317686e-02 1.46807335e+02] [-1.90165563e-01 9.81747262e-01 -3.06129201e-03 -2.09700780e+01] [-1.77939927e-02 -3.29002679e-04 9.99841620e-01 -6.23385034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:146.84, Y:-20.98, Z:-6.23 [[ 9.81336096e-01 1.91470599e-01 1.78458940e-02 1.46836193e+02] [-1.91445583e-01 9.81498284e-01 -3.11573584e-03 -2.09750420e+01] [-1.81122861e-02 -3.58933535e-04 9.99835895e-01 -6.23358646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25264 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:146.86, Y:-20.98, Z:-6.24 [[ 9.81131131e-01 1.92463251e-01 1.84282709e-02 1.46864524e+02] [-1.92436765e-01 9.81304104e-01 -3.21668141e-03 -2.09756324e+01] [-1.87028308e-02 -3.90290560e-04 9.99825011e-01 -6.23625900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters Centerline goodness [0,1] 0.9999783956618489 Centerline is valid? [True, True] Translation: X:146.89, Y:-20.98, Z:-6.23 [[ 9.80886841e-01 1.93619039e-01 1.93047368e-02 1.46893224e+02] [-1.93590228e-01 9.81076694e-01 -3.36804561e-03 -2.09798357e+01] [-1.95915451e-02 -4.33536780e-04 9.99807973e-01 -6.23357701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31264000000002 meters Centerline goodness [0,1] 0.9999784927735719 Centerline is valid? [True, True] Translation: X:146.92, Y:-20.98, Z:-6.23 [[ 9.80222816e-01 1.96896713e-01 1.98724688e-02 1.46923169e+02] [-1.96866882e-01 9.80424102e-01 -3.46576050e-03 -2.09763983e+01] [-2.01658442e-02 -5.15013445e-04 9.99796516e-01 -6.23402409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters Centerline goodness [0,1] 0.9999563452219845 Centerline is valid? [True, True] Translation: X:146.95, Y:-20.98, Z:-6.23 [[ 9.79877735e-01 1.98628773e-01 1.96528884e-02 1.46951198e+02] [-1.98599948e-01 9.80074647e-01 -3.42732674e-03 -2.09820845e+01] [-1.99420634e-02 -5.44701453e-04 9.99800989e-01 -6.23178197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37264000000002 meters Centerline goodness [0,1] 0.9999347386282059 Centerline is valid? [True, True] Translation: X:146.98, Y:-20.98, Z:-6.23 [[ 9.79568139e-01 2.00143497e-01 1.97190684e-02 1.46979206e+02] [-2.00114811e-01 9.79766424e-01 -3.43755211e-03 -2.09817181e+01] [-2.00080848e-02 -5.78761129e-04 9.99799651e-01 -6.23413035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters Centerline goodness [0,1] 0.9957983193277311 Centerline is valid? [True, True] Translation: X:147.01, Y:-20.97, Z:-6.24 [[ 9.79140924e-01 2.02170134e-01 2.02555760e-02 1.47008814e+02] [-2.02140323e-01 9.79350208e-01 -3.52991255e-03 -2.09700721e+01] [-2.05509454e-02 -6.38186823e-04 9.99788603e-01 -6.24071204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43264000000002 meters Centerline goodness [0,1] 0.9996117426285024 Centerline is valid? [True, True] Translation: X:147.04, Y:-20.98, Z:-6.24 [[ 9.79156479e-01 2.02050317e-01 2.06944105e-02 1.47036494e+02] [-2.02019219e-01 9.79374926e-01 -3.60419914e-03 -2.09806442e+01] [-2.09958163e-02 -6.51593710e-04 9.99779351e-01 -6.23617572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters Centerline goodness [0,1] 0.9996329958334232 Centerline is valid? [True, True] Translation: X:147.07, Y:-20.99, Z:-6.24 [[ 9.79795950e-01 1.98968597e-01 2.02828598e-02 1.47065476e+02] [-1.98938093e-01 9.80005697e-01 -3.53106459e-03 -2.09880150e+01] [-2.05798892e-02 -5.75310682e-04 9.99788046e-01 -6.23718275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49264000000002 meters Centerline goodness [0,1] 0.9999566536627655 Centerline is valid? [True, True] Translation: X:147.09, Y:-20.99, Z:-6.24 [[ 9.80433586e-01 1.95868662e-01 1.96328775e-02 1.47092505e+02] [-1.95839456e-01 9.80630014e-01 -3.41815970e-03 -2.09946154e+01] [-1.99220993e-02 -4.93613479e-04 9.99801413e-01 -6.23945204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264000000002 meters Centerline goodness [0,1] 0.9999567754484547 Centerline is valid? [True, True] Translation: X:147.12, Y:-21.00, Z:-6.24 [[ 9.81176430e-01 1.92160970e-01 1.91565754e-02 1.47120628e+02] [-1.92132482e-01 9.81363334e-01 -3.33398072e-03 -2.10022910e+01] [-1.94402217e-02 -4.09377063e-04 9.99810937e-01 -6.24167538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55264000000003 meters Centerline goodness [0,1] 0.9999128673187095 Centerline is valid? [True, True] Translation: X:147.15, Y:-21.01, Z:-6.24 [[ 9.82768478e-01 1.83903995e-01 1.85859994e-02 1.47148696e+02] [-1.83875726e-01 9.82944181e-01 -3.23328788e-03 -2.10141109e+01] [-1.88636145e-02 -2.39940718e-04 9.99822037e-01 -6.24434433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.18, Y:-21.02, Z:-6.25 [[ 9.83531871e-01 1.79834951e-01 1.80124881e-02 1.47176075e+02] [-1.79807716e-01 9.83696785e-01 -3.13359741e-03 -2.10238592e+01] [-1.82823569e-02 -1.56791420e-04 9.99832851e-01 -6.24651388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61264000000003 meters Centerline goodness [0,1] 0.9996322972768369 Centerline is valid? [True, True] Translation: X:147.20, Y:-21.03, Z:-6.25 [[ 9.84264889e-01 1.75821711e-01 1.75884931e-02 1.47204163e+02] [-1.75795127e-01 9.84422023e-01 -3.05839989e-03 -2.10337369e+01] [-1.78522331e-02 -8.16957637e-05 9.99840633e-01 -6.24885554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264000000003 meters Centerline goodness [0,1] 0.9999352890422778 Centerline is valid? [True, True] Translation: X:147.23, Y:-21.05, Z:-6.25 [[ 9.85308034e-01 1.69782480e-01 1.84929061e-02 1.47230832e+02] [-1.69752032e-01 9.85481562e-01 -3.21542099e-03 -2.10458243e+01] [-1.87703401e-02 2.89717591e-05 9.99823821e-01 -6.24950859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67264000000003 meters Centerline goodness [0,1] 0.9999351000540833 Centerline is valid? [True, True] Translation: X:147.26, Y:-21.05, Z:-6.25 [[ 9.85746191e-01 1.67170404e-01 1.89341905e-02 1.47260283e+02] [-1.67138034e-01 9.85928014e-01 -3.29056843e-03 -2.10530928e+01] [-1.92178345e-02 7.90419070e-05 9.99815317e-01 -6.24703376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264000000003 meters Centerline goodness [0,1] 0.9999566799514815 Centerline is valid? [True, True] Translation: X:147.29, Y:-21.06, Z:-6.25 [[ 9.86094093e-01 1.65077140e-01 1.91827278e-02 1.47289651e+02] [-1.65043519e-01 9.86280651e-01 -3.33376166e-03 -2.10602137e+01] [-1.94698811e-02 1.21417791e-04 9.99810437e-01 -6.24695320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73264000000003 meters Centerline goodness [0,1] 0.9999347755190782 Centerline is valid? [True, True] Translation: X:147.32, Y:-21.07, Z:-6.25 [[ 9.86621484e-01 1.61716601e-01 2.06346362e-02 1.47318835e+02] [-1.61676989e-01 9.86837221e-01 -3.58476360e-03 -2.10696800e+01] [-2.09427428e-02 2.00658946e-04 9.99780657e-01 -6.24512723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264000000003 meters Centerline goodness [0,1] 0.9997174588685315 Centerline is valid? [True, True] Translation: X:147.35, Y:-21.08, Z:-6.25 [[ 9.86863437e-01 1.60142795e-01 2.13270133e-02 1.47348893e+02] [-1.60100121e-01 9.87093829e-01 -3.70464537e-03 -2.10786521e+01] [-2.16450355e-02 2.41521650e-04 9.99765690e-01 -6.24853143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79264000000003 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:147.38, Y:-21.09, Z:-6.25 [[ 9.87454382e-01 1.56505606e-01 2.09723524e-02 1.47379765e+02] [-1.56463400e-01 9.87677018e-01 -3.64861875e-03 -2.10904153e+01] [-2.12849398e-02 3.21439007e-04 9.99773398e-01 -6.24950950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264000000004 meters Centerline goodness [0,1] 0.9998692126602144 Centerline is valid? [True, True] Translation: X:147.41, Y:-21.10, Z:-6.25 [[ 9.87744179e-01 1.54684056e-01 2.08393567e-02 1.47411421e+02] [-1.54642014e-01 9.87963924e-01 -3.62383361e-03 -2.10963833e+01] [-2.11490819e-02 3.56780471e-04 9.99776269e-01 -6.24727083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.44, Y:-21.11, Z:-6.25 [[ 9.87962739e-01 1.53166281e-01 2.16729582e-02 1.47441214e+02] [-1.53120343e-01 9.88200345e-01 -3.77330213e-03 -2.11058976e+01] [-2.19951674e-02 4.09311118e-04 9.99757993e-01 -6.24831877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.47, Y:-21.12, Z:-6.25 [[ 9.88297573e-01 1.50906539e-01 2.22513734e-02 1.47470320e+02] [-1.50857452e-01 9.88547920e-01 -3.87800821e-03 -2.11198924e+01] [-2.25817657e-02 4.75840597e-04 9.99744886e-01 -6.25130407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.50, Y:-21.13, Z:-6.25 [[ 9.88431810e-01 1.50094581e-01 2.17755254e-02 1.47501235e+02] [-1.50047302e-01 9.88671523e-01 -3.79839103e-03 -2.11279676e+01] [-2.20989597e-02 4.87091692e-04 9.99755670e-01 -6.25305576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264000000004 meters Centerline goodness [0,1] 0.9999783751054213 Centerline is valid? [True, True] Translation: X:147.53, Y:-21.13, Z:-6.25 [[ 9.88516850e-01 1.49590402e-01 2.13810267e-02 1.47533285e+02] [-1.49544630e-01 9.88747930e-01 -3.73289656e-03 -2.11324298e+01] [-2.16988514e-02 4.92613426e-04 9.99764431e-01 -6.25253164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.56, Y:-21.14, Z:-6.26 [[ 9.88564927e-01 1.49371407e-01 2.06777147e-02 1.47564797e+02] [-1.49328478e-01 9.88781042e-01 -3.61354620e-03 -2.11401927e+01] [-2.09854928e-02 4.84453382e-04 9.99779663e-01 -6.25502701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters Centerline goodness [0,1] 0.9999347627538816 Centerline is valid? [True, True] Translation: X:147.60, Y:-21.15, Z:-6.26 [[ 9.88545501e-01 1.49525212e-01 2.04939602e-02 1.47596119e+02] [-1.49482980e-01 9.88757796e-01 -3.58603794e-03 -2.11493231e+01] [-2.07997660e-02 4.81463441e-04 9.99783546e-01 -6.25664292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03264000000001 meters Centerline goodness [0,1] 0.9998702309888399 Centerline is valid? [True, True] Translation: X:147.63, Y:-21.16, Z:-6.26 [[ 9.88448305e-01 1.50130713e-01 2.07537189e-02 1.47627096e+02] [-1.50087501e-01 9.88666042e-01 -3.63318582e-03 -2.11573196e+01] [-2.10639499e-02 4.76342560e-04 9.99778017e-01 -6.25776412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters Centerline goodness [0,1] 0.9999782901306934 Centerline is valid? [True, True] Translation: X:147.66, Y:-21.16, Z:-6.26 [[ 9.88335319e-01 1.50836498e-01 2.10154152e-02 1.47658212e+02] [-1.50792269e-01 9.88558612e-01 -3.68275592e-03 -2.11647566e+01] [-2.13304637e-02 4.70835623e-04 9.99772369e-01 -6.25707457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.69, Y:-21.17, Z:-6.26 [[ 9.87899675e-01 1.53571194e-01 2.16822795e-02 1.47687652e+02] [-1.53524610e-01 9.88137491e-01 -3.80690508e-03 -2.11724508e+01] [-2.20097042e-02 4.32076798e-04 9.99757664e-01 -6.25807271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters Centerline goodness [0,1] 0.9997384538262025 Centerline is valid? [True, True] Translation: X:147.72, Y:-21.18, Z:-6.26 [[ 9.87557889e-01 1.55769189e-01 2.15725651e-02 1.47720114e+02] [-1.55723664e-01 9.87793408e-01 -3.78470473e-03 -2.11756847e+01] [-2.18987780e-02 3.78256133e-04 9.99760121e-01 -6.25800440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.75, Y:-21.18, Z:-6.26 [[ 9.86711158e-01 1.60968999e-01 2.21375620e-02 1.47750758e+02] [-1.60922205e-01 9.86959424e-01 -3.89087366e-03 -2.11801900e+01] [-2.24751855e-02 2.76743158e-04 9.99747363e-01 -6.25886456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters Centerline goodness [0,1] 0.9999567978571737 Centerline is valid? [True, True] Translation: X:147.78, Y:-21.18, Z:-6.26 [[ 9.86168921e-01 1.64301938e-01 2.18113004e-02 1.47783059e+02] [-1.64257381e-01 9.86410074e-01 -3.83115785e-03 -2.11836088e+01] [-2.21443531e-02 1.95501725e-04 9.99754765e-01 -6.26004472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.81, Y:-21.19, Z:-6.26 [[ 9.85648436e-01 1.67397174e-01 2.18024678e-02 1.47814573e+02] [-1.67353323e-01 9.85889532e-01 -3.83354773e-03 -2.11872475e+01] [-2.21365498e-02 1.29814892e-04 9.99754948e-01 -6.26156036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.85, Y:-21.19, Z:-6.26 [[ 9.85138197e-01 1.70391350e-01 2.16684407e-02 1.47845610e+02] [-1.70348670e-01 9.85376468e-01 -3.81408836e-03 -2.11906096e+01] [-2.20014592e-02 6.62140870e-05 9.99757936e-01 -6.26368473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27264000000002 meters Centerline goodness [0,1] 0.9999349127831294 Centerline is valid? [True, True] Translation: X:147.88, Y:-21.19, Z:-6.27 [[ 9.84250867e-01 1.75511300e-01 2.11190446e-02 1.47876743e+02] [-1.75471862e-01 9.84477416e-01 -3.72072089e-03 -2.11943354e+01] [-2.14442510e-02 -4.36753340e-05 9.99770045e-01 -6.26743093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.91, Y:-21.20, Z:-6.27 [[ 9.83918065e-01 1.77420550e-01 2.06685925e-02 1.47907173e+02] [-1.77383073e-01 9.84135124e-01 -3.64730675e-03 -2.11997723e+01] [-2.09877950e-02 -7.76074477e-05 9.99779729e-01 -6.26897191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.94, Y:-21.21, Z:-6.27 [[ 9.83913834e-01 1.77444019e-01 2.06685053e-02 1.47937510e+02] [-1.77406537e-01 9.84130893e-01 -3.64780047e-03 -2.12051734e+01] [-2.09877950e-02 -7.76066158e-05 9.99779729e-01 -6.27024829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:147.97, Y:-21.21, Z:-6.27 [[ 9.83526083e-01 1.79595365e-01 2.05413924e-02 1.47967579e+02] [-1.79558796e-01 9.83740560e-01 -3.62611484e-03 -2.12092238e+01] [-2.08586343e-02 -1.22009167e-04 9.99782428e-01 -6.27287957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.00, Y:-21.21, Z:-6.27 [[ 9.82632775e-01 1.84369803e-01 2.09905849e-02 1.47998638e+02] [-1.84332694e-01 9.82856919e-01 -3.70591895e-03 -2.12101078e+01] [-2.13140012e-02 -2.27693657e-04 9.99772805e-01 -6.27353993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.03, Y:-21.21, Z:-6.27 [[ 9.82166285e-01 1.86821371e-01 2.11462449e-02 1.48029373e+02] [-1.86784277e-01 9.82393860e-01 -3.73340095e-03 -2.12140273e+01] [-2.14714202e-02 -2.82965535e-04 9.99769422e-01 -6.27340187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45264000000003 meters Centerline goodness [0,1] 0.9999567202614096 Centerline is valid? [True, True] Translation: X:148.06, Y:-21.22, Z:-6.27 [[ 9.81707640e-01 1.89230538e-01 2.10217065e-02 1.48059159e+02] [-1.89194427e-01 9.81932631e-01 -3.71165998e-03 -2.12177585e+01] [-2.13442590e-02 -3.33424761e-04 9.99772130e-01 -6.27369110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.09, Y:-21.22, Z:-6.27 [[ 9.80667283e-01 1.94530041e-01 2.12071528e-02 1.48089736e+02] [-1.94494533e-01 9.80896456e-01 -3.74414139e-03 -2.12194496e+01] [-2.15303690e-02 -4.52918325e-04 9.99768092e-01 -6.27156720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51264000000003 meters Centerline goodness [0,1] 0.9999782551970079 Centerline is valid? [True, True] Translation: X:148.12, Y:-21.22, Z:-6.27 [[ 9.80101084e-01 1.97365303e-01 2.11849700e-02 1.48119123e+02] [-1.97330526e-01 9.80329880e-01 -3.74044913e-03 -2.12194569e+01] [-2.15064939e-02 -5.14423014e-04 9.99768576e-01 -6.27265180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264000000003 meters Centerline goodness [0,1] 0.9998485536877177 Centerline is valid? [True, True] Translation: X:148.15, Y:-21.21, Z:-6.27 [[ 9.79118165e-01 2.02161449e-01 2.14095222e-02 1.48149696e+02] [-2.02127107e-01 9.79352007e-01 -3.77861624e-03 -2.12144424e+01] [-2.17313491e-02 -6.27732983e-04 9.99763649e-01 -6.27445285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57264000000004 meters Centerline goodness [0,1] 0.9997407311381903 Centerline is valid? [True, True] Translation: X:148.18, Y:-21.22, Z:-6.28 [[ 9.78713088e-01 2.04116511e-01 2.13808811e-02 1.48179350e+02] [-2.04082721e-01 9.78946373e-01 -3.77383976e-03 -2.12159918e+01] [-2.17010390e-02 -6.69962028e-04 9.99764280e-01 -6.27624123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264000000004 meters Centerline goodness [0,1] 0.9997822204799861 Centerline is valid? [True, True] Translation: X:148.21, Y:-21.22, Z:-6.28 [[ 9.78484358e-01 2.05252126e-01 2.09743948e-02 1.48207894e+02] [-2.05219869e-01 9.78708894e-01 -3.70209065e-03 -2.12184380e+01] [-2.12876887e-02 -6.81924751e-04 9.99773159e-01 -6.27698697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63264000000004 meters Centerline goodness [0,1] 0.9998486191907614 Centerline is valid? [True, True] Translation: X:148.24, Y:-21.22, Z:-6.28 [[ 9.78468195e-01 2.05352834e-01 2.07413667e-02 1.48235410e+02] [-2.05321326e-01 9.78687772e-01 -3.66031276e-03 -2.12208876e+01] [-2.10509775e-02 -6.77145293e-04 9.99778174e-01 -6.27800484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264000000004 meters Centerline goodness [0,1] 0.9998274151098071 Centerline is valid? [True, True] Translation: X:148.26, Y:-21.22, Z:-6.28 [[ 9.78617757e-01 2.04572324e-01 2.13880754e-02 1.48263925e+02] [-2.04538681e-01 9.78851213e-01 -3.77227248e-03 -2.12241730e+01] [-2.17074461e-02 -6.83075902e-04 9.99764132e-01 -6.27801809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69264000000004 meters Centerline goodness [0,1] 0.9999136348915039 Centerline is valid? [True, True] Translation: X:148.29, Y:-21.23, Z:-6.28 [[ 9.78945080e-01 2.02968400e-01 2.16877592e-02 1.48291099e+02] [-2.02933423e-01 9.79185068e-01 -3.82476936e-03 -2.12288032e+01] [-2.20126372e-02 -6.56932056e-04 9.99757477e-01 -6.27948583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters Centerline goodness [0,1] 0.9998698876696882 Centerline is valid? [True, True] Translation: X:148.32, Y:-21.24, Z:-6.28 [[ 9.79434380e-01 2.00554672e-01 2.20481163e-02 1.48319425e+02] [-2.00517954e-01 9.79682319e-01 -3.88642160e-03 -2.12360541e+01] [-2.23795897e-02 -6.14548251e-04 9.99749357e-01 -6.27976852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75264 meters Centerline goodness [0,1] 0.9996327421201582 Centerline is valid? [True, True] Translation: X:148.35, Y:-21.25, Z:-6.28 [[ 9.80797797e-01 1.93520063e-01 2.42005598e-02 1.48348677e+02] [-1.93473722e-01 9.81096191e-01 -4.26419302e-03 -2.12479322e+01] [-2.45682840e-02 -4.99861273e-04 9.99698029e-01 -6.27759145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters Centerline goodness [0,1] 0.9999135658412205 Centerline is valid? [True, True] Translation: X:148.38, Y:-21.26, Z:-6.28 [[ 9.81591090e-01 1.89336556e-01 2.51117507e-02 1.48376992e+02] [-1.89285288e-01 9.81912165e-01 -4.42484396e-03 -2.12566014e+01] [-2.54953182e-02 -4.09897549e-04 9.99674858e-01 -6.27787951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.41, Y:-21.27, Z:-6.28 [[ 9.83132948e-01 1.81086327e-01 2.56388199e-02 1.48406238e+02] [-1.81030113e-01 9.83467184e-01 -4.51625182e-03 -2.12737681e+01] [-2.60327694e-02 -2.01322502e-04 9.99661070e-01 -6.27725015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.44, Y:-21.28, Z:-6.28 [[ 9.83807259e-01 1.77419650e-01 2.54075888e-02 1.48435681e+02] [-1.77363198e-01 9.84135284e-01 -4.47648376e-03 -2.12845013e+01] [-2.57987208e-02 -1.02373977e-04 9.99667152e-01 -6.28042680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87264000000002 meters Centerline goodness [0,1] 0.9999133467645849 Centerline is valid? [True, True] Translation: X:148.47, Y:-21.30, Z:-6.28 [[ 9.84412464e-01 1.74059194e-01 2.52090824e-02 1.48466957e+02] [-1.74002494e-01 9.84735191e-01 -4.44245000e-03 -2.12958227e+01] [-2.55975199e-02 -1.32400494e-05 9.99672330e-01 -6.28126150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters Centerline goodness [0,1] 0.9997386361161327 Centerline is valid? [True, True] Translation: X:148.50, Y:-21.31, Z:-6.28 [[ 9.85293001e-01 1.69142808e-01 2.42572069e-02 1.48497234e+02] [-1.69088696e-01 9.85591547e-01 -4.27966148e-03 -2.13079355e+01] [-2.46315720e-02 1.15101008e-04 9.99696590e-01 -6.28300747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93264000000002 meters Centerline goodness [0,1] 0.9999129734786676 Centerline is valid? [True, True] Translation: X:148.53, Y:-21.31, Z:-6.29 [[ 9.85452481e-01 1.68335189e-01 2.33810245e-02 1.48527903e+02] [-1.68284588e-01 9.85729804e-01 -4.12932760e-03 -2.13147892e+01] [-2.37424838e-02 1.34590047e-04 9.99718098e-01 -6.28526978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters Centerline goodness [0,1] 0.9996112982637989 Centerline is valid? [True, True] Translation: X:148.56, Y:-21.32, Z:-6.29 [[ 9.85462941e-01 1.68341241e-01 2.28914583e-02 1.48558068e+02] [-1.68292653e-01 9.85728770e-01 -4.04658390e-03 -2.13204760e+01] [-2.32459760e-02 1.35294224e-04 9.99729767e-01 -6.28822564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99264000000002 meters Centerline goodness [0,1] 0.9999568388795373 Centerline is valid? [True, True] Translation: X:148.59, Y:-21.33, Z:-6.29 [[ 9.85351294e-01 1.69005269e-01 2.28045412e-02 1.48590637e+02] [-1.68957154e-01 9.85615140e-01 -4.03432788e-03 -2.13250592e+01] [-2.31583238e-02 1.22239803e-04 9.99731803e-01 -6.28960382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264000000002 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:148.62, Y:-21.33, Z:-6.29 [[ 9.84838759e-01 1.72055779e-01 2.21230094e-02 1.48623346e+02] [-1.72011167e-01 9.85087207e-01 -3.91823226e-03 -2.13251756e+01] [-2.24672481e-02 5.34223326e-05 9.99747578e-01 -6.29427872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.66, Y:-21.33, Z:-6.29 [[ 9.84497341e-01 1.74009428e-01 2.20387255e-02 1.48656134e+02] [-1.73965547e-01 9.84743986e-01 -3.90764997e-03 -2.13278767e+01] [-2.23824704e-02 1.30920670e-05 9.99749481e-01 -6.29274960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264000000003 meters Centerline goodness [0,1] 0.9999571926970742 Centerline is valid? [True, True] Translation: X:148.69, Y:-21.33, Z:-6.29 [[ 9.83950769e-01 1.76973551e-01 2.28308310e-02 1.48687091e+02] [-1.76927087e-01 9.84215606e-01 -4.05536357e-03 -2.13280166e+01] [-2.31881522e-02 -4.91143146e-05 9.99731117e-01 -6.29465062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.72, Y:-21.33, Z:-6.29 [[ 9.83741818e-01 1.78109428e-01 2.30014677e-02 1.48718424e+02] [-1.78062575e-01 9.84010684e-01 -4.08573792e-03 -2.13316390e+01] [-2.33613984e-02 -7.63893182e-05 9.99727082e-01 -6.29300352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264000000003 meters Centerline goodness [0,1] 0.9998269072655676 Centerline is valid? [True, True] Translation: X:148.75, Y:-21.33, Z:-6.30 [[ 9.83617802e-01 1.78835795e-01 2.26666586e-02 1.48748115e+02] [-1.78790471e-01 9.83878931e-01 -4.02706258e-03 -2.13347636e+01] [-2.30214308e-02 -9.14921353e-05 9.99734968e-01 -6.29657968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17264000000003 meters Centerline goodness [0,1] 0.999739588984614 Centerline is valid? [True, True] Translation: X:148.78, Y:-21.34, Z:-6.30 [[ 9.83452190e-01 1.79716405e-01 2.28867619e-02 1.48778931e+02] [-1.79670423e-01 9.83718456e-01 -4.06669130e-03 -2.13366763e+01] [-2.32449813e-02 -1.12677734e-04 9.99729793e-01 -6.29631433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264000000003 meters Centerline goodness [0,1] 0.9999568239713311 Centerline is valid? [True, True] Translation: X:148.81, Y:-21.34, Z:-6.30 [[ 9.83430720e-01 1.79778417e-01 2.33182466e-02 1.48808393e+02] [-1.79730697e-01 9.83707125e-01 -4.14358144e-03 -2.13400081e+01] [-2.36832518e-02 -1.16079441e-04 9.99719506e-01 -6.29888267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23264000000003 meters Centerline goodness [0,1] 0.9998483798301854 Centerline is valid? [True, True] Translation: X:148.84, Y:-21.34, Z:-6.30 [[ 9.83379034e-01 1.79998861e-01 2.37925536e-02 1.48838295e+02] [-1.79949257e-01 9.83666811e-01 -4.22733774e-03 -2.13447445e+01] [-2.41648613e-02 -1.24377056e-04 9.99707979e-01 -6.29839056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264000000003 meters Centerline goodness [0,1] 0.999913462994613 Centerline is valid? [True, True] Translation: X:148.87, Y:-21.35, Z:-6.30 [[ 9.83419113e-01 1.79794987e-01 2.36772247e-02 1.48867538e+02] [-1.79745798e-01 9.83704096e-01 -4.20706099e-03 -2.13495720e+01] [-2.40477914e-02 -1.18577467e-04 9.99710803e-01 -6.30058462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29264000000003 meters Centerline goodness [0,1] 0.9998921553825248 Centerline is valid? [True, True] Translation: X:148.90, Y:-21.36, Z:-6.30 [[ 9.83499006e-01 1.79439008e-01 2.30509931e-02 1.48896788e+02] [-1.79392296e-01 9.83769094e-01 -4.09550909e-03 -2.13554506e+01] [-2.34117487e-02 -1.07241456e-04 9.99725902e-01 -6.30352315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.93, Y:-21.36, Z:-6.30 [[ 9.83599642e-01 1.78939980e-01 2.26324367e-02 1.48927310e+02] [-1.78894839e-01 9.83859987e-01 -4.02018438e-03 -2.13628530e+01] [-2.29865206e-02 -9.45741967e-05 9.99735771e-01 -6.30281426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:148.96, Y:-21.37, Z:-6.31 [[ 9.83756179e-01 1.78062648e-01 2.27480458e-02 1.48956987e+02] [-1.78016791e-01 9.84019150e-01 -4.04154592e-03 -2.13693892e+01] [-2.31041610e-02 -7.36383493e-05 9.99733061e-01 -6.30688032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264000000004 meters Centerline goodness [0,1] 0.9999569864722455 Centerline is valid? [True, True] Translation: X:148.99, Y:-21.38, Z:-6.31 [[ 9.83808789e-01 1.77785332e-01 2.26415898e-02 1.48987359e+02] [-1.77739818e-01 9.84069292e-01 -4.02315232e-03 -2.13751297e+01] [-2.29961507e-02 -6.62994371e-05 9.99735551e-01 -6.30710815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.02, Y:-21.38, Z:-6.31 [[ 9.83837731e-01 1.77554298e-01 2.31903175e-02 1.49018395e+02] [-1.77506497e-01 9.84111004e-01 -4.12020640e-03 -2.13816456e+01] [-2.35534069e-02 -6.28175019e-05 9.99722578e-01 -6.30695417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264000000004 meters Centerline goodness [0,1] 0.9998272399421254 Centerline is valid? [True, True] Translation: X:149.05, Y:-21.39, Z:-6.31 [[ 9.83936531e-01 1.77076907e-01 2.26422713e-02 1.49048874e+02] [-1.77031259e-01 9.84197016e-01 -4.02085147e-03 -2.13893161e+01] [-2.29964558e-02 -5.21271451e-05 9.99735545e-01 -6.30925361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.08, Y:-21.39, Z:-6.31 [[ 9.83941070e-01 1.77034110e-01 2.27792722e-02 1.49079352e+02] [-1.76987749e-01 9.84204715e-01 -4.05152163e-03 -2.13948705e+01] [-2.31367247e-02 -4.51935916e-05 9.99732309e-01 -6.31025402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters Centerline goodness [0,1] 0.9997206343748657 Centerline is valid? [True, True] Translation: X:149.11, Y:-21.40, Z:-6.31 [[ 9.84028617e-01 1.76585897e-01 2.24744594e-02 1.49109735e+02] [-1.76540639e-01 9.84285233e-01 -3.99785721e-03 -2.14007786e+01] [-2.28272437e-02 -3.36495335e-05 9.99739424e-01 -6.31194168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.14, Y:-21.41, Z:-6.31 [[ 9.84154676e-01 1.75850188e-01 2.27219019e-02 1.49139737e+02] [-1.75803776e-01 9.84416940e-01 -4.03994391e-03 -2.14116903e+01] [-2.30782500e-02 -1.86664660e-05 9.99733662e-01 -6.31347589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.17, Y:-21.42, Z:-6.31 [[ 9.84204271e-01 1.75507621e-01 2.32169888e-02 1.49171477e+02] [-1.75458933e-01 9.84478072e-01 -4.13374804e-03 -2.14198194e+01] [-2.35821207e-02 -5.17561391e-06 9.99721903e-01 -6.31364310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.20, Y:-21.43, Z:-6.31 [[ 9.84097382e-01 1.76005053e-01 2.39700520e-02 1.49203140e+02] [-1.75953310e-01 9.84389263e-01 -4.26753644e-03 -2.14260408e+01] [-2.43469698e-02 -1.79385519e-05 9.99703568e-01 -6.31345477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.23, Y:-21.43, Z:-6.32 [[ 9.83900162e-01 1.77058885e-01 2.43027214e-02 1.49234148e+02] [-1.77005912e-01 9.84200259e-01 -4.33098451e-03 -2.14313668e+01] [-2.46855840e-02 -4.04689996e-05 9.99695264e-01 -6.31606066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.27, Y:-21.44, Z:-6.31 [[ 9.83695547e-01 1.78115549e-01 2.48580452e-02 1.49265348e+02] [-1.78060337e-01 9.84009577e-01 -4.43500570e-03 -2.14375414e+01] [-2.52504980e-02 -6.35365399e-05 9.99681153e-01 -6.31426046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.30, Y:-21.44, Z:-6.32 [[ 9.83425978e-01 1.79454478e-01 2.58734715e-02 1.49296075e+02] [-1.79394990e-01 9.83766274e-01 -4.62129970e-03 -2.14424854e+01] [-2.62827616e-02 -9.68650012e-05 9.99654544e-01 -6.31540237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.33, Y:-21.45, Z:-6.31 [[ 9.82944347e-01 1.81904406e-01 2.70406737e-02 1.49328111e+02] [-1.81840230e-01 9.83316205e-01 -4.83433584e-03 -2.14474271e+01] [-2.74689197e-02 -1.65199247e-04 9.99622644e-01 -6.31386138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.36, Y:-21.45, Z:-6.32 [[ 9.82747312e-01 1.82995414e-01 2.68402640e-02 1.49359989e+02] [-1.82932463e-01 9.83113749e-01 -4.80327570e-03 -2.14529946e+01] [-2.72660100e-02 -1.89549317e-04 9.99628195e-01 -6.31530356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77264000000002 meters Centerline goodness [0,1] 0.9999351042658129 Centerline is valid? [True, True] Translation: X:149.39, Y:-21.46, Z:-6.32 [[ 9.82277849e-01 1.85641114e-01 2.58380333e-02 1.49391863e+02] [-1.85583579e-01 9.82617583e-01 -4.62823194e-03 -2.14561898e+01] [-2.62480960e-02 -2.48904964e-04 9.99655428e-01 -6.31830290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.42, Y:-21.46, Z:-6.32 [[ 9.82075766e-01 1.86842988e-01 2.48372296e-02 1.49423364e+02] [-1.86790096e-01 9.82389753e-01 -4.45338725e-03 -2.14596185e+01] [-2.52319241e-02 -2.65784816e-04 9.99681589e-01 -6.32114379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.45, Y:-21.46, Z:-6.32 [[ 9.81860100e-01 1.88120859e-01 2.36914910e-02 1.49453090e+02] [-1.88072952e-01 9.82145847e-01 -4.25443625e-03 -2.14625917e+01] [-2.40688477e-02 -2.78467429e-04 9.99710265e-01 -6.32456023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264000000003 meters Centerline goodness [0,1] 0.999847388157321 Centerline is valid? [True, True] Translation: X:149.48, Y:-21.47, Z:-6.33 [[ 9.81381153e-01 1.90624064e-01 2.35265412e-02 1.49483487e+02] [-1.90577540e-01 9.81663054e-01 -4.22481514e-03 -2.14653092e+01] [-2.39004877e-02 -3.37476388e-04 9.99714286e-01 -6.32687171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89264000000003 meters Centerline goodness [0,1] 0.9998914247247617 Centerline is valid? [True, True] Translation: X:149.51, Y:-21.47, Z:-6.33 [[ 9.81227285e-01 1.91395719e-01 2.36789946e-02 1.49513797e+02] [-1.91348814e-01 9.81512889e-01 -4.25219219e-03 -2.14687964e+01] [-2.40550897e-02 -3.58580527e-04 9.99710570e-01 -6.32848742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.54, Y:-21.47, Z:-6.33 [[ 9.81134520e-01 1.91909747e-01 2.33602646e-02 1.49543078e+02] [-1.91864237e-01 9.81412510e-01 -4.19517716e-03 -2.14718369e+01] [-2.37311513e-02 -3.65966206e-04 9.99718310e-01 -6.33018681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95264000000003 meters Centerline goodness [0,1] 0.9999349762663372 Centerline is valid? [True, True] Translation: X:149.57, Y:-21.48, Z:-6.33 [[ 9.81143460e-01 1.91782594e-01 2.40197186e-02 1.49572778e+02] [-1.91734443e-01 9.81437363e-01 -4.31349283e-03 -2.14763551e+01] [-2.44011021e-02 -3.73252086e-04 9.99702179e-01 -6.33124102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.60, Y:-21.48, Z:-6.33 [[ 9.81485078e-01 1.89993758e-01 2.42778342e-02 1.49601687e+02] [-1.89944039e-01 9.81785242e-01 -4.35901465e-03 -2.14829158e+01] [-2.46638049e-02 -3.33122073e-04 9.99695747e-01 -6.33238334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.63, Y:-21.49, Z:-6.33 [[ 9.81699541e-01 1.88965247e-01 2.36251051e-02 1.49631459e+02] [-1.88917881e-01 9.81983730e-01 -4.24132297e-03 -2.14907783e+01] [-2.40009314e-02 -2.99499959e-04 9.99711891e-01 -6.33397576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264000000003 meters Centerline goodness [0,1] 0.9996535521728774 Centerline is valid? [True, True] Translation: X:149.66, Y:-21.50, Z:-6.34 [[ 9.82157366e-01 1.86614176e-01 2.32821476e-02 1.49661028e+02] [-1.86567514e-01 9.82433251e-01 -4.17975316e-03 -2.14996838e+01] [-2.36531572e-02 -2.38517058e-04 9.99720196e-01 -6.33607679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07264000000004 meters Centerline goodness [0,1] 0.9998488480058734 Centerline is valid? [True, True] Translation: X:149.69, Y:-21.51, Z:-6.34 [[ 9.82418346e-01 1.85162744e-01 2.38526901e-02 1.49690195e+02] [-1.85113344e-01 9.82707848e-01 -4.28196800e-03 -2.15071030e+01] [-2.42330867e-02 -2.08767304e-04 9.99706314e-01 -6.33759783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264000000004 meters Centerline goodness [0,1] 0.9999567286888793 Centerline is valid? [True, True] Translation: X:149.72, Y:-21.52, Z:-6.34 [[ 9.82591710e-01 1.84121511e-01 2.47548221e-02 1.49721406e+02] [-1.84068032e-01 9.82903470e-01 -4.44156948e-03 -2.15168878e+01] [-2.51493890e-02 -1.92322043e-04 9.99683686e-01 -6.33575238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.75, Y:-21.53, Z:-6.34 [[ 9.82943100e-01 1.82156054e-01 2.53383907e-02 1.49751077e+02] [-1.82099243e-01 9.83269623e-01 -4.55122062e-03 -2.15261228e+01] [-2.57435023e-02 -1.40510859e-04 9.99668571e-01 -6.33558807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.78, Y:-21.53, Z:-6.34 [[ 9.83079891e-01 1.81410007e-01 2.53837942e-02 1.49782805e+02] [-1.81352648e-01 9.83407543e-01 -4.56305502e-03 -2.15330592e+01] [-2.57903985e-02 -1.17570651e-04 9.99667365e-01 -6.33775052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.81, Y:-21.54, Z:-6.34 [[ 9.83118755e-01 1.81206438e-01 2.53325831e-02 1.49814677e+02] [-1.81149111e-01 9.83445075e-01 -4.55896804e-03 -2.15396810e+01] [-2.57393185e-02 -1.06967928e-04 9.99668683e-01 -6.33821985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.85, Y:-21.55, Z:-6.34 [[ 9.83149638e-01 1.81079586e-01 2.50394290e-02 1.49845822e+02] [-1.81023403e-01 9.83468441e-01 -4.51148797e-03 -2.15465161e+01] [-2.54424266e-02 -9.72548763e-05 9.99676284e-01 -6.34204375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.88, Y:-21.55, Z:-6.34 [[ 9.83119525e-01 1.81243129e-01 2.50385342e-02 1.49876945e+02] [-1.81186872e-01 9.83438315e-01 -4.51644729e-03 -2.15522827e+01] [-2.54424289e-02 -9.64461797e-05 9.99676284e-01 -6.34335511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:149.91, Y:-21.56, Z:-6.34 [[ 9.83055194e-01 1.81663383e-01 2.45132817e-02 1.49908133e+02] [-1.81609494e-01 9.83360771e-01 -4.42565369e-03 -2.15590531e+01] [-2.49093788e-02 -1.01182854e-04 9.99689708e-01 -6.34327734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31264000000002 meters Centerline goodness [0,1] 0.9999126637554585 Centerline is valid? [True, True] Translation: X:149.94, Y:-21.56, Z:-6.35 [[ 9.82918598e-01 1.82421498e-01 2.43603485e-02 1.49939932e+02] [-1.82368412e-01 9.83220415e-01 -4.40214673e-03 -2.15637741e+01] [-2.47546382e-02 -1.15606172e-04 9.99693550e-01 -6.34649253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters Centerline goodness [0,1] 0.9998908844903215 Centerline is valid? [True, True] Translation: X:149.97, Y:-21.57, Z:-6.34 [[ 9.82622757e-01 1.83954190e-01 2.47663574e-02 1.49972636e+02] [-1.83899690e-01 9.82934806e-01 -4.48009281e-03 -2.15684578e+01] [-2.51678465e-02 -1.52284294e-04 9.99683228e-01 -6.34387110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.00, Y:-21.57, Z:-6.34 [[ 9.82017956e-01 1.87116967e-01 2.50594452e-02 1.50004235e+02] [-1.87062046e-01 9.82337614e-01 -4.53905746e-03 -2.15688217e+01] [-2.54661703e-02 -2.30235185e-04 9.99675658e-01 -6.34472007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters Centerline goodness [0,1] 0.999935504675911 Centerline is valid? [True, True] Translation: X:150.03, Y:-21.57, Z:-6.35 [[ 9.81724990e-01 1.88650206e-01 2.50428490e-02 1.50034900e+02] [-1.88595688e-01 9.82044312e-01 -4.54267830e-03 -2.15714916e+01] [-2.54501646e-02 -2.63312536e-04 9.99676057e-01 -6.34625103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.07, Y:-21.57, Z:-6.35 [[ 9.81123928e-01 1.91524579e-01 2.67240218e-02 1.50065436e+02] [-1.91463540e-01 9.81487752e-01 -4.84836607e-03 -2.15709397e+01] [-2.71578813e-02 -3.59827840e-04 9.99631092e-01 -6.34584781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.10, Y:-21.58, Z:-6.34 [[ 9.80898385e-01 1.92612857e-01 2.71780524e-02 1.50095359e+02] [-1.92550158e-01 9.81274747e-01 -4.93021993e-03 -2.15752334e+01] [-2.76187603e-02 -3.97093520e-04 9.99618450e-01 -6.34477940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49264000000002 meters Centerline goodness [0,1] 0.9999354074712025 Centerline is valid? [True, True] Translation: X:150.13, Y:-21.58, Z:-6.35 [[ 9.80525427e-01 1.94544996e-01 2.68724926e-02 1.50126354e+02] [-1.94484424e-01 9.80893493e-01 -4.87479002e-03 -2.15758439e+01] [-2.73074192e-02 -4.46425670e-04 9.99626983e-01 -6.34550639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.16, Y:-21.58, Z:-6.35 [[ 9.80331047e-01 1.95499711e-01 2.70351676e-02 1.50155938e+02] [-1.95438770e-01 9.80703643e-01 -4.90416940e-03 -2.15779648e+01] [-2.74722511e-02 -4.76010378e-04 9.99622453e-01 -6.34812117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.19, Y:-21.58, Z:-6.35 [[ 9.80137537e-01 1.96500024e-01 2.67983114e-02 1.50185013e+02] [-1.96440498e-01 9.80503693e-01 -4.86198976e-03 -2.15806739e+01] [-2.72312244e-02 -4.98854960e-04 9.99629037e-01 -6.34992780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264000000003 meters Centerline goodness [0,1] 0.9999357876712329 Centerline is valid? [True, True] Translation: X:150.21, Y:-21.58, Z:-6.35 [[ 9.80106687e-01 1.96760796e-01 2.60013527e-02 1.50214333e+02] [-1.96704871e-01 9.80451400e-01 -4.71663137e-03 -2.15844435e+01] [-2.64211108e-02 -4.91790787e-04 9.99650781e-01 -6.35131805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61264000000003 meters Centerline goodness [0,1] 0.999978578467075 Centerline is valid? [True, True] Translation: X:150.24, Y:-21.58, Z:-6.35 [[ 9.79967170e-01 1.97468074e-01 2.58979903e-02 1.50242950e+02] [-1.97412842e-01 9.80309186e-01 -4.69778398e-03 -2.15839088e+01] [-2.63157002e-02 -5.08921788e-04 9.99653552e-01 -6.35448364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264000000003 meters Centerline goodness [0,1] 0.999935952177626 Centerline is valid? [True, True] Translation: X:150.27, Y:-21.59, Z:-6.36 [[ 9.79983431e-01 1.97353540e-01 2.61544680e-02 1.50270718e+02] [-1.97297212e-01 9.80332249e-01 -4.74262891e-03 -2.15856029e+01] [-2.65760430e-02 -5.12505868e-04 9.99646663e-01 -6.35675504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67264000000003 meters Centerline goodness [0,1] 0.9999565896857093 Centerline is valid? [True, True] Translation: X:150.30, Y:-21.59, Z:-6.35 [[ 9.80222965e-01 1.96140087e-01 2.63060066e-02 1.50299120e+02] [-1.96082715e-01 9.80575765e-01 -4.76834512e-03 -2.15919007e+01] [-2.67302962e-02 -4.84111798e-04 9.99642565e-01 -6.35424991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.33, Y:-21.60, Z:-6.36 [[ 9.80424809e-01 1.95142140e-01 2.62057283e-02 1.50326568e+02] [-1.95084877e-01 9.80774866e-01 -4.74904083e-03 -2.15950259e+01] [-2.66286576e-02 -4.56263847e-04 9.99645290e-01 -6.35643480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.36, Y:-21.60, Z:-6.36 [[ 9.80714438e-01 1.93716233e-01 2.59463206e-02 1.50355518e+02] [-1.93659657e-01 9.81057515e-01 -4.69987622e-03 -2.16012162e+01] [-2.63652751e-02 -4.15519077e-04 9.99652289e-01 -6.35810708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264000000003 meters Centerline goodness [0,1] 0.999978403593642 Centerline is valid? [True, True] Translation: X:150.38, Y:-21.61, Z:-6.36 [[ 9.81539491e-01 1.89565257e-01 2.54015776e-02 1.50383358e+02] [-1.89509658e-01 9.81868079e-01 -4.60058499e-03 -2.16113744e+01] [-2.58131093e-02 -2.98188422e-04 9.99666742e-01 -6.36040521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.41, Y:-21.62, Z:-6.36 [[ 9.82046519e-01 1.86911533e-01 2.54698419e-02 1.50412605e+02] [-1.86854768e-01 9.82376723e-01 -4.61191564e-03 -2.16207354e+01] [-2.58830001e-02 -2.30045698e-04 9.99664953e-01 -6.36209074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.44, Y:-21.63, Z:-6.36 [[ 9.82587536e-01 1.84068331e-01 2.53097623e-02 1.50440726e+02] [-1.84011329e-01 9.82913438e-01 -4.58312402e-03 -2.16308211e+01] [-2.57209135e-02 -1.53962468e-04 9.99669151e-01 -6.36391055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.47, Y:-21.65, Z:-6.36 [[ 9.83567845e-01 1.78695487e-01 2.57335881e-02 1.50470836e+02] [-1.78634803e-01 9.83904428e-01 -4.65668459e-03 -2.16459269e+01] [-2.61515198e-02 -1.67492145e-05 9.99657990e-01 -6.36445535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.50, Y:-21.65, Z:-6.37 [[ 9.83921742e-01 1.76645748e-01 2.63492964e-02 1.50500536e+02] [-1.76581253e-01 9.84274493e-01 -4.77315235e-03 -2.16542599e+01] [-2.67780975e-02 4.36165808e-05 9.99641402e-01 -6.36666678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.53, Y:-21.66, Z:-6.37 [[ 9.84207560e-01 1.74956548e-01 2.69385445e-02 1.50532881e+02] [-1.74888392e-01 9.84576151e-01 -4.88395295e-03 -2.16624680e+01] [-2.73775280e-02 9.55846774e-05 9.99625161e-01 -6.36507950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.56, Y:-21.67, Z:-6.37 [[ 9.84667991e-01 1.72274358e-01 2.73951434e-02 1.50563570e+02] [-1.72202667e-01 9.85048990e-01 -4.97272654e-03 -2.16739424e+01] [-2.78422316e-02 1.78967890e-04 9.99612314e-01 -6.36599908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97264 meters Centerline goodness [0,1] 0.9999139192562624 Centerline is valid? [True, True] Translation: X:150.60, Y:-21.68, Z:-6.37 [[ 9.84826652e-01 1.71426406e-01 2.70083922e-02 1.50595007e+02] [-1.71356278e-01 9.85196907e-01 -4.90719761e-03 -2.16813986e+01] [-2.74498077e-02 2.04681434e-04 9.99623162e-01 -6.36742239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.63, Y:-21.69, Z:-6.37 [[ 9.84797031e-01 1.71506421e-01 2.75745533e-02 1.50625209e+02] [-1.71433206e-01 9.85182979e-01 -5.01532113e-03 -2.16915849e+01] [-2.80261403e-02 2.11879292e-04 9.99607168e-01 -6.36903318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.66, Y:-21.70, Z:-6.37 [[ 9.84694018e-01 1.72117354e-01 2.74464584e-02 1.50657728e+02] [-1.72044943e-01 9.85076432e-01 -4.99599674e-03 -2.16992117e+01] [-2.78967571e-02 1.97503728e-04 9.99610790e-01 -6.36915464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.69, Y:-21.71, Z:-6.37 [[ 9.84584128e-01 1.72679088e-01 2.78572550e-02 1.50688531e+02] [-1.72604544e-01 9.84978120e-01 -5.07690904e-03 -2.17066496e+01] [-2.83154626e-02 1.90355272e-04 9.99599019e-01 -6.37038189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09264000000002 meters Centerline goodness [0,1] 0.9999142771419999 Centerline is valid? [True, True] Translation: X:150.72, Y:-21.71, Z:-6.37 [[ 9.84488876e-01 1.73278566e-01 2.74989228e-02 1.50720120e+02] [-1.73206010e-01 9.84872838e-01 -5.01703794e-03 -2.17126410e+01] [-2.79522873e-02 1.76239353e-04 9.99609243e-01 -6.37186021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.75, Y:-21.72, Z:-6.38 [[ 9.84142302e-01 1.75425475e-01 2.62646552e-02 1.50752731e+02] [-1.75359999e-01 9.84492707e-01 -4.79381500e-03 -2.17193751e+01] [-2.66983188e-02 1.12026223e-04 9.99643530e-01 -6.37605858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15264000000002 meters Centerline goodness [0,1] 0.9999570686472331 Centerline is valid? [True, True] Translation: X:150.78, Y:-21.73, Z:-6.38 [[ 9.83953908e-01 1.76613016e-01 2.53485783e-02 1.50782975e+02] [-1.76552282e-01 9.84280364e-01 -4.63202779e-03 -2.17252909e+01] [-2.57681843e-02 8.23524863e-05 9.99667942e-01 -6.37963077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.82, Y:-21.73, Z:-6.38 [[ 9.83635286e-01 1.78364113e-01 2.54532536e-02 1.50815364e+02] [-1.78303370e-01 9.83964553e-01 -4.65472051e-03 -2.17311704e+01] [-2.58753344e-02 4.01464283e-05 9.99665177e-01 -6.38012823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.85, Y:-21.74, Z:-6.38 [[ 9.82995285e-01 1.81766216e-01 2.61019494e-02 1.50846551e+02] [-1.81703374e-01 9.83341772e-01 -4.77944934e-03 -2.17352611e+01] [-2.65358796e-02 -4.46361012e-05 9.99647861e-01 -6.38110590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264000000002 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:150.88, Y:-21.74, Z:-6.38 [[ 9.82687075e-01 1.83406258e-01 2.62346465e-02 1.50879537e+02] [-1.83343258e-01 9.83037200e-01 -4.80754881e-03 -2.17407417e+01] [-2.66713680e-02 -8.56294864e-05 9.99644252e-01 -6.38138317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.91, Y:-21.75, Z:-6.38 [[ 9.81910576e-01 1.87291230e-01 2.78139648e-02 1.50910418e+02] [-1.87221784e-01 9.82304411e-01 -5.10360057e-03 -2.17451047e+01] [-2.82776399e-02 -1.96100742e-04 9.99600088e-01 -6.38088174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:150.94, Y:-21.75, Z:-6.38 [[ 9.81583131e-01 1.88938798e-01 2.82256456e-02 1.50941111e+02] [-1.88867825e-01 9.81988835e-01 -5.18389034e-03 -2.17491157e+01] [-2.86967068e-02 -2.42496982e-04 9.99588135e-01 -6.38230426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33264000000003 meters Centerline goodness [0,1] 0.9999787996353537 Centerline is valid? [True, True] Translation: X:150.97, Y:-21.75, Z:-6.38 [[ 9.81261786e-01 1.90527721e-01 2.87140270e-02 1.50973438e+02] [-1.90454816e-01 9.81681773e-01 -5.27817911e-03 -2.17538111e+01] [-2.91936763e-02 -2.89449273e-04 9.99573732e-01 -6.38241769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.00, Y:-21.76, Z:-6.38 [[ 9.81003644e-01 1.91784850e-01 2.91619790e-02 1.51004080e+02] [-1.91710052e-01 9.81436939e-01 -5.36578577e-03 -2.17582076e+01] [-2.96497198e-02 -3.26789097e-04 9.99560297e-01 -6.38346993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.03, Y:-21.76, Z:-6.39 [[ 9.80648834e-01 1.93698269e-01 2.84401881e-02 1.51034746e+02] [-1.93627755e-01 9.81061081e-01 -5.23910336e-03 -2.17612175e+01] [-2.89163669e-02 -3.69089160e-04 9.99581766e-01 -6.38632759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.07, Y:-21.77, Z:-6.39 [[ 9.80565154e-01 1.94270655e-01 2.74023958e-02 1.51065503e+02] [-1.94205413e-01 9.80947896e-01 -5.04808192e-03 -2.17662603e+01] [-2.78610167e-02 -3.71720352e-04 9.99611737e-01 -6.38981380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.09, Y:-21.77, Z:-6.39 [[ 9.80436999e-01 1.94992519e-01 2.68553417e-02 1.51094736e+02] [-1.94930120e-01 9.80804654e-01 -4.94754049e-03 -2.17729311e+01] [-2.73045775e-02 -3.84163230e-04 9.99627087e-01 -6.39267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.13, Y:-21.78, Z:-6.39 [[ 9.80327455e-01 1.95554906e-01 2.67648934e-02 1.51126149e+02] [-1.95493146e-01 9.80692674e-01 -4.93052142e-03 -2.17807061e+01] [-2.72123225e-02 -3.98827700e-04 9.99629597e-01 -6.39171993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.16, Y:-21.78, Z:-6.40 [[ 9.80216590e-01 1.96148621e-01 2.64793263e-02 1.51156635e+02] [-1.96088200e-01 9.80574095e-01 -4.88495145e-03 -2.17822522e+01] [-2.69231179e-02 -4.03972972e-04 9.99637426e-01 -6.39528461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264000000003 meters Centerline goodness [0,1] 0.9999784292154705 Centerline is valid? [True, True] Translation: X:151.19, Y:-21.79, Z:-6.40 [[ 9.80103788e-01 1.96734942e-01 2.63045200e-02 1.51185747e+02] [-1.96675508e-01 9.80456623e-01 -4.85338952e-03 -2.17850258e+01] [-2.67452722e-02 -4.16629384e-04 9.99642194e-01 -6.39725775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57264000000004 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:151.22, Y:-21.79, Z:-6.40 [[ 9.79949537e-01 1.97565752e-01 2.58201181e-02 1.51216449e+02] [-1.97508798e-01 9.80289543e-01 -4.76315385e-03 -2.17912526e+01] [-2.62522278e-02 -4.32050077e-04 9.99655258e-01 -6.39631401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.25, Y:-21.80, Z:-6.40 [[ 9.79862979e-01 1.98013615e-01 2.56739256e-02 1.51245793e+02] [-1.97957426e-01 9.80199171e-01 -4.73741370e-03 -2.17955206e+01] [-2.61036330e-02 -4.40327926e-04 9.99659145e-01 -6.39903036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63264000000004 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:151.28, Y:-21.80, Z:-6.40 [[ 9.79893472e-01 1.97906582e-01 2.53331270e-02 1.51276270e+02] [-1.97851853e-01 9.80220790e-01 -4.67401658e-03 -2.17983926e+01] [-2.57570764e-02 -4.32167772e-04 9.99668138e-01 -6.40098260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.31, Y:-21.80, Z:-6.40 [[ 9.79962960e-01 1.97536126e-01 2.55357919e-02 1.51305364e+02] [-1.97480386e-01 9.80295516e-01 -4.71160159e-03 -2.18023659e+01] [-2.59633338e-02 -4.25623016e-04 9.99662805e-01 -6.40215950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.33, Y:-21.81, Z:-6.40 [[ 9.80123529e-01 1.96692185e-01 2.58853732e-02 1.51334545e+02] [-1.96634623e-01 9.80465204e-01 -4.77576423e-03 -2.18060841e+01] [-2.63190632e-02 -4.09121713e-04 9.99653510e-01 -6.40436163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters Centerline goodness [0,1] 0.9999783357525076 Centerline is valid? [True, True] Translation: X:151.36, Y:-21.82, Z:-6.40 [[ 9.80840942e-01 1.92898064e-01 2.72283432e-02 1.51364802e+02] [-1.92832947e-01 9.81218748e-01 -5.02222958e-03 -2.18185126e+01] [-2.76857391e-02 -3.24513265e-04 9.99616624e-01 -6.40196459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.39, Y:-21.83, Z:-6.40 [[ 9.81265310e-01 1.90583730e-01 2.82176021e-02 1.51394587e+02] [-1.90512828e-01 9.81670907e-01 -5.20506496e-03 -2.18276739e+01] [-2.86923997e-02 -2.68265487e-04 9.99588252e-01 -6.40240196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.43, Y:-21.84, Z:-6.40 [[ 9.81685723e-01 1.88300375e-01 2.89155550e-02 1.51425495e+02] [-1.88224791e-01 9.82111464e-01 -5.33853580e-03 -2.18375796e+01] [-2.94035463e-02 -2.01859902e-04 9.99567602e-01 -6.40116347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81264000000002 meters Centerline goodness [0,1] 0.9998927843894071 Centerline is valid? [True, True] Translation: X:151.46, Y:-21.85, Z:-6.40 [[ 9.82087697e-01 1.86108205e-01 2.94532226e-02 1.51456001e+02] [-1.86028632e-01 9.82529245e-01 -5.44333100e-03 -2.18450283e+01] [-2.99517011e-02 -1.33314305e-04 9.99551338e-01 -6.40139361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.49, Y:-21.85, Z:-6.40 [[ 9.82586302e-01 1.83216872e-01 3.09150113e-02 1.51486135e+02] [-1.83127581e-01 9.83072518e-01 -5.71953166e-03 -2.18537472e+01] [-3.14396127e-02 -4.14577655e-05 9.99505652e-01 -6.40045100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87264000000002 meters Centerline goodness [0,1] 0.9998275044201992 Centerline is valid? [True, True] Translation: X:151.52, Y:-21.86, Z:-6.40 [[ 9.82704114e-01 1.82670829e-01 3.03972383e-02 1.51518477e+02] [-1.82584185e-01 9.83174129e-01 -5.62559877e-03 -2.18601169e+01] [-3.09134111e-02 -2.17559354e-05 9.99522066e-01 -6.40195624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.55, Y:-21.87, Z:-6.41 [[ 9.82711236e-01 1.82762574e-01 2.96052064e-02 1.51549199e+02] [-1.82680240e-01 9.83157079e-01 -5.48532526e-03 -2.18655464e+01] [-3.01090804e-02 -1.77954328e-05 9.99546619e-01 -6.40594061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.58, Y:-21.87, Z:-6.41 [[ 9.82567454e-01 1.83538722e-01 2.95759525e-02 1.51581472e+02] [-1.83456766e-01 9.83012480e-01 -5.48439029e-03 -2.18700455e+01] [-3.00801284e-02 -3.71251983e-05 9.99547490e-01 -6.40623794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters Centerline goodness [0,1] 0.999850001071421 Centerline is valid? [True, True] Translation: X:151.61, Y:-21.87, Z:-6.41 [[ 9.82471482e-01 1.84068216e-01 2.94733531e-02 1.51612693e+02] [-1.83986862e-01 9.82913470e-01 -5.47220862e-03 -2.18747163e+01] [-2.99770155e-02 -4.64208423e-05 9.99550587e-01 -6.40713614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.64, Y:-21.88, Z:-6.41 [[ 9.82429571e-01 1.84256868e-01 2.96908095e-02 1.51644366e+02] [-1.84174300e-01 9.82878123e-01 -5.51570839e-03 -2.18792923e+01] [-3.01987542e-02 -4.94890156e-05 9.99543912e-01 -6.41027846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.68, Y:-21.89, Z:-6.41 [[ 9.82563471e-01 1.83526089e-01 2.97858908e-02 1.51676487e+02] [-1.83442490e-01 9.83014839e-01 -5.53884348e-03 -2.18864483e+01] [-3.02964950e-02 -2.17327029e-05 9.99540956e-01 -6.41041669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.71, Y:-21.89, Z:-6.41 [[ 9.82760875e-01 1.82486504e-01 2.96603895e-02 1.51707415e+02] [-1.82402947e-01 9.83208358e-01 -5.52171940e-03 -2.18939355e+01] [-3.01699822e-02 1.63873435e-05 9.99544782e-01 -6.41206973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264000000003 meters Centerline goodness [0,1] 0.9998710398486867 Centerline is valid? [True, True] Translation: X:151.74, Y:-21.90, Z:-6.41 [[ 9.83246154e-01 1.79796112e-01 3.00059887e-02 1.51738657e+02] [-1.79709143e-01 9.83703892e-01 -5.59259094e-03 -2.19029228e+01] [-3.05225340e-02 1.06543014e-04 9.99534073e-01 -6.41250020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.77, Y:-21.91, Z:-6.41 [[ 9.83499645e-01 1.78402187e-01 3.00184605e-02 1.51769537e+02] [-1.78314401e-01 9.83957639e-01 -5.59804442e-03 -2.19125578e+01] [-3.05355969e-02 1.52950891e-04 9.99533668e-01 -6.41491383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.80, Y:-21.92, Z:-6.42 [[ 9.83465483e-01 1.78590577e-01 3.00174716e-02 1.51801433e+02] [-1.78502717e-01 9.83923464e-01 -5.60334097e-03 -2.19187082e+01] [-3.05355986e-02 1.52492187e-04 9.99533668e-01 -6.41625964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.83, Y:-21.93, Z:-6.42 [[ 9.83701660e-01 1.77317532e-01 2.98251105e-02 1.51831246e+02] [-1.77230019e-01 9.84153674e-01 -5.57370593e-03 -2.19279566e+01] [-3.03408078e-02 1.96958878e-04 9.99539592e-01 -6.41867260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.86, Y:-21.94, Z:-6.42 [[ 9.84112571e-01 1.75022457e-01 2.98259616e-02 1.51860334e+02] [-1.74933740e-01 9.84564404e-01 -5.57865068e-03 -2.19403082e+01] [-3.03419692e-02 2.72453269e-04 9.99539539e-01 -6.42096431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23264000000003 meters Centerline goodness [0,1] 0.9999572439446737 Centerline is valid? [True, True] Translation: X:151.89, Y:-21.95, Z:-6.42 [[ 9.84226866e-01 1.74426291e-01 2.95456561e-02 1.51891609e+02] [-1.74338830e-01 9.84670190e-01 -5.53073021e-03 -2.19478268e+01] [-3.00574316e-02 2.92538145e-04 9.99548131e-01 -6.42199661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.92, Y:-21.96, Z:-6.42 [[ 9.84316303e-01 1.73898558e-01 2.96767157e-02 1.51922668e+02] [-1.73809929e-01 9.84763521e-01 -5.56021871e-03 -2.19581904e+01] [-3.01914611e-02 3.14906069e-04 9.99544084e-01 -6.42408013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.95, Y:-21.96, Z:-6.42 [[ 9.84271526e-01 1.74157550e-01 2.96430756e-02 1.51954736e+02] [-1.74069083e-01 9.84717752e-01 -5.55909956e-03 -2.19649697e+01] [-3.01582219e-02 3.11720421e-04 9.99545089e-01 -6.42428892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:151.99, Y:-21.97, Z:-6.43 [[ 9.84148633e-01 1.74881886e-01 2.94583310e-02 1.51986788e+02] [-1.74794669e-01 9.84589376e-01 -5.53029849e-03 -2.19719718e+01] [-2.99715088e-02 2.93476501e-04 9.99550710e-01 -6.42566995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.02, Y:-21.98, Z:-6.43 [[ 9.83766094e-01 1.77064426e-01 2.91969368e-02 1.52018144e+02] [-1.76979531e-01 9.84199236e-01 -5.48725552e-03 -2.19777303e+01] [-2.97072006e-02 2.30915747e-04 9.99558617e-01 -6.42576825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.05, Y:-21.98, Z:-6.43 [[ 9.83374088e-01 1.79174078e-01 2.95305463e-02 1.52049087e+02] [-1.79088010e-01 9.83817371e-01 -5.55567034e-03 -2.19837826e+01] [-3.00480966e-02 1.74735480e-04 9.99548439e-01 -6.42816542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.08, Y:-21.99, Z:-6.43 [[ 9.82905854e-01 1.81700055e-01 2.96845447e-02 1.52081027e+02] [-1.81614086e-01 9.83353995e-01 -5.58967265e-03 -2.19878389e+01] [-3.02060594e-02 1.02990511e-04 9.99543688e-01 -6.42891357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.11, Y:-21.99, Z:-6.43 [[ 9.82355806e-01 1.84688480e-01 2.94488709e-02 1.52112509e+02] [-1.84605061e-01 9.82797113e-01 -5.55036792e-03 -2.19916570e+01] [-2.99673543e-02 1.60255583e-05 9.99550878e-01 -6.43202836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47264 meters Centerline goodness [0,1] 0.9999146539216524 Centerline is valid? [True, True] Translation: X:152.14, Y:-21.99, Z:-6.43 [[ 9.81053883e-01 1.91434132e-01 2.97699930e-02 1.52144522e+02] [-1.91351797e-01 9.81505445e-01 -5.61704844e-03 -2.19879322e+01] [-3.02947050e-02 -1.85914465e-04 9.99540993e-01 -6.43263032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters Centerline goodness [0,1] 0.9999135807803655 Centerline is valid? [True, True] Translation: X:152.18, Y:-21.99, Z:-6.43 [[ 9.80295904e-01 1.95171986e-01 3.04604166e-02 1.52177035e+02] [-1.95087443e-01 9.80768986e-01 -5.75202555e-03 -2.19890738e+01] [-3.09972662e-02 -3.03757721e-04 9.99519423e-01 -6.43024661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.21, Y:-21.98, Z:-6.43 [[ 9.78692809e-01 2.03067564e-01 3.03965334e-02 1.52208731e+02] [-2.02986972e-01 9.79164576e-01 -5.74654021e-03 -2.19811817e+01] [-3.09301447e-02 -5.46002701e-04 9.99521399e-01 -6.43241929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.24, Y:-21.98, Z:-6.43 [[ 9.77960284e-01 2.06577632e-01 3.03210252e-02 1.52239754e+02] [-2.06499052e-01 9.78429995e-01 -5.73465891e-03 -2.19811128e+01] [-3.08516528e-02 -6.52994304e-04 9.99523761e-01 -6.43421780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59264000000002 meters Centerline goodness [0,1] 0.999978735619963 Centerline is valid? [True, True] Translation: X:152.27, Y:-21.98, Z:-6.44 [[ 9.77357753e-01 2.09449219e-01 3.00474222e-02 1.52268740e+02] [-2.09373393e-01 9.77819248e-01 -5.68328844e-03 -2.19803096e+01] [-3.05713081e-02 -7.36524720e-04 9.99532317e-01 -6.43699911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters Centerline goodness [0,1] 0.9999570419056211 Centerline is valid? [True, True] Translation: X:152.30, Y:-21.98, Z:-6.44 [[ 9.76585492e-01 2.13080997e-01 2.96186626e-02 1.52298487e+02] [-2.13009019e-01 9.77034178e-01 -5.60117648e-03 -2.19801226e+01] [-3.01319499e-02 -8.39014556e-04 9.99545578e-01 -6.43798205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65264000000002 meters Centerline goodness [0,1] 0.9999568695952211 Centerline is valid? [True, True] Translation: X:152.33, Y:-21.98, Z:-6.44 [[ 9.76343807e-01 2.14201274e-01 2.95056807e-02 1.52328696e+02] [-2.14130391e-01 9.76789156e-01 -5.57859566e-03 -2.19815367e+01] [-3.00157713e-02 -8.71435638e-04 9.99549045e-01 -6.43932170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters Centerline goodness [0,1] 0.9999360136504213 Centerline is valid? [True, True] Translation: X:152.36, Y:-21.98, Z:-6.44 [[ 9.76234010e-01 2.14684493e-01 2.96264408e-02 1.52356954e+02] [-2.14613259e-01 9.76683048e-01 -5.60117094e-03 -2.19825341e+01] [-3.01381270e-02 -8.90173444e-04 9.99545347e-01 -6.44086680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71264000000002 meters Centerline goodness [0,1] 0.9999358453445105 Centerline is valid? [True, True] Translation: X:152.39, Y:-21.99, Z:-6.44 [[ 9.76324675e-01 2.14296377e-01 2.94481330e-02 1.52385685e+02] [-2.14225888e-01 9.76768292e-01 -5.56522624e-03 -2.19861728e+01] [-2.99566104e-02 -8.75084746e-04 9.99550817e-01 -6.44204102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264000000002 meters Centerline goodness [0,1] 0.999936225845539 Centerline is valid? [True, True] Translation: X:152.41, Y:-21.99, Z:-6.44 [[ 9.76468860e-01 2.13645080e-01 2.93997584e-02 1.52413728e+02] [-2.13574568e-01 9.76910973e-01 -5.55476866e-03 -2.19876346e+01] [-2.99076956e-02 -8.54982079e-04 9.99552299e-01 -6.44446110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77264000000002 meters Centerline goodness [0,1] 0.9999361579876997 Centerline is valid? [True, True] Translation: X:152.44, Y:-21.99, Z:-6.44 [[ 9.76628831e-01 2.12886731e-01 2.95865776e-02 1.52442341e+02] [-2.12815031e-01 9.77076525e-01 -5.58808366e-03 -2.19937292e+01] [-3.00979793e-02 -8.38984806e-04 9.99546601e-01 -6.44481426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264000000003 meters Centerline goodness [0,1] 0.9999362217781368 Centerline is valid? [True, True] Translation: X:152.47, Y:-22.00, Z:-6.45 [[ 9.76780021e-01 2.12138884e-01 2.99647243e-02 1.52469818e+02] [-2.12065029e-01 9.77239177e-01 -5.65814142e-03 -2.19968930e+01] [-3.04830143e-02 -8.27710642e-04 9.99534942e-01 -6.44536174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83264000000003 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:152.50, Y:-22.00, Z:-6.44 [[ 9.77024546e-01 2.10832701e-01 3.11866824e-02 1.52498489e+02] [-2.10752100e-01 9.77521815e-01 -5.88679133e-03 -2.20013374e+01] [-3.17267904e-02 -8.21119168e-04 9.99496241e-01 -6.44342992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264000000003 meters Centerline goodness [0,1] 0.9999787120808941 Centerline is valid? [True, True] Translation: X:152.53, Y:-22.00, Z:-6.44 [[ 9.77214993e-01 2.09887756e-01 3.15909353e-02 1.52526376e+02] [-2.09804606e-01 9.77725159e-01 -5.96160325e-03 -2.20036525e+01] [-3.21385198e-02 -8.02155664e-04 9.99483102e-01 -6.44490844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.56, Y:-22.01, Z:-6.45 [[ 9.77749102e-01 2.07335002e-01 3.19200807e-02 1.52555003e+02] [-2.07248819e-01 9.78269731e-01 -6.02157876e-03 -2.20052749e+01] [-3.24749328e-02 -7.27805820e-04 9.99472285e-01 -6.44660459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264000000003 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:152.58, Y:-22.01, Z:-6.45 [[ 9.78066438e-01 2.05833805e-01 3.19137643e-02 1.52583406e+02] [-2.05746908e-01 9.78586728e-01 -6.01885188e-03 -2.20122815e+01] [-3.24692694e-02 -6.79321310e-04 9.99472503e-01 -6.44682057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95264000000003 meters Centerline goodness [0,1] 0.9999360641063894 Centerline is valid? [True, True] Translation: X:152.61, Y:-22.02, Z:-6.45 [[ 9.78457900e-01 2.03968897e-01 3.18877157e-02 1.52611499e+02] [-2.03881202e-01 9.78977174e-01 -6.01241196e-03 -2.20189440e+01] [-3.24436908e-02 -6.18413798e-04 9.99473374e-01 -6.44742808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264000000003 meters Centerline goodness [0,1] 0.9999147830162551 Centerline is valid? [True, True] Translation: X:152.64, Y:-22.03, Z:-6.45 [[ 9.79313949e-01 1.99911072e-01 3.13009885e-02 1.52639743e+02] [-1.99824556e-01 9.79813929e-01 -5.90004709e-03 -2.20266911e+01] [-3.18486292e-02 -4.76707720e-04 9.99492590e-01 -6.45055627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.67, Y:-22.04, Z:-6.45 [[ 9.79710717e-01 1.98002297e-01 3.10161612e-02 1.52667891e+02] [-1.97916416e-01 9.80201470e-01 -5.84561772e-03 -2.20360490e+01] [-3.15595325e-02 -4.11593150e-04 9.99501789e-01 -6.45120549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.70, Y:-22.04, Z:-6.45 [[ 9.80099187e-01 1.96075428e-01 3.09840318e-02 1.52696759e+02] [-1.95988787e-01 9.80588754e-01 -5.83878178e-03 -2.20436625e+01] [-3.15274347e-02 -3.49937520e-04 9.99502826e-01 -6.45275600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.73, Y:-22.05, Z:-6.45 [[ 9.80456050e-01 1.94273447e-01 3.10445164e-02 1.52725577e+02] [-1.94185592e-01 9.80947370e-01 -5.84927370e-03 -2.20509101e+01] [-3.15893953e-02 -2.93442014e-04 9.99500887e-01 -6.45489187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.75, Y:-22.06, Z:-6.46 [[ 9.81096405e-01 1.91084517e-01 3.06031392e-02 1.52753708e+02] [-1.90997603e-01 9.81573569e-01 -5.76573260e-03 -2.20616345e+01] [-3.11409748e-02 -1.88386715e-04 9.99514984e-01 -6.45763356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.78, Y:-22.07, Z:-6.46 [[ 9.81385191e-01 1.89675871e-01 3.01026833e-02 1.52783273e+02] [-1.89591130e-01 9.81846752e-01 -5.67094910e-03 -2.20697206e+01] [-3.06318641e-02 -1.41816282e-04 9.99530724e-01 -6.46028522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.81, Y:-22.08, Z:-6.46 [[ 9.81803651e-01 1.87500699e-01 3.00845150e-02 1.52812111e+02] [-1.87415038e-01 9.82264467e-01 -5.66752642e-03 -2.20784270e+01] [-3.06136152e-02 -7.38923932e-05 9.99531291e-01 -6.46209009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.84, Y:-22.09, Z:-6.46 [[ 9.81913758e-01 1.86894624e-01 3.02617148e-02 1.52841605e+02] [-1.86807663e-01 9.82379965e-01 -5.70090854e-03 -2.20853155e+01] [-3.07939715e-02 -5.53197065e-05 9.99525752e-01 -6.46309164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters Centerline goodness [0,1] 0.9998284881228025 Centerline is valid? [True, True] Translation: X:152.87, Y:-22.09, Z:-6.46 [[ 9.82137087e-01 1.85733202e-01 3.01648929e-02 1.52870873e+02] [-1.85646253e-01 9.82600212e-01 -5.68254093e-03 -2.20948909e+01] [-3.06954667e-02 -1.89651579e-05 9.99528783e-01 -6.46408085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.90, Y:-22.10, Z:-6.46 [[ 9.82202422e-01 1.85275753e-01 3.08431191e-02 1.52901245e+02] [-1.85184616e-01 9.82686570e-01 -5.81057463e-03 -2.21033732e+01] [-3.13856775e-02 -4.51068509e-06 9.99507348e-01 -6.46455948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.93, Y:-22.11, Z:-6.46 [[ 9.82213838e-01 1.85231655e-01 3.07442659e-02 1.52933452e+02] [-1.85141112e-01 9.82694883e-01 -5.79092931e-03 -2.21111844e+01] [-3.12848963e-02 -4.09666221e-06 9.99510508e-01 -6.46499678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:152.96, Y:-22.12, Z:-6.47 [[ 9.82173356e-01 1.85560814e-01 3.00446832e-02 1.52963961e+02] [-1.85474285e-01 9.82632782e-01 -5.66614835e-03 -2.21173986e+01] [-3.05743058e-02 -7.37620073e-06 9.99532497e-01 -6.46951131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.00, Y:-22.12, Z:-6.47 [[ 9.82040117e-01 1.86291501e-01 2.98778495e-02 1.52995567e+02] [-1.86206207e-01 9.82494517e-01 -5.63671816e-03 -2.21233454e+01] [-3.04048960e-02 -2.79576748e-05 9.99537664e-01 -6.47068881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.03, Y:-22.13, Z:-6.47 [[ 9.81889775e-01 1.87097892e-01 2.97799978e-02 1.53025893e+02] [-1.87013365e-01 9.82341273e-01 -5.62360319e-03 -2.21295072e+01] [-3.03062853e-02 -4.74991308e-05 9.99540658e-01 -6.47219517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.06, Y:-22.14, Z:-6.47 [[ 9.81735351e-01 1.87802295e-01 3.04302278e-02 1.53057571e+02] [-1.87714221e-01 9.82206849e-01 -5.75132250e-03 -2.21364448e+01] [-3.09688897e-02 -6.59099010e-05 9.99520347e-01 -6.47203408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.09, Y:-22.14, Z:-6.47 [[ 9.81366232e-01 1.89598214e-01 3.11903282e-02 1.53088400e+02] [-1.89506404e-01 9.81861753e-01 -5.90084544e-03 -2.21417249e+01] [-3.17433801e-02 -1.19876484e-04 9.99496045e-01 -6.47202407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.12, Y:-22.15, Z:-6.47 [[ 9.81174516e-01 1.90593032e-01 3.11587014e-02 1.53119617e+02] [-1.90501750e-01 9.81669127e-01 -5.89987850e-03 -2.21478146e+01] [-3.17120109e-02 -1.46976722e-04 9.99497037e-01 -6.47310306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.15, Y:-22.15, Z:-6.48 [[ 9.80861655e-01 1.92224739e-01 3.09849075e-02 1.53150271e+02] [-1.92135112e-01 9.81350912e-01 -5.87250867e-03 -2.21538443e+01] [-3.15359087e-02 -1.93170097e-04 9.99502601e-01 -6.47557705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.18, Y:-22.16, Z:-6.48 [[ 9.80699377e-01 1.92994471e-01 3.13347522e-02 1.53181461e+02] [-1.92902995e-01 9.81199821e-01 -5.94527063e-03 -2.21589827e+01] [-3.18930576e-02 -2.14044326e-04 9.99491264e-01 -6.47642108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55264000000003 meters Centerline goodness [0,1] 0.9999786998381188 Centerline is valid? [True, True] Translation: X:153.21, Y:-22.16, Z:-6.48 [[ 9.80380763e-01 1.94542160e-01 3.17317975e-02 1.53212612e+02] [-1.94449135e-01 9.80894121e-01 -6.02138045e-03 -2.21641796e+01] [-3.22969460e-02 -2.66975035e-04 9.99478282e-01 -6.47771999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264000000003 meters Centerline goodness [0,1] 0.9998499496259459 Centerline is valid? [True, True] Translation: X:153.24, Y:-22.17, Z:-6.48 [[ 9.80287828e-01 1.95056666e-01 3.14431552e-02 1.53243926e+02] [-1.94965612e-01 9.80791934e-01 -5.96595653e-03 -2.21719429e+01] [-3.20028926e-02 -2.81979440e-04 9.99487736e-01 -6.47838682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.27, Y:-22.18, Z:-6.48 [[ 9.80128640e-01 1.95821049e-01 3.16538303e-02 1.53274489e+02] [-1.95728964e-01 9.80639600e-01 -6.01229977e-03 -2.21788290e+01] [-3.22183344e-02 -3.02744201e-04 9.99480809e-01 -6.48042491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.30, Y:-22.18, Z:-6.48 [[ 9.79937987e-01 1.96801951e-01 3.14727609e-02 1.53304875e+02] [-1.96711311e-01 9.80443208e-01 -5.98134547e-03 -2.21832984e+01] [-3.20343951e-02 -3.29700424e-04 9.99486713e-01 -6.48265203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.34, Y:-22.19, Z:-6.48 [[ 9.79438329e-01 1.99349343e-01 3.09902956e-02 1.53335589e+02] [-1.99262669e-01 9.79928403e-01 -5.89176058e-03 -2.21864631e+01] [-3.15427895e-02 -4.04592888e-04 9.99502321e-01 -6.48330800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264000000003 meters Centerline goodness [0,1] 0.9998077251751837 Centerline is valid? [True, True] Translation: X:153.37, Y:-22.19, Z:-6.48 [[ 9.79136515e-01 2.00889786e-01 3.05774339e-02 1.53366158e+02] [-2.00806142e-01 9.79613747e-01 -5.81377507e-03 -2.21898492e+01] [-3.11220026e-02 -4.47657048e-04 9.99515493e-01 -6.48485024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73264000000003 meters Centerline goodness [0,1] 0.9999786662115459 Centerline is valid? [True, True] Translation: X:153.40, Y:-22.19, Z:-6.49 [[ 9.78801646e-01 2.02458995e-01 3.09466025e-02 1.53395825e+02] [-2.02374098e-01 9.79290612e-01 -5.88408715e-03 -2.21918710e+01] [-3.14970037e-02 -5.03436584e-04 9.99503720e-01 -6.48770406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.43, Y:-22.20, Z:-6.49 [[ 9.78216786e-01 2.05227744e-01 3.12008449e-02 1.53425542e+02] [-2.05142871e-01 9.78714062e-01 -5.93188710e-03 -2.21962920e+01] [-3.17540934e-02 -5.97959346e-04 9.99495533e-01 -6.48652350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79264000000003 meters Centerline goodness [0,1] 0.9999787075481742 Centerline is valid? [True, True] Translation: X:153.45, Y:-22.20, Z:-6.49 [[ 9.77914907e-01 2.06645475e-01 3.13062527e-02 1.53454805e+02] [-2.06560737e-01 9.78415674e-01 -5.95240822e-03 -2.21967692e+01] [-3.18605665e-02 -6.45693901e-04 9.99492115e-01 -6.48841815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264000000004 meters Centerline goodness [0,1] 0.9999573160320984 Centerline is valid? [True, True] Translation: X:153.48, Y:-22.20, Z:-6.49 [[ 9.77457322e-01 2.08687435e-01 3.20427601e-02 1.53484709e+02] [-2.08599802e-01 9.77982117e-01 -6.09109300e-03 -2.21974138e+01] [-3.26083809e-02 -7.30329972e-04 9.99467939e-01 -6.48815245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85264000000004 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:153.51, Y:-22.20, Z:-6.49 [[ 9.77350069e-01 2.09182683e-01 3.20850063e-02 1.53512415e+02] [-2.09095100e-01 9.77876293e-01 -6.09869760e-03 -2.21983556e+01] [-3.26509090e-02 -7.48255071e-04 9.99466537e-01 -6.48959780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264000000004 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:153.54, Y:-22.20, Z:-6.49 [[ 9.77291484e-01 2.09417606e-01 3.23360847e-02 1.53540921e+02] [-2.09328853e-01 9.77825998e-01 -6.14405098e-03 -2.22046032e+01] [-3.29057368e-02 -7.64346825e-04 9.99458167e-01 -6.48902844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91264000000004 meters Centerline goodness [0,1] 0.9999572932459269 Centerline is valid? [True, True] Translation: X:153.57, Y:-22.20, Z:-6.49 [[ 9.77224101e-01 2.09647189e-01 3.28802624e-02 1.53569205e+02] [-2.09555606e-01 9.77776783e-01 -6.24585065e-03 -2.22041111e+01] [-3.34589823e-02 -7.86647532e-04 9.99439782e-01 -6.49037966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264000000004 meters Centerline goodness [0,1] 0.999935857689594 Centerline is valid? [True, True] Translation: X:153.60, Y:-22.21, Z:-6.49 [[ 9.77173193e-01 2.09923270e-01 3.26308267e-02 1.53598453e+02] [-2.09833297e-01 9.77717543e-01 -6.19633242e-03 -2.22056071e+01] [-3.32044860e-02 -7.92143983e-04 9.99448265e-01 -6.49224057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.63, Y:-22.21, Z:-6.49 [[ 9.77254545e-01 2.09629236e-01 3.20801642e-02 1.53626717e+02] [-2.09542165e-01 9.77780645e-01 -6.09025966e-03 -2.22097942e+01] [-3.26440602e-02 -7.70413131e-04 9.99466744e-01 -6.49455260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters Centerline goodness [0,1] 0.9998497983005751 Centerline is valid? [True, True] Translation: X:153.65, Y:-22.22, Z:-6.50 [[ 9.77461639e-01 2.08735532e-01 3.15946509e-02 1.53654732e+02] [-2.08650658e-01 9.77971852e-01 -5.99660518e-03 -2.22150326e+01] [-3.21503838e-02 -7.30793175e-04 9.99482776e-01 -6.49547943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03264000000001 meters Centerline goodness [0,1] 0.9997658179340884 Centerline is valid? [True, True] Translation: X:153.68, Y:-22.22, Z:-6.50 [[ 9.78000829e-01 2.06244143e-01 3.12687190e-02 1.53682697e+02] [-2.06159786e-01 9.78500352e-01 -5.93324614e-03 -2.22191705e+01] [-3.18201498e-02 -6.43632799e-04 9.99493404e-01 -6.49855311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters Centerline goodness [0,1] 0.9997658179340884 Centerline is valid? [True, True] Translation: X:153.71, Y:-22.22, Z:-6.50 [[ 9.78010303e-01 2.06199170e-01 3.12689954e-02 1.53710530e+02] [-2.06114836e-01 9.78509830e-01 -5.93178899e-03 -2.22243579e+01] [-3.18201494e-02 -6.43653135e-04 9.99493404e-01 -6.49972580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09264000000002 meters Centerline goodness [0,1] 0.9998716934328422 Centerline is valid? [True, True] Translation: X:153.74, Y:-22.23, Z:-6.50 [[ 9.78432459e-01 2.04258710e-01 3.07945192e-02 1.53738457e+02] [-2.04176001e-01 9.78916774e-01 -5.84035117e-03 -2.22315478e+01] [-3.13382140e-02 -5.73112623e-04 9.99508673e-01 -6.50067517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters Centerline goodness [0,1] 0.9997859634853706 Centerline is valid? [True, True] Translation: X:153.77, Y:-22.24, Z:-6.50 [[ 9.79312088e-01 1.99980662e-01 3.09122940e-02 1.53765839e+02] [-1.99895238e-01 9.79799746e-01 -5.86106353e-03 -2.22400998e+01] [-3.14599571e-02 -4.39409988e-04 9.99504916e-01 -6.50286391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.79, Y:-22.25, Z:-6.50 [[ 9.79786334e-01 1.97593073e-01 3.12364832e-02 1.53793920e+02] [-1.97504670e-01 9.80284062e-01 -5.92139054e-03 -2.22497005e+01] [-3.17906524e-02 -3.67653790e-04 9.99494482e-01 -6.50317945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.82, Y:-22.26, Z:-6.50 [[ 9.80324578e-01 1.94888522e-01 3.13398347e-02 1.53822749e+02] [-1.94798191e-01 9.80825359e-01 -5.93971094e-03 -2.22588540e+01] [-3.18964861e-02 -2.82098494e-04 9.99491138e-01 -6.50403347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.85, Y:-22.27, Z:-6.50 [[ 9.81156764e-01 1.90442894e-01 3.26022879e-02 1.53851580e+02] [-1.90342716e-01 9.81698265e-01 -6.17795001e-03 -2.22699618e+01] [-3.31821561e-02 -1.44070584e-04 9.99449310e-01 -6.50275809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.88, Y:-22.28, Z:-6.50 [[ 9.81420853e-01 1.88945710e-01 3.33560668e-02 1.53881254e+02] [-1.88839996e-01 9.81987530e-01 -6.32032007e-03 -2.22776173e+01] [-3.39494391e-02 -9.60655960e-05 9.99423547e-01 -6.50354201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.91, Y:-22.29, Z:-6.50 [[ 9.81579279e-01 1.88147013e-01 3.32087273e-02 1.53911341e+02] [-1.88041693e-01 9.82140874e-01 -6.29480897e-03 -2.22852717e+01] [-3.37999979e-02 -6.57712416e-05 9.99428615e-01 -6.50436554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:153.94, Y:-22.29, Z:-6.51 [[ 9.81478828e-01 1.88966748e-01 3.14782275e-02 1.53943075e+02] [-1.88872565e-01 9.81983483e-01 -5.96607841e-03 -2.22906608e+01] [-3.20384899e-02 -8.97939124e-05 9.99486632e-01 -6.50716641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33264000000003 meters Centerline goodness [0,1] 0.9998930572785216 Centerline is valid? [True, True] Translation: X:153.97, Y:-22.29, Z:-6.51 [[ 9.81219819e-01 1.90408074e-01 3.08615090e-02 1.53972995e+02] [-1.90318038e-01 9.81705022e-01 -5.85620017e-03 -2.22926408e+01] [-3.14119662e-02 -1.27282183e-04 9.99506514e-01 -6.51087027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264000000003 meters Centerline goodness [0,1] 0.9998291182501708 Centerline is valid? [True, True] Translation: X:154.00, Y:-22.29, Z:-6.51 [[ 9.80651658e-01 1.93477725e-01 2.98110106e-02 1.54001813e+02] [-1.93395108e-01 9.81104644e-01 -5.65767541e-03 -2.22925385e+01] [-3.03423551e-02 -2.17094855e-04 9.99539541e-01 -6.51385742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39264000000003 meters Centerline goodness [0,1] 0.9998079139454475 Centerline is valid? [True, True] Translation: X:154.03, Y:-22.30, Z:-6.51 [[ 9.80333983e-01 1.95130424e-01 2.94855961e-02 1.54030980e+02] [-1.95050375e-01 9.80777267e-01 -5.59502454e-03 -2.22959418e+01] [-3.00105618e-02 -2.66183888e-04 9.99549546e-01 -6.51378918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.06, Y:-22.30, Z:-6.52 [[ 9.79996116e-01 1.96830399e-01 2.94177986e-02 1.54058997e+02] [-1.96751493e-01 9.80437501e-01 -5.58184382e-03 -2.22963066e+01] [-2.99409894e-02 -3.17810513e-04 9.99551618e-01 -6.51709697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.09, Y:-22.30, Z:-6.52 [[ 9.79657655e-01 1.98512111e-01 2.93908372e-02 1.54088455e+02] [-1.98434165e-01 9.80098365e-01 -5.57475063e-03 -2.22976380e+01] [-2.99125669e-02 -3.70799119e-04 9.99552450e-01 -6.51785451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.12, Y:-22.30, Z:-6.52 [[ 9.78995490e-01 2.01649331e-01 3.00894991e-02 1.54116856e+02] [-2.01569156e-01 9.79457665e-01 -5.70592119e-03 -2.22966122e+01] [-3.06219857e-02 -4.79043825e-04 9.99530922e-01 -6.51755140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.15, Y:-22.30, Z:-6.52 [[ 9.78758000e-01 2.02780349e-01 3.02143440e-02 1.54145249e+02] [-2.02700104e-01 9.79224112e-01 -5.72770526e-03 -2.23033413e+01] [-3.07480802e-02 -5.18413324e-04 9.99527032e-01 -6.51654303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264000000003 meters Centerline goodness [0,1] 0.9999571174339072 Centerline is valid? [True, True] Translation: X:154.17, Y:-22.31, Z:-6.52 [[ 9.78496801e-01 2.04013355e-01 3.03736776e-02 1.54173282e+02] [-2.03932895e-01 9.78967944e-01 -5.75660854e-03 -2.23068917e+01] [-3.09092818e-02 -5.61368972e-04 9.99522036e-01 -6.51762466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.20, Y:-22.31, Z:-6.52 [[ 9.77921676e-01 2.06608190e-01 3.13409020e-02 1.54201289e+02] [-2.06523924e-01 9.78423534e-01 -5.93771111e-03 -2.23060669e+01] [-3.18914558e-02 -6.66029659e-04 9.99491116e-01 -6.51736921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264000000004 meters Centerline goodness [0,1] 0.9999364783602948 Centerline is valid? [True, True] Translation: X:154.23, Y:-22.31, Z:-6.52 [[ 9.77693723e-01 2.07730024e-01 3.10357977e-02 1.54229698e+02] [-2.07648031e-01 9.78185948e-01 -5.87756206e-03 -2.23058434e+01] [-3.15797273e-02 -6.98066723e-04 9.99500992e-01 -6.52039036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63264000000004 meters Centerline goodness [0,1] 0.9998927774918511 Centerline is valid? [True, True] Translation: X:154.26, Y:-22.31, Z:-6.52 [[ 9.77270896e-01 2.09908466e-01 2.96653354e-02 1.54258813e+02] [-2.09834616e-01 9.77720765e-01 -5.61606409e-03 -2.23059844e+01] [-3.01832738e-02 -7.36398280e-04 9.99544110e-01 -6.52425900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264000000004 meters Centerline goodness [0,1] 0.999894392227268 Centerline is valid? [True, True] Translation: X:154.29, Y:-22.31, Z:-6.53 [[ 9.77068658e-01 2.10870217e-01 2.95057516e-02 1.54287596e+02] [-2.10797624e-01 9.77513770e-01 -5.58497021e-03 -2.23078904e+01] [-3.00199823e-02 -7.62842983e-04 9.99549008e-01 -6.52609359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69264000000004 meters Centerline goodness [0,1] 0.9998926554885249 Centerline is valid? [True, True] Translation: X:154.32, Y:-22.32, Z:-6.53 [[ 9.76929186e-01 2.11524549e-01 2.94402828e-02 1.54315626e+02] [-2.11452614e-01 9.77372372e-01 -5.57127510e-03 -2.23160115e+01] [-2.99525805e-02 -7.82483509e-04 9.99551015e-01 -6.52514429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters Centerline goodness [0,1] 0.9998078072947809 Centerline is valid? [True, True] Translation: X:154.34, Y:-22.32, Z:-6.53 [[ 9.76767006e-01 2.12271155e-01 2.94478062e-02 1.54344773e+02] [-2.12199566e-01 9.77210471e-01 -5.57124152e-03 -2.23178485e+01] [-2.99593184e-02 -8.07006800e-04 9.99550793e-01 -6.52685851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75264 meters Centerline goodness [0,1] 0.9998499592746602 Centerline is valid? [True, True] Translation: X:154.37, Y:-22.32, Z:-6.53 [[ 9.76791576e-01 2.12183109e-01 2.92667997e-02 1.54372532e+02] [-2.12112396e-01 9.77229598e-01 -5.53571456e-03 -2.23211859e+01] [-2.97749681e-02 -8.00611661e-04 9.99556307e-01 -6.52915012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters Centerline goodness [0,1] 0.9999148881843521 Centerline is valid? [True, True] Translation: X:154.40, Y:-22.32, Z:-6.53 [[ 9.76872175e-01 2.11827492e-01 2.91524993e-02 1.54400849e+02] [-2.11757228e-01 9.77306754e-01 -5.51219730e-03 -2.23247554e+01] [-2.96585694e-02 -7.88540303e-04 9.99559777e-01 -6.53044934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81264000000002 meters Centerline goodness [0,1] 0.9999151607703402 Centerline is valid? [True, True] Translation: X:154.43, Y:-22.33, Z:-6.53 [[ 9.77149677e-01 2.10572262e-01 2.89453132e-02 1.54428535e+02] [-2.10502480e-01 9.77578010e-01 -5.47176664e-03 -2.23257390e+01] [-2.94485040e-02 -7.46325226e-04 9.99566020e-01 -6.53421005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters Centerline goodness [0,1] 0.9998935807934616 Centerline is valid? [True, True] Translation: X:154.46, Y:-22.33, Z:-6.53 [[ 9.77370426e-01 2.09607388e-01 2.84919861e-02 1.54456689e+02] [-2.09539419e-01 9.77785376e-01 -5.38424553e-03 -2.23343442e+01] [-2.89876250e-02 -7.07791869e-04 9.99579520e-01 -6.53480746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87264000000002 meters Centerline goodness [0,1] 0.9998935581385447 Centerline is valid? [True, True] Translation: X:154.48, Y:-22.34, Z:-6.54 [[ 9.77556992e-01 2.08754573e-01 2.83523552e-02 1.54484562e+02] [-2.08686937e-01 9.77967824e-01 -5.35694080e-03 -2.23372526e+01] [-2.88459770e-02 -6.80051222e-04 9.99583637e-01 -6.53727225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters Centerline goodness [0,1] 0.9998080532332366 Centerline is valid? [True, True] Translation: X:154.51, Y:-22.34, Z:-6.54 [[ 9.77899939e-01 2.07087640e-01 2.87474999e-02 1.54512678e+02] [-2.07017469e-01 9.78322184e-01 -5.42873264e-03 -2.23429355e+01] [-2.92485404e-02 -6.42477348e-04 9.99571963e-01 -6.53713379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93264000000002 meters Centerline goodness [0,1] 0.9999359740481475 Centerline is valid? [True, True] Translation: X:154.54, Y:-22.35, Z:-6.54 [[ 9.78120224e-01 2.05994350e-01 2.91059231e-02 1.54540696e+02] [-2.05921975e-01 9.78552985e-01 -5.49503039e-03 -2.23506131e+01] [-2.96136331e-02 -6.18748812e-04 9.99561229e-01 -6.53663720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters Centerline goodness [0,1] 0.9999786114557043 Centerline is valid? [True, True] Translation: X:154.57, Y:-22.36, Z:-6.54 [[ 9.78491272e-01 2.04121375e-01 2.98210534e-02 1.54568034e+02] [-2.04044571e-01 9.78945418e-01 -5.62867486e-03 -2.23550627e+01] [-3.03421164e-02 -5.77214829e-04 9.99539405e-01 -6.53622589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99264000000002 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:154.60, Y:-22.36, Z:-6.54 [[ 9.78673813e-01 2.03199011e-01 3.01285427e-02 1.54595979e+02] [-2.03120238e-01 9.79137300e-01 -5.68474877e-03 -2.23615573e+01] [-3.06551153e-02 -5.56202002e-04 9.99529867e-01 -6.53621913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.62, Y:-22.37, Z:-6.54 [[ 9.78946702e-01 2.01868702e-01 3.02056696e-02 1.54624534e+02] [-2.01788939e-01 9.79412456e-01 -5.69778929e-03 -2.23677922e+01] [-3.07340144e-02 -5.17337988e-04 9.99527465e-01 -6.53753610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.65, Y:-22.38, Z:-6.54 [[ 9.79639270e-01 1.98350147e-01 3.10502941e-02 1.54650763e+02] [-1.98264139e-01 9.80131136e-01 -5.85561924e-03 -2.23767946e+01] [-3.15948229e-02 -4.19765251e-04 9.99500671e-01 -6.53910385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.68, Y:-22.39, Z:-6.54 [[ 9.80009017e-01 1.96515886e-01 3.10456751e-02 1.54678688e+02] [-1.96429048e-01 9.80500574e-01 -5.85268818e-03 -2.23852748e+01] [-3.15904485e-02 -3.62585236e-04 9.99500831e-01 -6.53980092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.71, Y:-22.39, Z:-6.54 [[ 9.80324820e-01 1.94932084e-01 3.10601107e-02 1.54706138e+02] [-1.94844419e-01 9.80816693e-01 -5.85389320e-03 -2.23932721e+01] [-3.16053866e-02 -3.13172415e-04 9.99500376e-01 -6.54070569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.73, Y:-22.40, Z:-6.54 [[ 9.80784043e-01 1.92658495e-01 3.07468076e-02 1.54733159e+02] [-1.92571516e-01 9.81265839e-01 -5.79344430e-03 -2.24007762e+01] [-3.12869482e-02 -2.38841615e-04 9.99510415e-01 -6.54212648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.76, Y:-22.41, Z:-6.54 [[ 9.80816494e-01 1.92461760e-01 3.09430952e-02 1.54761056e+02] [-1.92373634e-01 9.81304446e-01 -5.82835414e-03 -2.24055703e+01] [-3.14863322e-02 -2.36089809e-04 9.99504155e-01 -6.54329307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264000000003 meters Centerline goodness [0,1] 0.9999142697929615 Centerline is valid? [True, True] Translation: X:154.79, Y:-22.41, Z:-6.54 [[ 9.80780497e-01 1.92697603e-01 3.06145423e-02 1.54789107e+02] [-1.92611500e-01 9.81258159e-01 -5.76499313e-03 -2.24100972e+01] [-3.11516698e-02 -2.42520100e-04 9.99514640e-01 -6.54430587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23264000000003 meters Centerline goodness [0,1] 0.9997855457859747 Centerline is valid? [True, True] Translation: X:154.82, Y:-22.41, Z:-6.55 [[ 9.80481865e-01 1.94303182e-01 3.00264164e-02 1.54817162e+02] [-1.94221150e-01 9.80941481e-01 -5.65290017e-03 -2.24103327e+01] [-3.05525339e-02 -2.89199007e-04 9.99533121e-01 -6.54807583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264000000003 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:154.85, Y:-22.41, Z:-6.55 [[ 9.80276998e-01 1.95293819e-01 3.02874923e-02 1.54845706e+02] [-1.95210889e-01 9.80744727e-01 -5.70000382e-03 -2.24136289e+01] [-3.08174738e-02 -3.24865656e-04 9.99524976e-01 -6.54830264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.87, Y:-22.42, Z:-6.55 [[ 9.80088491e-01 1.96231815e-01 3.03253223e-02 1.54874402e+02] [-1.96149172e-01 9.80557468e-01 -5.70563708e-03 -2.24169493e+01] [-3.08553487e-02 -3.56257635e-04 9.99523797e-01 -6.54854790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.90, Y:-22.42, Z:-6.55 [[ 9.79773216e-01 1.97776361e-01 3.04787884e-02 1.54903019e+02] [-1.97693673e-01 9.80247083e-01 -5.73300589e-03 -2.24191891e+01] [-3.10105965e-02 -4.08418030e-04 9.99518972e-01 -6.54880036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35264000000004 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:154.93, Y:-22.42, Z:-6.55 [[ 9.79684022e-01 1.98258341e-01 3.02133647e-02 1.54930707e+02] [-1.98177359e-01 9.80149709e-01 -5.68168853e-03 -2.24214326e+01] [-3.07400627e-02 -4.21345355e-04 9.99527324e-01 -6.55174545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.96, Y:-22.43, Z:-6.55 [[ 9.79624606e-01 1.98545724e-01 3.02527220e-02 1.54958781e+02] [-1.98464731e-01 9.80091530e-01 -5.68703527e-03 -2.24271794e+01] [-3.07795731e-02 -4.32938650e-04 9.99526103e-01 -6.55102881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:154.99, Y:-22.43, Z:-6.55 [[ 9.79579461e-01 1.98685995e-01 3.07888663e-02 1.54987848e+02] [-1.98602225e-01 9.80063098e-01 -5.78624070e-03 -2.24312242e+01] [-3.13246767e-02 -4.46654796e-04 9.99509162e-01 -6.55085502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.02, Y:-22.43, Z:-6.55 [[ 9.79523592e-01 1.98883959e-01 3.12842345e-02 1.55015126e+02] [-1.98797611e-01 9.80022937e-01 -5.87807242e-03 -2.24336452e+01] [-3.18283217e-02 -4.61520485e-04 9.99493244e-01 -6.55194936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47264 meters Centerline goodness [0,1] 0.9999786621145844 Centerline is valid? [True, True] Translation: X:155.04, Y:-22.44, Z:-6.55 [[ 9.79396439e-01 1.99486287e-01 3.14298679e-02 1.55043275e+02] [-1.99399537e-01 9.79900498e-01 -5.90250968e-03 -2.24356126e+01] [-3.19756129e-02 -4.86204145e-04 9.99488531e-01 -6.55314416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.07, Y:-22.44, Z:-6.55 [[ 9.79332474e-01 1.99772614e-01 3.16039269e-02 1.55072009e+02] [-1.99685132e-01 9.79842157e-01 -5.93264664e-03 -2.24413747e+01] [-3.21520402e-02 -5.00800805e-04 9.99482864e-01 -6.55364427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53264000000001 meters Centerline goodness [0,1] 0.999872242568776 Centerline is valid? [True, True] Translation: X:155.10, Y:-22.44, Z:-6.56 [[ 9.79230910e-01 2.00252098e-01 3.17162698e-02 1.55099620e+02] [-2.00164292e-01 9.79744266e-01 -5.95225277e-03 -2.24443772e+01] [-3.22657846e-02 -5.19834783e-04 9.99479189e-01 -6.55550954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.13, Y:-22.45, Z:-6.56 [[ 9.79187896e-01 2.00488525e-01 3.15501997e-02 1.55128512e+02] [-2.00401825e-01 9.79695909e-01 -5.91902460e-03 -2.24488706e+01] [-3.20962981e-02 -5.26880344e-04 9.99484642e-01 -6.55637111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59264000000002 meters Centerline goodness [0,1] 0.9997422957156663 Centerline is valid? [True, True] Translation: X:155.16, Y:-22.45, Z:-6.56 [[ 9.79127780e-01 2.00813058e-01 3.13513442e-02 1.55156758e+02] [-2.00727663e-01 9.79629434e-01 -5.88019243e-03 -2.24519085e+01] [-3.18935190e-02 -5.35622283e-04 9.99491129e-01 -6.55825839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters Centerline goodness [0,1] 0.9999785513587715 Centerline is valid? [True, True] Translation: X:155.18, Y:-22.45, Z:-6.56 [[ 9.79062796e-01 2.01307432e-01 3.01887360e-02 1.55184710e+02] [-2.01228528e-01 9.79527965e-01 -5.66085154e-03 -2.24530607e+01] [-3.07102826e-02 -5.32505760e-04 9.99528186e-01 -6.56104702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65264000000002 meters Centerline goodness [0,1] 0.9999785029450965 Centerline is valid? [True, True] Translation: X:155.21, Y:-22.46, Z:-6.56 [[ 9.79034206e-01 2.01525012e-01 2.96596296e-02 1.55213652e+02] [-2.01449007e-01 9.79483224e-01 -5.55973341e-03 -2.24570997e+01] [-3.01715349e-02 -5.31733751e-04 9.99544594e-01 -6.56337326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters Centerline goodness [0,1] 0.9996357871282886 Centerline is valid? [True, True] Translation: X:155.24, Y:-22.46, Z:-6.57 [[ 9.78942711e-01 2.01974005e-01 2.96255001e-02 1.55242602e+02] [-2.01898424e-01 9.79390730e-01 -5.55190893e-03 -2.24609694e+01] [-3.01362814e-02 -5.46341004e-04 9.99545650e-01 -6.56532819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.27, Y:-22.46, Z:-6.57 [[ 9.78996485e-01 2.01855793e-01 2.86377485e-02 1.55271367e+02] [-2.01785156e-01 9.79415112e-01 -5.36548949e-03 -2.24649433e+01] [-2.91312988e-02 -5.25877199e-04 9.99575455e-01 -6.56821834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.30, Y:-22.47, Z:-6.57 [[ 9.79027227e-01 2.01718476e-01 2.85542391e-02 1.55298622e+02] [-2.01648223e-01 9.79443406e-01 -5.34880550e-03 -2.24713121e+01] [-2.90462141e-02 -5.21285348e-04 9.99577934e-01 -6.56775740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.33, Y:-22.47, Z:-6.57 [[ 9.79050461e-01 2.01539077e-01 2.90205862e-02 1.55326041e+02] [-2.01466502e-01 9.79480333e-01 -5.43376134e-03 -2.24730926e+01] [-2.95202087e-02 -5.26749448e-04 9.99564045e-01 -6.56994909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.35, Y:-22.48, Z:-6.57 [[ 9.79350483e-01 2.00075746e-01 2.90228614e-02 1.55353392e+02] [-2.00002571e-01 9.79780313e-01 -5.43233797e-03 -2.24788974e+01] [-2.95229073e-02 -4.84484096e-04 9.99563987e-01 -6.57116723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83264000000003 meters Centerline goodness [0,1] 0.9999357697989595 Centerline is valid? [True, True] Translation: X:155.38, Y:-22.49, Z:-6.57 [[ 9.79593341e-01 1.98948388e-01 2.85731677e-02 1.55381139e+02] [-1.98877036e-01 9.80009868e-01 -5.34637900e-03 -2.24872793e+01] [-2.90656398e-02 -4.45269642e-04 9.99577406e-01 -6.57150638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.41, Y:-22.49, Z:-6.57 [[ 9.80097902e-01 1.96470280e-01 2.84171005e-02 1.55408538e+02] [-1.96398706e-01 9.80509710e-01 -5.31575224e-03 -2.24946868e+01] [-2.89076303e-02 -3.71124151e-04 9.99582018e-01 -6.57459495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.44, Y:-22.50, Z:-6.57 [[ 9.80303598e-01 1.95378045e-01 2.88491868e-02 1.55436410e+02] [-1.95303847e-01 9.80727944e-01 -5.39510343e-03 -2.25036504e+01] [-2.93472884e-02 -3.45517854e-04 9.99569216e-01 -6.57395705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.46, Y:-22.51, Z:-6.58 [[ 9.80479493e-01 1.94449476e-01 2.91438744e-02 1.55463689e+02] [-1.94373384e-01 9.80912482e-01 -5.44886413e-03 -2.25102821e+01] [-2.96471189e-02 -3.22293945e-04 9.99560376e-01 -6.57583216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.49, Y:-22.52, Z:-6.58 [[ 9.80493138e-01 1.94380614e-01 2.91441854e-02 1.55490718e+02] [-1.94304542e-01 9.80926130e-01 -5.44720019e-03 -2.25151945e+01] [-2.96471231e-02 -3.21905164e-04 9.99560376e-01 -6.57697012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.52, Y:-22.52, Z:-6.58 [[ 9.80611465e-01 1.93737648e-01 2.94427893e-02 1.55519175e+02] [-1.93659779e-01 9.81053326e-01 -5.50096535e-03 -2.25226495e+01] [-2.99506905e-02 -3.07574375e-04 9.99551330e-01 -6.57707054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.55, Y:-22.53, Z:-6.58 [[ 9.80596736e-01 1.93694893e-01 3.02048009e-02 1.55547042e+02] [-1.93613006e-01 9.81061766e-01 -5.64058047e-03 -2.25268655e+01] [-3.07253269e-02 -3.16907488e-04 9.99527815e-01 -6.57689387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.57, Y:-22.53, Z:-6.58 [[ 9.80542828e-01 1.93993329e-01 3.00391503e-02 1.55574804e+02] [-1.93912548e-01 9.81002794e-01 -5.60734011e-03 -2.25333260e+01] [-3.05562769e-02 -3.26731031e-04 9.99532995e-01 -6.57694080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.60, Y:-22.53, Z:-6.58 [[ 9.80260040e-01 1.95570853e-01 2.90223420e-02 1.55602562e+02] [-1.95496177e-01 9.80689507e-01 -5.41626176e-03 -2.25341139e+01] [-2.95211692e-02 -3.64411939e-04 9.99564089e-01 -6.58260554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.63, Y:-22.54, Z:-6.58 [[ 9.80067158e-01 1.96537752e-01 2.90047910e-02 1.55630830e+02] [-1.96463649e-01 9.80496178e-01 -5.41098803e-03 -2.25413811e+01] [-2.95025502e-02 -3.95255439e-04 9.99564627e-01 -6.58060459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.66, Y:-22.54, Z:-6.58 [[ 9.79865718e-01 1.97536268e-01 2.90275188e-02 1.55659692e+02] [-1.97462530e-01 9.80295486e-01 -5.41374517e-03 -2.25444754e+01] [-2.95249567e-02 -4.27104011e-04 9.99563952e-01 -6.58123119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264000000004 meters Centerline goodness [0,1] 0.9999787270251872 Centerline is valid? [True, True] Translation: X:155.69, Y:-22.54, Z:-6.58 [[ 9.79387915e-01 1.99767595e-01 2.98700408e-02 1.55687691e+02] [-1.99690589e-01 9.79843175e-01 -5.56963597e-03 -2.25436713e+01] [-3.03805884e-02 -5.09931867e-04 9.99538273e-01 -6.58213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.72, Y:-22.55, Z:-6.58 [[ 9.79207810e-01 2.00635375e-01 2.99584795e-02 1.55715728e+02] [-2.00558401e-01 9.79665838e-01 -5.58342261e-03 -2.25477870e+01] [-3.04695310e-02 -5.41093707e-04 9.99535550e-01 -6.58284517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.74, Y:-22.55, Z:-6.58 [[ 9.79032606e-01 2.01503117e-01 2.98605290e-02 1.55744141e+02] [-2.01427107e-01 9.79487708e-01 -5.56323314e-03 -2.25540597e+01] [-3.03690299e-02 -5.68133324e-04 9.99538593e-01 -6.58355227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25264 meters Centerline goodness [0,1] 0.9999784696206347 Centerline is valid? [True, True] Translation: X:155.77, Y:-22.56, Z:-6.58 [[ 9.78686103e-01 2.03184490e-01 2.98257552e-02 1.55772726e+02] [-2.03109478e-01 9.79140275e-01 -5.55538689e-03 -2.25551724e+01] [-3.03323666e-02 -6.20913641e-04 9.99539675e-01 -6.58445971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.80, Y:-22.56, Z:-6.59 [[ 9.78504253e-01 2.04096246e-01 2.95660046e-02 1.55800879e+02] [-2.04023007e-01 9.78950615e-01 -5.50517259e-03 -2.25583279e+01] [-3.00672435e-02 -6.45310368e-04 9.99547670e-01 -6.58589064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31264000000002 meters Centerline goodness [0,1] 0.9999570695687638 Centerline is valid? [True, True] Translation: X:155.83, Y:-22.56, Z:-6.59 [[ 9.78262434e-01 2.05309668e-01 2.91641936e-02 1.55829514e+02] [-2.05239003e-01 9.78696830e-01 -5.42839818e-03 -2.25599335e+01] [-2.96574064e-02 -6.75231995e-04 9.99559894e-01 -6.58885511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters Centerline goodness [0,1] 0.9999569076962854 Centerline is valid? [True, True] Translation: X:155.86, Y:-22.57, Z:-6.59 [[ 9.78286841e-01 2.05213385e-01 2.90228045e-02 1.55856896e+02] [-2.05143395e-01 9.78717026e-01 -5.40093864e-03 -2.25650451e+01] [-2.95134578e-02 -6.70169435e-04 9.99564158e-01 -6.59009826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37264000000002 meters Centerline goodness [0,1] 0.9998931601102587 Centerline is valid? [True, True] Translation: X:155.88, Y:-22.57, Z:-6.59 [[ 9.78349725e-01 2.04948835e-01 2.87713488e-02 1.55883610e+02] [-2.04879996e-01 9.78772467e-01 -5.35214509e-03 -2.25677139e+01] [-2.92575199e-02 -6.58404145e-04 9.99571690e-01 -6.59332360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters Centerline goodness [0,1] 0.9998066345823307 Centerline is valid? [True, True] Translation: X:155.91, Y:-22.58, Z:-6.59 [[ 9.78659023e-01 2.03518030e-01 2.84064902e-02 1.55911176e+02] [-2.03450408e-01 9.79071008e-01 -5.28137064e-03 -2.25779608e+01] [-2.88868251e-02 -6.10650986e-04 9.99582502e-01 -6.59334632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.94, Y:-22.58, Z:-6.59 [[ 9.78889400e-01 2.02336050e-01 2.89078642e-02 1.55937929e+02] [-2.02265544e-01 9.79315975e-01 -5.37323053e-03 -2.25841195e+01] [-2.93971315e-02 -5.87266483e-04 9.99567638e-01 -6.59428574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters Centerline goodness [0,1] 0.9999787116277089 Centerline is valid? [True, True] Translation: X:155.97, Y:-22.59, Z:-6.60 [[ 9.79109561e-01 2.01238836e-01 2.91101235e-02 1.55965374e+02] [-2.01166911e-01 9.79542045e-01 -5.40894678e-03 -2.25898791e+01] [-2.96030801e-02 -5.60042115e-04 9.99561576e-01 -6.59585679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:155.99, Y:-22.60, Z:-6.60 [[ 9.79596752e-01 1.98824903e-01 2.93063396e-02 1.55992741e+02] [-1.98750984e-01 9.80034905e-01 -5.44341515e-03 -2.26007398e+01] [-2.98035222e-02 -4.92312030e-04 9.99555655e-01 -6.59524220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.02, Y:-22.61, Z:-6.60 [[ 9.79873263e-01 1.97352837e-01 3.00041028e-02 1.56020484e+02] [-1.97274714e-01 9.80332416e-01 -5.57144431e-03 -2.26058391e+01] [-3.05135349e-02 -4.59741472e-04 9.99534248e-01 -6.59698862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.05, Y:-22.62, Z:-6.60 [[ 9.80336332e-01 1.94950950e-01 3.05745530e-02 1.56047745e+02] [-1.94868708e-01 9.80812914e-01 -5.67578601e-03 -2.26168941e+01] [-3.10944163e-02 -3.93844409e-04 9.99516374e-01 -6.59645062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.08, Y:-22.63, Z:-6.60 [[ 9.80562293e-01 1.93946033e-01 2.97073434e-02 1.56075641e+02] [-1.93867973e-01 9.81012136e-01 -5.51339838e-03 -2.26252824e+01] [-3.02125662e-02 -3.53071901e-04 9.99543434e-01 -6.59844086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61264000000003 meters Centerline goodness [0,1] 0.999957033599725 Centerline is valid? [True, True] Translation: X:156.10, Y:-22.63, Z:-6.60 [[ 9.80772374e-01 1.93010740e-01 2.88514224e-02 1.56103024e+02] [-1.92936746e-01 9.81196593e-01 -5.35328834e-03 -2.26315481e+01] [-2.93421595e-02 -3.16142241e-04 9.99569376e-01 -6.60207389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.13, Y:-22.64, Z:-6.60 [[ 9.81090416e-01 1.91434956e-01 2.85351141e-02 1.56130439e+02] [-1.91361966e-01 9.81505265e-01 -5.29266159e-03 -2.26410976e+01] [-2.90205652e-02 -2.67955979e-04 9.99578779e-01 -6.60338918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.16, Y:-22.65, Z:-6.60 [[ 9.81252732e-01 1.90533228e-01 2.89855882e-02 1.56158230e+02] [-1.90457565e-01 9.81680716e-01 -5.37474453e-03 -2.26480144e+01] [-2.94786604e-02 -2.46541793e-04 9.99565379e-01 -6.60364148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264000000003 meters Centerline goodness [0,1] 0.9997010718708631 Centerline is valid? [True, True] Translation: X:156.19, Y:-22.65, Z:-6.60 [[ 9.81364521e-01 1.89967725e-01 2.89126471e-02 1.56186522e+02] [-1.89892239e-01 9.81790309e-01 -5.35976122e-03 -2.26539110e+01] [-2.94043384e-02 -2.30407807e-04 9.99567572e-01 -6.60438508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.21, Y:-22.66, Z:-6.61 [[ 9.81451738e-01 1.89480182e-01 2.91504062e-02 1.56214016e+02] [-1.89403279e-01 9.81884521e-01 -5.40234392e-03 -2.26618434e+01] [-2.96459698e-02 -2.19042681e-04 9.99560438e-01 -6.60603048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.24, Y:-22.67, Z:-6.61 [[ 9.81335394e-01 1.90110714e-01 2.89613759e-02 1.56241680e+02] [-1.90035118e-01 9.81762629e-01 -5.36601162e-03 -2.26660429e+01] [-2.94533329e-02 -2.37821368e-04 9.99566128e-01 -6.60856995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.27, Y:-22.67, Z:-6.61 [[ 9.80965553e-01 1.92076373e-01 2.85175378e-02 1.56270754e+02] [-1.92003962e-01 9.81379937e-01 -5.28186728e-03 -2.26684571e+01] [-2.90010614e-02 -2.94150384e-04 9.99579337e-01 -6.60932650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.30, Y:-22.67, Z:-6.61 [[ 9.80650733e-01 1.93648914e-01 2.87095592e-02 1.56299212e+02] [-1.93576235e-01 9.81070833e-01 -5.31614146e-03 -2.26705266e+01] [-2.91955762e-02 -3.44210375e-04 9.99573659e-01 -6.60990486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.33, Y:-22.67, Z:-6.61 [[ 9.80337243e-01 1.95143018e-01 2.92932081e-02 1.56326785e+02] [-1.95068073e-01 9.80774716e-01 -5.42245746e-03 -2.26716323e+01] [-2.97881926e-02 -3.98332670e-04 9.99556154e-01 -6.61089583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.36, Y:-22.68, Z:-6.61 [[ 9.80069602e-01 1.96432638e-01 2.96275846e-02 1.56355261e+02] [-1.96356637e-01 9.80517221e-01 -5.48183537e-03 -2.26762956e+01] [-3.01271683e-02 -4.44992662e-04 9.99545975e-01 -6.60990335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.38, Y:-22.68, Z:-6.61 [[ 9.79741669e-01 1.98031161e-01 2.98315584e-02 1.56383273e+02] [-1.97954893e-01 9.80195598e-01 -5.51814910e-03 -2.26788917e+01] [-3.03335277e-02 -4.98942335e-04 9.99539708e-01 -6.61108731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264000000004 meters Centerline goodness [0,1] 0.9999571128361281 Centerline is valid? [True, True] Translation: X:156.41, Y:-22.68, Z:-6.61 [[ 9.79721056e-01 1.98121394e-01 2.99092822e-02 1.56410985e+02] [-1.98044825e-01 9.80177361e-01 -5.53072143e-03 -2.26824967e+01] [-3.04121556e-02 -5.04814340e-04 9.99537316e-01 -6.61281196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.44, Y:-22.69, Z:-6.62 [[ 9.79972400e-01 1.96882795e-01 2.98539779e-02 1.56438718e+02] [-1.96806013e-01 9.80426920e-01 -5.51789623e-03 -2.26878455e+01] [-3.03560225e-02 -4.68056356e-04 9.99539040e-01 -6.61525864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters Centerline goodness [0,1] 0.9999362122855138 Centerline is valid? [True, True] Translation: X:156.47, Y:-22.69, Z:-6.62 [[ 9.80261187e-01 1.95429320e-01 2.99230122e-02 1.56466984e+02] [-1.95351551e-01 9.80717696e-01 -5.52918637e-03 -2.26938883e+01] [-3.04265927e-02 -4.25460043e-04 9.99536913e-01 -6.61625201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.49, Y:-22.70, Z:-6.62 [[ 9.81023784e-01 1.91525242e-01 3.01731282e-02 1.56493645e+02] [-1.91444361e-01 9.81487640e-01 -5.57404010e-03 -2.27038584e+01] [-3.06821218e-02 -3.08209341e-04 9.99529145e-01 -6.61819584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.52, Y:-22.71, Z:-6.62 [[ 9.81457667e-01 1.89325056e-01 2.99477955e-02 1.56520199e+02] [-1.89244410e-01 9.81914439e-01 -5.53060454e-03 -2.27124324e+01] [-3.04532549e-02 -2.39398668e-04 9.99536163e-01 -6.61965073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.55, Y:-22.72, Z:-6.62 [[ 9.81876264e-01 1.87137400e-01 2.99765997e-02 1.56547497e+02] [-1.87055637e-01 9.82333733e-01 -5.53401317e-03 -2.27218795e+01] [-3.04826459e-02 -1.73575773e-04 9.99535281e-01 -6.62021819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.57, Y:-22.73, Z:-6.62 [[ 9.82265176e-01 1.85111608e-01 2.98130437e-02 1.56574776e+02] [-1.85029845e-01 9.82717498e-01 -5.50238369e-03 -2.27309005e+01] [-3.03163548e-02 -1.11502973e-04 9.99540347e-01 -6.62063014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.60, Y:-22.74, Z:-6.62 [[ 9.83028256e-01 1.81154688e-01 2.89555860e-02 1.56601580e+02] [-1.81075894e-01 9.83454615e-01 -5.34244161e-03 -2.27435397e+01] [-2.94443131e-02 8.61242367e-06 9.99566422e-01 -6.62335002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.63, Y:-22.75, Z:-6.62 [[ 9.83334095e-01 1.79535142e-01 2.86564331e-02 1.56630349e+02] [-1.79457301e-01 9.83751559e-01 -5.28652068e-03 -2.27516582e+01] [-2.91399270e-02 5.58098773e-05 9.99575341e-01 -6.62395908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.66, Y:-22.76, Z:-6.62 [[ 9.83699004e-01 1.77454606e-01 2.90883412e-02 1.56658996e+02] [-1.77373518e-01 9.84128980e-01 -5.36529229e-03 -2.27606104e+01] [-2.95787754e-02 1.18331282e-04 9.99562445e-01 -6.62488625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.69, Y:-22.77, Z:-6.63 [[ 9.83828653e-01 1.76696618e-01 2.93169967e-02 1.56687483e+02] [-1.76613933e-01 9.84265353e-01 -5.40680732e-03 -2.27685040e+01] [-2.98110687e-02 1.41581871e-04 9.99555541e-01 -6.62819274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.72, Y:-22.78, Z:-6.63 [[ 9.83976069e-01 1.75872995e-01 2.93221014e-02 1.56716915e+02] [-1.75789901e-01 9.84412851e-01 -5.40824100e-03 -2.27750967e+01] [-2.98162170e-02 1.67050411e-04 9.99555384e-01 -6.62627257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.75, Y:-22.79, Z:-6.63 [[ 9.84203475e-01 1.74673437e-01 2.88567312e-02 1.56745599e+02] [-1.74592449e-01 9.84626401e-01 -5.32225740e-03 -2.27874020e+01] [-2.93427564e-02 2.00016858e-04 9.99569389e-01 -6.62933881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33264000000003 meters Centerline goodness [0,1] 0.9999139396286495 Centerline is valid? [True, True] Translation: X:156.78, Y:-22.79, Z:-6.63 [[ 9.84263030e-01 1.74371484e-01 2.86508695e-02 1.56775059e+02] [-1.74291505e-01 9.84679919e-01 -5.28479930e-03 -2.27936716e+01] [-2.91334541e-02 2.08029418e-04 9.99575509e-01 -6.63012370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.80, Y:-22.80, Z:-6.63 [[ 9.84283105e-01 1.74273091e-01 2.85597543e-02 1.56804721e+02] [-1.74193578e-01 9.84697337e-01 -5.26799264e-03 -2.28000533e+01] [-2.90407834e-02 2.10270359e-04 9.99578205e-01 -6.63128173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.83, Y:-22.81, Z:-6.63 [[ 9.84189851e-01 1.74707685e-01 2.91129162e-02 1.56834117e+02] [-1.74625256e-01 9.84620325e-01 -5.36988112e-03 -2.28073723e+01] [-2.96033285e-02 2.01132059e-04 9.99561705e-01 -6.63230977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264000000003 meters Centerline goodness [0,1] 0.9999784765717483 Centerline is valid? [True, True] Translation: X:156.86, Y:-22.81, Z:-6.63 [[ 9.84178140e-01 1.74703352e-01 2.95317903e-02 1.56864974e+02] [-1.74618525e-01 9.84621093e-01 -5.44737883e-03 -2.28142923e+01] [-3.00292990e-02 2.04393505e-04 9.99548998e-01 -6.63192963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.89, Y:-22.82, Z:-6.63 [[ 9.84186645e-01 1.74571249e-01 3.00254325e-02 1.56894671e+02] [-1.74483472e-01 9.84644521e-01 -5.53934206e-03 -2.28228410e+01] [-3.05313875e-02 2.12804764e-04 9.99533786e-01 -6.63264736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.93, Y:-22.83, Z:-6.63 [[ 9.84168997e-01 1.74686164e-01 2.99354140e-02 1.56925702e+02] [-1.74599008e-01 9.84624142e-01 -5.52134039e-03 -2.28333460e+01] [-3.04396331e-02 2.07238451e-04 9.99536586e-01 -6.63274123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.96, Y:-22.84, Z:-6.63 [[ 9.84075015e-01 1.75332327e-01 2.92393480e-02 1.56956870e+02] [-1.75249315e-01 9.84509289e-01 -5.39795800e-03 -2.28407659e+01] [-2.97328462e-02 1.87819900e-04 9.99557864e-01 -6.63486085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:156.99, Y:-22.85, Z:-6.64 [[ 9.83929847e-01 1.76170452e-01 2.90865654e-02 1.56987705e+02] [-1.76088515e-01 9.84359662e-01 -5.37501479e-03 -2.28477211e+01] [-2.95785605e-02 1.66827366e-04 9.99562445e-01 -6.63728431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.02, Y:-22.85, Z:-6.64 [[ 9.83410005e-01 1.79071502e-01 2.89509871e-02 1.57018471e+02] [-1.78991398e-01 9.83836058e-01 -5.35627254e-03 -2.28516252e+01] [-2.94421808e-02 8.54343445e-05 9.99566481e-01 -6.63693290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264000000004 meters Centerline goodness [0,1] 0.9999786943923641 Centerline is valid? [True, True] Translation: X:157.05, Y:-22.86, Z:-6.64 [[ 9.83052113e-01 1.81016415e-01 2.90103408e-02 1.57048656e+02] [-1.80936820e-01 9.83480074e-01 -5.36751910e-03 -2.28559208e+01] [-2.95027012e-02 2.75121862e-05 9.99564700e-01 -6.63932547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.08, Y:-22.86, Z:-6.64 [[ 9.82155199e-01 1.85737308e-01 2.95434777e-02 1.57078837e+02] [-1.85656804e-01 9.82599430e-01 -5.46913790e-03 -2.28563669e+01] [-3.00452272e-02 -1.13405415e-04 9.99548534e-01 -6.63865710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264000000004 meters Centerline goodness [0,1] 0.9998919993087956 Centerline is valid? [True, True] Translation: X:157.11, Y:-22.86, Z:-6.64 [[ 9.81731618e-01 1.87924717e-01 2.97880903e-02 1.57107607e+02] [-1.87843902e-01 9.82183418e-01 -5.51370937e-03 -2.28584785e+01] [-3.02935306e-02 -1.82528295e-04 9.99541029e-01 -6.64007585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69264000000004 meters Centerline goodness [0,1] 0.9999135135135135 Centerline is valid? [True, True] Translation: X:157.14, Y:-22.86, Z:-6.64 [[ 9.81332874e-01 1.90039779e-01 2.95071686e-02 1.57137088e+02] [-1.89961460e-01 9.81776360e-01 -5.46095664e-03 -2.28624426e+01] [-3.00072396e-02 -2.46208550e-04 9.99549651e-01 -6.63989260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.17, Y:-22.86, Z:-6.64 [[ 9.80661778e-01 1.93481125e-01 2.94538796e-02 1.57165848e+02] [-1.93404657e-01 9.81103935e-01 -5.45049610e-03 -2.28634380e+01] [-2.99518852e-02 -3.51424286e-04 9.99551280e-01 -6.64177994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.20, Y:-22.87, Z:-6.64 [[ 9.80392545e-01 1.94855296e-01 2.93576425e-02 1.57195244e+02] [-1.94779979e-01 9.80831922e-01 -5.43146511e-03 -2.28689601e+01] [-2.98532626e-02 -3.93313099e-04 9.99554215e-01 -6.64121609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.22, Y:-22.87, Z:-6.64 [[ 9.79939301e-01 1.97192496e-01 2.88805538e-02 1.57223674e+02] [-1.97120639e-01 9.80364682e-01 -5.34261631e-03 -2.28702848e+01] [-2.93669988e-02 -4.57513536e-04 9.99568592e-01 -6.64428538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.25, Y:-22.87, Z:-6.65 [[ 9.79709418e-01 1.98371530e-01 2.86040538e-02 1.57252470e+02] [-1.98301572e-01 9.80126776e-01 -5.29052171e-03 -2.28741605e+01] [-2.90850879e-02 -4.89054892e-04 9.99576820e-01 -6.64605016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:157.28, Y:-22.88, Z:-6.65 [[ 9.79496469e-01 1.99495728e-01 2.80734977e-02 1.57280348e+02] [-1.99428838e-01 9.79898561e-01 -5.19115693e-03 -2.28760680e+01] [-2.85447936e-02 -5.13945140e-04 9.99592382e-01 -6.64864329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87264000000002 meters Centerline goodness [0,1] 0.9999785393909479 Centerline is valid? [True, True] Translation: X:157.31, Y:-22.88, Z:-6.65 [[ 9.79506080e-01 1.99448487e-01 2.80738442e-02 1.57308204e+02] [-1.99381632e-01 9.79908178e-01 -5.18928253e-03 -2.28811268e+01] [-2.85447840e-02 -5.14475069e-04 9.99592382e-01 -6.64981598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters Centerline goodness [0,1] 0.9999785871822873 Centerline is valid? [True, True] Translation: X:157.34, Y:-22.88, Z:-6.65 [[ 9.79390585e-01 2.00040352e-01 2.78915567e-02 1.57336781e+02] [-1.99974640e-01 9.79787516e-01 -5.15421521e-03 -2.28846246e+01] [-2.83588501e-02 -5.29614184e-04 9.99597667e-01 -6.65147001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93264000000002 meters Centerline goodness [0,1] 0.9999362543028345 Centerline is valid? [True, True] Translation: X:157.37, Y:-22.88, Z:-6.66 [[ 9.79282171e-01 2.00654613e-01 2.72792320e-02 1.57365150e+02] [-2.00592026e-01 9.79661900e-01 -5.03990265e-03 -2.28838377e+01] [-2.77357040e-02 -5.36509628e-04 9.99615147e-01 -6.65569742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters Centerline goodness [0,1] 0.9998274448902118 Centerline is valid? [True, True] Translation: X:157.39, Y:-22.89, Z:-6.66 [[ 9.79332031e-01 2.00507552e-01 2.65611394e-02 1.57393551e+02] [-2.00448211e-01 9.79692019e-01 -4.90545216e-03 -2.28901622e+01] [-2.70053164e-02 -5.20066437e-04 9.99635155e-01 -6.65672814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99264000000002 meters Centerline goodness [0,1] 0.9999786169439336 Centerline is valid? [True, True] Translation: X:157.42, Y:-22.90, Z:-6.66 [[ 9.79568655e-01 1.99332449e-01 2.66800661e-02 1.57421763e+02] [-1.99272175e-01 9.79931801e-01 -4.92610670e-03 -2.28972127e+01] [-2.71265781e-02 -4.91135088e-04 9.99631886e-01 -6.65618837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264000000002 meters Centerline goodness [0,1] 0.999957122949941 Centerline is valid? [True, True] Translation: X:157.45, Y:-22.90, Z:-6.66 [[ 9.79791478e-01 1.98218552e-01 2.67967544e-02 1.57450144e+02] [-1.98157370e-01 9.80157738e-01 -4.94631220e-03 -2.29034106e+01] [-2.72454970e-02 -4.63619826e-04 9.99628665e-01 -6.65682928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.48, Y:-22.91, Z:-6.66 [[ 9.80073599e-01 1.96874385e-01 2.63859390e-02 1.57478298e+02] [-1.96814612e-01 9.80428631e-01 -4.86918415e-03 -2.29098860e+01] [-2.68281477e-02 -4.20979525e-04 9.99639972e-01 -6.65842350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264000000003 meters Centerline goodness [0,1] 0.9997410388657503 Centerline is valid? [True, True] Translation: X:157.51, Y:-22.92, Z:-6.66 [[ 9.80687976e-01 1.93743050e-01 2.67343312e-02 1.57506159e+02] [-1.93680563e-01 9.81052248e-01 -4.93209731e-03 -2.29187920e+01] [-2.71833353e-02 -3.41071774e-04 9.99630407e-01 -6.65907909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11264000000003 meters Centerline goodness [0,1] 0.9998919806429312 Centerline is valid? [True, True] Translation: X:157.53, Y:-22.92, Z:-6.66 [[ 9.81004596e-01 1.92049203e-01 2.73328742e-02 1.57533719e+02] [-1.91983264e-01 9.81385252e-01 -5.04124523e-03 -2.29248100e+01] [-2.77922467e-02 -3.01969654e-04 9.99613675e-01 -6.66053276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.56, Y:-22.93, Z:-6.66 [[ 9.81365868e-01 1.90104514e-01 2.79518844e-02 1.57561928e+02] [-1.90034822e-01 9.81763826e-01 -5.15338557e-03 -2.29329071e+01] [-2.84218308e-02 -2.54474659e-04 9.99595986e-01 -6.66071728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.59, Y:-22.94, Z:-6.66 [[ 9.82036876e-01 1.86684389e-01 2.74319820e-02 1.57588931e+02] [-1.86615968e-01 9.82419928e-01 -5.05623712e-03 -2.29434565e+01] [-2.78936463e-02 -1.53834555e-04 9.99610885e-01 -6.66279510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.62, Y:-22.95, Z:-6.66 [[ 9.82353676e-01 1.85004953e-01 2.74667631e-02 1.57616835e+02] [-1.84935738e-01 9.82737582e-01 -5.06131785e-03 -2.29514076e+01] [-2.79289892e-02 -1.07581903e-04 9.99609904e-01 -6.66390365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.65, Y:-22.96, Z:-6.66 [[ 9.82833541e-01 1.82500209e-01 2.70537259e-02 1.57646405e+02] [-1.82432164e-01 9.83205814e-01 -4.98326882e-03 -2.29615986e+01] [-2.75088282e-02 -3.77460221e-05 9.99621560e-01 -6.66437528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264000000003 meters Centerline goodness [0,1] 0.9999571991097415 Centerline is valid? [True, True] Translation: X:157.68, Y:-22.97, Z:-6.67 [[ 9.83007113e-01 1.81622271e-01 2.66527150e-02 1.57675363e+02] [-1.81555902e-01 9.83368370e-01 -4.90957671e-03 -2.29678543e+01] [-2.71011253e-02 -1.28088888e-05 9.99632697e-01 -6.66811916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.70, Y:-22.97, Z:-6.67 [[ 9.83109177e-01 1.81068942e-01 2.66530386e-02 1.57704795e+02] [-1.81002373e-01 9.83470405e-01 -4.90947217e-03 -2.29743116e+01] [-2.71014276e-02 2.28392284e-06 9.99632689e-01 -6.66899093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.74, Y:-22.98, Z:-6.67 [[ 9.83045320e-01 1.81551303e-01 2.57103908e-02 1.57735172e+02] [-1.81489549e-01 9.83381474e-01 -4.73488883e-03 -2.29791835e+01] [-2.61427473e-02 -1.15569350e-05 9.99658220e-01 -6.66940602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.76, Y:-22.98, Z:-6.67 [[ 9.82879201e-01 1.82429087e-01 2.58477013e-02 1.57763991e+02] [-1.82366980e-01 9.83219013e-01 -4.75998582e-03 -2.29831814e+01] [-2.62823112e-02 -3.52761767e-05 9.99654560e-01 -6.67169891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.79, Y:-22.99, Z:-6.67 [[ 9.82648648e-01 1.83700770e-01 2.56058955e-02 1.57793203e+02] [-1.83640229e-01 9.82982209e-01 -4.71635465e-03 -2.29869094e+01] [-2.60365377e-02 -6.77529898e-05 9.99660990e-01 -6.67177768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.82, Y:-22.99, Z:-6.67 [[ 9.82461204e-01 1.84724737e-01 2.54313728e-02 1.57822456e+02] [-1.84665378e-01 9.82790294e-01 -4.68357454e-03 -2.29907119e+01] [-2.58588784e-02 -9.48637781e-05 9.99665599e-01 -6.67335370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264000000004 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:157.85, Y:-22.99, Z:-6.67 [[ 9.82171014e-01 1.86293452e-01 2.51962112e-02 1.57851201e+02] [-1.86235712e-01 9.82494138e-01 -4.63982920e-03 -2.29932742e+01] [-2.56194996e-02 -1.35328578e-04 9.99671758e-01 -6.67496520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.88, Y:-23.00, Z:-6.68 [[ 9.82099610e-01 1.86679853e-01 2.51194879e-02 1.57879429e+02] [-1.86622615e-01 9.82420791e-01 -4.62475183e-03 -2.29973637e+01] [-2.55412552e-02 -1.45897550e-04 9.99673758e-01 -6.67650937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters Centerline goodness [0,1] 0.9999787016527517 Centerline is valid? [True, True] Translation: X:157.91, Y:-23.00, Z:-6.68 [[ 9.82036430e-01 1.86976284e-01 2.53834602e-02 1.57907305e+02] [-1.86917951e-01 9.82364416e-01 -4.67276039e-03 -2.30001674e+01] [-2.58095034e-02 -1.55803434e-04 9.99666867e-01 -6.67818803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.93, Y:-23.00, Z:-6.68 [[ 9.82041462e-01 1.86932588e-01 2.55102996e-02 1.57934776e+02] [-1.86873697e-01 9.82372731e-01 -4.69448973e-03 -2.30047343e+01] [-2.59381758e-02 -1.57020442e-04 9.99663537e-01 -6.67931257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.96, Y:-23.01, Z:-6.68 [[ 9.82017548e-01 1.87029413e-01 2.57203048e-02 1.57963487e+02] [-1.86969628e-01 9.82354301e-01 -4.73139523e-03 -2.30101717e+01] [-2.61513621e-02 -1.62602678e-04 9.99657981e-01 -6.67814602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:157.99, Y:-23.01, Z:-6.68 [[ 9.81866381e-01 1.87785764e-01 2.59791669e-02 1.57991759e+02] [-1.87725068e-01 9.82209994e-01 -4.77770136e-03 -2.30139167e+01] [-2.64141817e-02 -1.85876535e-04 9.99651067e-01 -6.67769864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.02, Y:-23.02, Z:-6.68 [[ 9.81746530e-01 1.88359159e-01 2.63548486e-02 1.58019458e+02] [-1.88296933e-01 9.82100191e-01 -4.84559647e-03 -2.30168892e+01] [-2.67958144e-02 -2.05389656e-04 9.99640907e-01 -6.68038290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.05, Y:-23.02, Z:-6.68 [[ 9.81666480e-01 1.88729046e-01 2.66883850e-02 1.58047487e+02] [-1.88665424e-01 9.82029174e-01 -4.90501009e-03 -2.30213590e+01] [-2.71344905e-02 -2.20091468e-04 9.99631768e-01 -6.68006998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.08, Y:-23.02, Z:-6.68 [[ 9.81593091e-01 1.89105237e-01 2.67247822e-02 1.58075745e+02] [-1.89041617e-01 9.81956799e-01 -4.91036129e-03 -2.30249949e+01] [-2.71711566e-02 -2.32119331e-04 9.99630769e-01 -6.68160808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.10, Y:-23.03, Z:-6.68 [[ 9.81582468e-01 1.89164432e-01 2.66960136e-02 1.58104258e+02] [-1.89101007e-01 9.81945397e-01 -4.90373901e-03 -2.30290224e+01] [-2.71416407e-02 -2.34818805e-04 9.99631570e-01 -6.68281517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.13, Y:-23.03, Z:-6.68 [[ 9.81673835e-01 1.88658702e-01 2.69142276e-02 1.58132202e+02] [-1.88594083e-01 9.82042690e-01 -4.94244034e-03 -2.30346756e+01] [-2.73633548e-02 -2.23999706e-04 9.99625528e-01 -6.68369971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.16, Y:-23.04, Z:-6.69 [[ 9.81756308e-01 1.88371628e-01 2.58975205e-02 1.58159330e+02] [-1.88311728e-01 9.82097799e-01 -4.75468508e-03 -2.30385544e+01] [-2.63295456e-02 -2.08864760e-04 9.99653296e-01 -6.68716674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.19, Y:-23.04, Z:-6.69 [[ 9.81733067e-01 1.88614075e-01 2.49983237e-02 1.58187725e+02] [-1.88558384e-01 9.82051265e-01 -4.58792763e-03 -2.30429115e+01] [-2.54149831e-02 -2.09523246e-04 9.99676965e-01 -6.68913968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.22, Y:-23.04, Z:-6.69 [[ 9.81554811e-01 1.89727960e-01 2.35256012e-02 1.58216476e+02] [-1.89678984e-01 9.81836672e-01 -4.31657231e-03 -2.30443332e+01] [-2.39172724e-02 -2.25359806e-04 9.99713916e-01 -6.69261899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.24, Y:-23.05, Z:-6.70 [[ 9.81333487e-01 1.90933758e-01 2.29975352e-02 1.58244690e+02] [-1.90887305e-01 9.81602892e-01 -4.21891093e-03 -2.30456646e+01] [-2.33799796e-02 -2.49778949e-04 9.99726620e-01 -6.69521105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.27, Y:-23.05, Z:-6.70 [[ 9.81110850e-01 1.92022138e-01 2.34307068e-02 1.58273791e+02] [-1.91974278e-01 9.81390553e-01 -4.29629403e-03 -2.30486582e+01] [-2.38196579e-02 -2.82952332e-04 9.99716232e-01 -6.69518650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.30, Y:-23.05, Z:-6.69 [[ 9.80947653e-01 1.92779423e-01 2.40373844e-02 1.58302030e+02] [-1.92729311e-01 9.81242069e-01 -4.40626606e-03 -2.30528329e+01] [-2.44359302e-02 -3.10392177e-04 9.99701350e-01 -6.69405832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95264000000003 meters Centerline goodness [0,1] 0.999785352451275 Centerline is valid? [True, True] Translation: X:158.33, Y:-23.05, Z:-6.70 [[ 9.80855537e-01 1.93097782e-01 2.52123451e-02 1.58330573e+02] [-1.93042787e-01 9.81179461e-01 -4.62041128e-03 -2.30523358e+01] [-2.56300264e-02 -3.35105387e-04 9.99671441e-01 -6.69695971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.36, Y:-23.06, Z:-6.70 [[ 9.80939079e-01 1.92623034e-01 2.55908400e-02 1.58359090e+02] [-1.92566265e-01 9.81272775e-01 -4.68777843e-03 -2.30567760e+01] [-2.60145687e-02 -3.29507422e-04 9.99661510e-01 -6.69759002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.39, Y:-23.06, Z:-6.70 [[ 9.81082823e-01 1.91859941e-01 2.58119703e-02 1.58387044e+02] [-1.91801956e-01 9.81422266e-01 -4.72702197e-03 -2.30615106e+01] [-2.62393686e-02 -3.13186337e-04 9.99655639e-01 -6.69836629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.42, Y:-23.07, Z:-6.70 [[ 9.81604102e-01 1.89080914e-01 2.64914045e-02 1.58415089e+02] [-1.89018859e-01 9.81961479e-01 -4.85013623e-03 -2.30692669e+01] [-2.69306069e-02 -2.46461418e-04 9.99637275e-01 -6.69665763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07264000000004 meters Centerline goodness [0,1] 0.9998715780912224 Centerline is valid? [True, True] Translation: X:158.44, Y:-23.07, Z:-6.70 [[ 9.81909228e-01 1.87482363e-01 2.65449077e-02 1.58442357e+02] [-1.87419505e-01 9.82267948e-01 -4.85874798e-03 -2.30741001e+01] [-2.69851416e-02 -2.04183995e-04 9.99635814e-01 -6.69890283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264000000004 meters Centerline goodness [0,1] 0.9998917139515745 Centerline is valid? [True, True] Translation: X:158.47, Y:-23.08, Z:-6.70 [[ 9.82565270e-01 1.84028265e-01 2.64402824e-02 1.58469855e+02] [-1.83964700e-01 9.82920946e-01 -4.83774724e-03 -2.30832001e+01] [-2.68789896e-02 -1.10676197e-04 9.99638689e-01 -6.69932670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.50, Y:-23.09, Z:-6.70 [[ 9.82918131e-01 1.82082626e-01 2.67930200e-02 1.58496691e+02] [-1.82016663e-01 9.83283232e-01 -4.90105563e-03 -2.30904725e+01] [-2.72375244e-02 -5.94396525e-05 9.99628988e-01 -6.70069895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264000000004 meters Centerline goodness [0,1] 0.9998478260869565 Centerline is valid? [True, True] Translation: X:158.52, Y:-23.10, Z:-6.70 [[ 9.83549148e-01 1.78652520e-01 2.67273536e-02 1.58524662e+02] [-1.78585674e-01 9.83912230e-01 -4.88681695e-03 -2.30995915e+01] [-2.71704123e-02 3.33021787e-05 9.99630816e-01 -6.70185607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19264000000004 meters Centerline goodness [0,1] 0.9999783399757408 Centerline is valid? [True, True] Translation: X:158.55, Y:-23.11, Z:-6.70 [[ 9.83801755e-01 1.77318237e-01 2.63125261e-02 1.58552524e+02] [-1.77252986e-01 9.84153564e-01 -4.81049621e-03 -2.31061122e+01] [-2.67485550e-02 6.86008119e-05 9.99642191e-01 -6.70355880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters Centerline goodness [0,1] 0.9998922320889732 Centerline is valid? [True, True] Translation: X:158.58, Y:-23.11, Z:-6.71 [[ 9.84052564e-01 1.75961377e-01 2.60412304e-02 1.58580607e+02] [-1.75897015e-01 9.84397066e-01 -4.75992963e-03 -2.31115531e+01] [-2.64724746e-02 1.03446251e-04 9.99649537e-01 -6.70629805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25264 meters Centerline goodness [0,1] 0.9998051863717045 Centerline is valid? [True, True] Translation: X:158.61, Y:-23.12, Z:-6.71 [[ 9.84304711e-01 1.74630932e-01 2.54612145e-02 1.58609238e+02] [-1.74568990e-01 9.84633952e-01 -4.65280837e-03 -2.31176804e+01] [-2.58825005e-02 1.35042700e-04 9.99664983e-01 -6.70839952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.64, Y:-23.13, Z:-6.71 [[ 9.84894009e-01 1.71216269e-01 2.58607900e-02 1.58637040e+02] [-1.71151219e-01 9.85233443e-01 -4.72467977e-03 -2.31285293e+01] [-2.62878572e-02 2.27203048e-04 9.99654389e-01 -6.70984548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.66, Y:-23.14, Z:-6.71 [[ 9.85428995e-01 1.67945223e-01 2.69090812e-02 1.58664687e+02] [-1.67873557e-01 9.85796274e-01 -4.91672265e-03 -2.31392828e+01] [-2.73526121e-02 3.27757863e-04 9.99625794e-01 -6.70946070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters Centerline goodness [0,1] 0.9999566893325826 Centerline is valid? [True, True] Translation: X:158.70, Y:-23.15, Z:-6.71 [[ 9.85572995e-01 1.67017779e-01 2.74031590e-02 1.58696023e+02] [-1.66943122e-01 9.85953819e-01 -5.00615540e-03 -2.31451535e+01] [-2.78543662e-02 3.59162672e-04 9.99611927e-01 -6.70853117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37264000000002 meters Centerline goodness [0,1] 0.9996321062996386 Centerline is valid? [True, True] Translation: X:158.73, Y:-23.15, Z:-6.71 [[ 9.85704485e-01 1.66176148e-01 2.77876845e-02 1.58725912e+02] [-1.66099076e-01 9.86096008e-01 -5.07533370e-03 -2.31547382e+01] [-2.82447241e-02 3.87270470e-04 9.99600963e-01 -6.71087516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.76, Y:-23.16, Z:-6.71 [[ 9.85817337e-01 1.65487972e-01 2.78910243e-02 1.58756593e+02] [-1.65409869e-01 9.86211721e-01 -5.10059501e-03 -2.31625576e+01] [-2.83505422e-02 4.14804301e-04 9.99597957e-01 -6.71166160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.79, Y:-23.17, Z:-6.71 [[ 9.85725784e-01 1.66050864e-01 2.77810885e-02 1.58786018e+02] [-1.65973576e-01 9.86117109e-01 -5.08132014e-03 -2.31688407e+01] [-2.82391643e-02 3.97861688e-04 9.99601116e-01 -6.71409492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.82, Y:-23.17, Z:-6.71 [[ 9.85580229e-01 1.66929610e-01 2.76788153e-02 1.58817224e+02] [-1.66853232e-01 9.85968746e-01 -5.06278002e-03 -2.31717191e+01] [-2.81355747e-02 3.71476088e-04 9.99604047e-01 -6.71412222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.85, Y:-23.17, Z:-6.71 [[ 9.85020314e-01 1.70219673e-01 2.75725282e-02 1.58848504e+02] [-1.70145150e-01 9.85406102e-01 -5.04401489e-03 -2.31738304e+01] [-2.80287281e-02 2.77125198e-04 9.99607080e-01 -6.71486019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.88, Y:-23.18, Z:-6.72 [[ 9.84658721e-01 1.72319710e-01 2.74430593e-02 1.58878095e+02] [-1.72246675e-01 9.85041050e-01 -5.02118456e-03 -2.31785591e+01] [-2.78977891e-02 2.17177431e-04 9.99610757e-01 -6.71844015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.91, Y:-23.18, Z:-6.72 [[ 9.84260876e-01 1.74590665e-01 2.73610578e-02 1.58907780e+02] [-1.74518921e-01 9.84641090e-01 -5.00701121e-03 -2.31805501e+01] [-2.78149992e-02 1.53182956e-04 9.99613076e-01 -6.71993118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.94, Y:-23.18, Z:-6.72 [[ 9.83891522e-01 1.76716638e-01 2.69945164e-02 1.58937414e+02] [-1.76647619e-01 9.84261765e-01 -4.93931604e-03 -2.31820000e+01] [-2.74425296e-02 9.12341152e-05 9.99623379e-01 -6.71958290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:158.97, Y:-23.18, Z:-6.72 [[ 9.83072986e-01 1.81143964e-01 2.74657598e-02 1.58965774e+02] [-1.81074246e-01 9.83456589e-01 -5.02537254e-03 -2.31804406e+01] [-2.79216983e-02 -3.30337539e-05 9.99610113e-01 -6.71963899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.00, Y:-23.18, Z:-6.72 [[ 9.82699020e-01 1.83087580e-01 2.79566323e-02 1.58995279e+02] [-1.83016193e-01 9.83096602e-01 -5.11308287e-03 -2.31820266e+01] [-2.84202122e-02 -9.18948749e-05 9.99596060e-01 -6.71987420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.02, Y:-23.18, Z:-6.72 [[ 9.81940273e-01 1.87122638e-01 2.79001664e-02 1.59024299e+02] [-1.87053198e-01 9.82336538e-01 -5.10162099e-03 -2.31792183e+01] [-2.83619817e-02 -2.09328229e-04 9.99597696e-01 -6.72256164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264000000003 meters Centerline goodness [0,1] 0.9999138896064755 Centerline is valid? [True, True] Translation: X:159.05, Y:-23.18, Z:-6.72 [[ 9.81564926e-01 1.89104868e-01 2.77424690e-02 1.59053165e+02] [-1.89037064e-01 9.81956861e-01 -5.07059936e-03 -2.31818192e+01] [-2.82007828e-02 -2.67232403e-04 9.99602243e-01 -6.72230720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.08, Y:-23.18, Z:-6.72 [[ 9.81270358e-01 1.90617817e-01 2.78088587e-02 1.59082138e+02] [-1.90550335e-01 9.81664276e-01 -5.08131053e-03 -2.31844408e+01] [-2.82675514e-02 -3.12847939e-04 9.99600344e-01 -6.72341607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.11, Y:-23.19, Z:-6.72 [[ 9.81279836e-01 1.90568982e-01 2.78091118e-02 1.59110000e+02] [-1.90501520e-01 9.81673757e-01 -5.07992475e-03 -2.31894411e+01] [-2.82675513e-02 -3.12850353e-04 9.99600344e-01 -6.72458863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79264000000003 meters Centerline goodness [0,1] 0.9998274523337072 Centerline is valid? [True, True] Translation: X:159.14, Y:-23.19, Z:-6.73 [[ 9.80755515e-01 1.93262461e-01 2.77171750e-02 1.59138028e+02] [-1.93196555e-01 9.81147017e-01 -5.06187514e-03 -2.31886330e+01] [-2.81728940e-02 -3.90400744e-04 9.99602989e-01 -6.72662723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.17, Y:-23.19, Z:-6.73 [[ 9.80760976e-01 1.93232130e-01 2.77353961e-02 1.59166248e+02] [-1.93166173e-01 9.81152990e-01 -5.06348643e-03 -2.31914529e+01] [-2.81910951e-02 -3.91470430e-04 9.99602475e-01 -6.72789547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.19, Y:-23.19, Z:-6.73 [[ 9.80902906e-01 1.92524714e-01 2.76355540e-02 1.59193697e+02] [-1.92459006e-01 9.81292054e-01 -5.04330211e-03 -2.31931740e+01] [-2.80895099e-02 -3.71721562e-04 9.99605343e-01 -6.72973830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.22, Y:-23.20, Z:-6.73 [[ 9.81103099e-01 1.91490193e-01 2.77167056e-02 1.59222257e+02] [-1.91423738e-01 9.81494466e-01 -5.05621618e-03 -2.31993407e+01] [-2.81720090e-02 -3.44966030e-04 9.99603031e-01 -6.73073152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.25, Y:-23.20, Z:-6.73 [[ 9.81362647e-01 1.90187853e-01 2.74942771e-02 1.59249586e+02] [-1.90121984e-01 9.81747670e-01 -5.01443246e-03 -2.32043242e+01] [-2.79461266e-02 -3.06289791e-04 9.99609384e-01 -6.73356291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.28, Y:-23.21, Z:-6.74 [[ 9.81638153e-01 1.88834295e-01 2.69841621e-02 1.59277454e+02] [-1.88770387e-01 9.82008930e-01 -4.91955739e-03 -2.32106161e+01] [-2.74276693e-02 -2.64585482e-04 9.99623756e-01 -6.73514440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97264 meters Centerline goodness [0,1] 0.9999138951673663 Centerline is valid? [True, True] Translation: X:159.30, Y:-23.22, Z:-6.74 [[ 9.82209329e-01 1.85800625e-01 2.72573400e-02 1.59304168e+02] [-1.85734281e-01 9.82587449e-01 -4.96816325e-03 -2.32181683e+01] [-2.77058080e-02 -1.82846152e-04 9.99616104e-01 -6.73702637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.33, Y:-23.23, Z:-6.74 [[ 9.82673494e-01 1.83342009e-01 2.71755656e-02 1.59332512e+02] [-1.83275176e-01 9.83049182e-01 -4.95128777e-03 -2.32267606e+01] [-2.76226966e-02 -1.15107313e-04 9.99618414e-01 -6.73578033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.36, Y:-23.24, Z:-6.74 [[ 9.83527549e-01 1.78673829e-01 2.73719304e-02 1.59359733e+02] [-1.78604242e-01 9.83908361e-01 -4.98617766e-03 -2.32377682e+01] [-2.78223706e-02 1.53002168e-05 9.99612883e-01 -6.73667833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.39, Y:-23.25, Z:-6.74 [[ 9.83987727e-01 1.76181681e-01 2.69845910e-02 1.59387222e+02] [-1.76113154e-01 9.84357663e-01 -4.91411761e-03 -2.32471897e+01] [-2.74282664e-02 8.30899945e-05 9.99623771e-01 -6.73874211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.41, Y:-23.26, Z:-6.74 [[ 9.84399244e-01 1.73946928e-01 2.64687365e-02 1.59414189e+02] [-1.73880214e-01 9.84755018e-01 -4.81921083e-03 -2.32567393e+01] [-2.69035080e-02 1.41637922e-04 9.99638025e-01 -6.74154372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.44, Y:-23.27, Z:-6.74 [[ 9.84919158e-01 1.71009350e-01 2.62688709e-02 1.59443032e+02] [-1.70942626e-01 9.85269382e-01 -4.78168550e-03 -2.32660655e+01] [-2.66996271e-02 2.19103897e-04 9.99643477e-01 -6.74115432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.47, Y:-23.27, Z:-6.74 [[ 9.85006353e-01 1.70451999e-01 2.66195669e-02 1.59471541e+02] [-1.70383300e-01 9.85365952e-01 -4.84467172e-03 -2.32732000e+01] [-2.70557989e-02 2.36502754e-04 9.99633897e-01 -6.74321555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters Centerline goodness [0,1] 0.9999137689438852 Centerline is valid? [True, True] Translation: X:159.50, Y:-23.28, Z:-6.74 [[ 9.85044674e-01 1.70137915e-01 2.72043998e-02 1.59500883e+02] [-1.70066049e-01 9.85420229e-01 -4.95093065e-03 -2.32792695e+01] [-2.76501069e-02 2.50343080e-04 9.99617631e-01 -6.74297906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.53, Y:-23.29, Z:-6.74 [[ 9.84966148e-01 1.70561076e-01 2.73972090e-02 1.59528614e+02] [-1.70488366e-01 9.85347077e-01 -4.98549682e-03 -2.32857981e+01] [-2.78460915e-02 2.39640213e-04 9.99612194e-01 -6.74231243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.56, Y:-23.29, Z:-6.74 [[ 9.84843342e-01 1.71173362e-01 2.79870100e-02 1.59558052e+02] [-1.71097769e-01 9.85240899e-01 -5.09160387e-03 -2.32905637e+01] [-2.84454939e-02 2.25917198e-04 9.99595320e-01 -6.74256830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27264000000002 meters Centerline goodness [0,1] 0.9998707899043845 Centerline is valid? [True, True] Translation: X:159.59, Y:-23.30, Z:-6.74 [[ 9.84576730e-01 1.72648034e-01 2.83075645e-02 1.59586638e+02] [-1.72571324e-01 9.84983564e-01 -5.14936396e-03 -2.32955702e+01] [-2.87715133e-02 1.84870057e-04 9.99585997e-01 -6.74497122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264000000003 meters Centerline goodness [0,1] 0.9998477565845277 Centerline is valid? [True, True] Translation: X:159.62, Y:-23.30, Z:-6.75 [[ 9.84474556e-01 1.73169331e-01 2.86745844e-02 1.59615478e+02] [-1.73090875e-01 9.84892052e-01 -5.21491052e-03 -2.33009280e+01] [-2.91444328e-02 1.70637824e-04 9.99575196e-01 -6.74629435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33264000000003 meters Centerline goodness [0,1] 0.9999361376021798 Centerline is valid? [True, True] Translation: X:159.64, Y:-23.31, Z:-6.75 [[ 9.84324301e-01 1.74010772e-01 2.87388461e-02 1.59643628e+02] [-1.73932339e-01 9.84743738e-01 -5.22604422e-03 -2.33055240e+01] [-2.92097867e-02 1.45507617e-04 9.99573293e-01 -6.74753723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.67, Y:-23.31, Z:-6.75 [[ 9.84193335e-01 1.74976685e-01 2.73246800e-02 1.59671775e+02] [-1.74906184e-01 9.84572571e-01 -4.96783875e-03 -2.33098519e+01] [-2.77723864e-02 1.10058294e-04 9.99614267e-01 -6.75022783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.70, Y:-23.31, Z:-6.75 [[ 9.84106688e-01 1.75587421e-01 2.65157345e-02 1.59701378e+02] [-1.75521274e-01 9.84463839e-01 -4.82005256e-03 -2.33147710e+01] [-2.69501224e-02 8.93704708e-05 9.99636775e-01 -6.75292256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.73, Y:-23.32, Z:-6.75 [[ 9.83952891e-01 1.76482985e-01 2.62766929e-02 1.59730315e+02] [-1.76418361e-01 9.84303689e-01 -4.77599483e-03 -2.33189640e+01] [-2.67071276e-02 6.36628263e-05 9.99643299e-01 -6.75303906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.76, Y:-23.32, Z:-6.75 [[ 9.83726812e-01 1.77676255e-01 2.66966052e-02 1.59759336e+02] [-1.77610006e-01 9.84088994e-01 -4.85162197e-03 -2.33228682e+01] [-2.71338533e-02 3.10863985e-05 9.99631809e-01 -6.75352291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.79, Y:-23.32, Z:-6.75 [[ 9.82946789e-01 1.81953643e-01 2.66173147e-02 1.59787718e+02] [-1.81889358e-01 9.83307106e-01 -4.83707006e-03 -2.33201170e+01] [-2.70531172e-02 -8.68238139e-05 9.99633994e-01 -6.75469327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.82, Y:-23.32, Z:-6.76 [[ 9.82589144e-01 1.83920112e-01 2.63052600e-02 1.59815987e+02] [-1.83858074e-01 9.82941185e-01 -4.77872286e-03 -2.33211486e+01] [-2.67354267e-02 -1.40913229e-04 9.99642535e-01 -6.75659736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.84, Y:-23.32, Z:-6.76 [[ 9.81898953e-01 1.87453852e-01 2.71200962e-02 1.59844343e+02] [-1.87389306e-01 9.82273380e-01 -4.92495943e-03 -2.33192589e+01] [-2.75625512e-02 -2.46203509e-04 9.99620050e-01 -6.75816135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.87, Y:-23.32, Z:-6.76 [[ 9.81600799e-01 1.88986761e-01 2.72740845e-02 1.59873323e+02] [-1.88922123e-01 9.81979592e-01 -4.95105459e-03 -2.33215011e+01] [-2.77182782e-02 -2.92718805e-04 9.99615732e-01 -6.75756445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.90, Y:-23.32, Z:-6.76 [[ 9.81457056e-01 1.89732468e-01 2.72697215e-02 1.59901225e+02] [-1.89668173e-01 9.81835776e-01 -4.94904825e-03 -2.33217209e+01] [-2.77133833e-02 -3.14919914e-04 9.99615861e-01 -6.76049401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63264000000004 meters Centerline goodness [0,1] 0.9999786155721404 Centerline is valid? [True, True] Translation: X:159.93, Y:-23.32, Z:-6.76 [[ 9.81428193e-01 1.89741723e-01 2.82272872e-02 1.59929511e+02] [-1.89672889e-01 9.81833983e-01 -5.12093805e-03 -2.33232512e+01] [-2.86861655e-02 -3.28118151e-04 9.99588413e-01 -6.76171672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.96, Y:-23.33, Z:-6.76 [[ 9.81562652e-01 1.88955529e-01 2.88195735e-02 1.59957175e+02] [-1.88883493e-01 9.81985596e-01 -5.22648952e-03 -2.33321926e+01] [-2.92879802e-02 -3.13414810e-04 9.99570966e-01 -6.75874389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:159.98, Y:-23.34, Z:-6.76 [[ 9.81958838e-01 1.86777181e-01 2.95148322e-02 1.59984354e+02] [-1.86700685e-01 9.82402270e-01 -5.35116882e-03 -2.33378847e+01] [-2.99949144e-02 -2.55811867e-04 9.99550019e-01 -6.75992250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.01, Y:-23.34, Z:-6.76 [[ 9.82200560e-01 1.85419247e-01 3.00293801e-02 1.60012166e+02] [-1.85339489e-01 9.82659480e-01 -5.44237682e-03 -2.33432695e+01] [-3.05177765e-02 -2.20124410e-04 9.99534200e-01 -6.76018233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.04, Y:-23.35, Z:-6.76 [[ 9.82437933e-01 1.84059218e-01 3.06253671e-02 1.60039998e+02] [-1.83975648e-01 9.82915139e-01 -5.54887648e-03 -2.33495606e+01] [-3.11234588e-02 -1.82895026e-04 9.99515531e-01 -6.75965403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.07, Y:-23.36, Z:-6.76 [[ 9.82890550e-01 1.81680127e-01 3.03067435e-02 1.60067769e+02] [-1.81597202e-01 9.83357676e-01 -5.48964897e-03 -2.33566825e+01] [-3.07997290e-02 -1.07895751e-04 9.99525570e-01 -6.76109590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81264000000002 meters Centerline goodness [0,1] 0.999978675765007 Centerline is valid? [True, True] Translation: X:160.10, Y:-23.36, Z:-6.76 [[ 9.82989374e-01 1.81140073e-01 3.03342034e-02 1.60095480e+02] [-1.81056785e-01 9.83457302e-01 -5.49320763e-03 -2.33620302e+01] [-3.08274339e-02 -9.24485951e-05 9.99524717e-01 -6.76410356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.12, Y:-23.37, Z:-6.77 [[ 9.83135244e-01 1.80492907e-01 2.94517029e-02 1.60122934e+02] [-1.80414159e-01 9.83576283e-01 -5.33159006e-03 -2.33678619e+01] [-2.99303107e-02 -7.18301262e-05 9.99551985e-01 -6.76631859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.15, Y:-23.37, Z:-6.77 [[ 9.83105031e-01 1.80702658e-01 2.91727203e-02 1.60150930e+02] [-1.80625543e-01 9.83537769e-01 -5.27920976e-03 -2.33722078e+01] [-2.96464395e-02 -7.93207764e-05 9.99560445e-01 -6.76745883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.18, Y:-23.38, Z:-6.77 [[ 9.82947076e-01 1.81556420e-01 2.91943827e-02 1.60179211e+02] [-1.81479609e-01 9.83380524e-01 -5.28171752e-03 -2.33752094e+01] [-2.96681171e-02 -1.06536348e-04 9.99559799e-01 -6.76834066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.21, Y:-23.37, Z:-6.77 [[ 9.82478853e-01 1.83985558e-01 2.97425256e-02 1.60208897e+02] [-1.83906991e-01 9.82928930e-01 -5.37942749e-03 -2.33738611e+01] [-3.02245259e-02 -1.84684641e-04 9.99543118e-01 -6.76700752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters Centerline goodness [0,1] 0.9997612018061827 Centerline is valid? [True, True] Translation: X:160.24, Y:-23.37, Z:-6.77 [[ 9.82150700e-01 1.85621475e-01 3.04084105e-02 1.60238216e+02] [-1.85540182e-01 9.82621295e-01 -5.49828319e-03 -2.33744751e+01] [-3.09005511e-02 -2.41839351e-04 9.99522435e-01 -6.76810258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.27, Y:-23.37, Z:-6.77 [[ 9.81582364e-01 1.88609993e-01 3.03699290e-02 1.60267611e+02] [-1.88530379e-01 9.82052014e-01 -5.48990514e-03 -2.33691988e+01] [-3.08603009e-02 -3.36860147e-04 9.99523651e-01 -6.77072331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264000000002 meters Centerline goodness [0,1] 0.9998046747835145 Centerline is valid? [True, True] Translation: X:160.30, Y:-23.37, Z:-6.77 [[ 9.81396795e-01 1.89554770e-01 3.04847405e-02 1.60296843e+02] [-1.89475073e-01 9.81870079e-01 -5.50858632e-03 -2.33720864e+01] [-3.09762334e-02 -3.69989462e-04 9.99520053e-01 -6.77116940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.33, Y:-23.37, Z:-6.77 [[ 9.81305621e-01 1.90156807e-01 2.96591705e-02 1.60325589e+02] [-1.90081688e-01 9.81753658e-01 -5.35794696e-03 -2.33747473e+01] [-3.01368492e-02 -3.79881716e-04 9.99545710e-01 -6.77244617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.35, Y:-23.38, Z:-6.77 [[ 9.81280686e-01 1.90315803e-01 2.94637302e-02 1.60353908e+02] [-1.90241782e-01 9.81722847e-01 -5.32129119e-03 -2.33751877e+01] [-2.99379429e-02 -3.83552296e-04 9.99551686e-01 -6.77407731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11264000000003 meters Centerline goodness [0,1] 0.9998484651686366 Centerline is valid? [True, True] Translation: X:160.38, Y:-23.38, Z:-6.78 [[ 9.81337978e-01 1.89976679e-01 2.97428023e-02 1.60382184e+02] [-1.89901156e-01 9.81788530e-01 -5.36964248e-03 -2.33783166e+01] [-3.02212490e-02 -3.78758441e-04 9.99543162e-01 -6.77608727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.41, Y:-23.38, Z:-6.78 [[ 9.81681488e-01 1.88473971e-01 2.79109143e-02 1.60409733e+02] [-1.88406882e-01 9.82078136e-01 -5.03808363e-03 -2.33798628e+01] [-2.83602463e-02 -3.12814918e-04 9.99597718e-01 -6.77949093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.44, Y:-23.38, Z:-6.78 [[ 9.81943212e-01 1.87081038e-01 2.80751290e-02 1.60438027e+02] [-1.87012671e-01 9.82344445e-01 -5.06480897e-03 -2.33847818e+01] [-2.85269767e-02 -2.77050069e-04 9.99592985e-01 -6.77981333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264000000003 meters Centerline goodness [0,1] 0.9998711284849006 Centerline is valid? [True, True] Translation: X:160.47, Y:-23.39, Z:-6.78 [[ 9.82178961e-01 1.85629694e-01 2.94296831e-02 1.60466356e+02] [-1.85553966e-01 9.82619741e-01 -5.30758619e-03 -2.33895370e+01] [-2.99034331e-02 -2.47794912e-04 9.99552762e-01 -6.78046863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.49, Y:-23.39, Z:-6.78 [[ 9.82507425e-01 1.83876527e-01 2.94717267e-02 1.60494212e+02] [-1.83799830e-01 9.82949330e-01 -5.31394276e-03 -2.33943493e+01] [-2.99463234e-02 -1.95910159e-04 9.99551489e-01 -6.78073291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264000000003 meters Centerline goodness [0,1] 0.9997373777164993 Centerline is valid? [True, True] Translation: X:160.52, Y:-23.40, Z:-6.78 [[ 9.83152425e-01 1.80332798e-01 2.98561831e-02 1.60522314e+02] [-1.80252527e-01 9.83605649e-01 -5.38080445e-03 -2.34009426e+01] [-3.03370459e-02 -9.15014860e-05 9.99539722e-01 -6.78005992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.55, Y:-23.41, Z:-6.78 [[ 9.83470725e-01 1.78666629e-01 2.93865306e-02 1.60549694e+02] [-1.78588162e-01 9.83909668e-01 -5.29477747e-03 -2.34061886e+01] [-2.98596916e-02 -4.08278361e-05 9.99554099e-01 -6.78165883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264000000004 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:160.58, Y:-23.41, Z:-6.78 [[ 9.84064508e-01 1.75447197e-01 2.89019887e-02 1.60576825e+02] [-1.75369962e-01 9.84488841e-01 -5.20560016e-03 -2.34124766e+01] [-2.93669933e-02 5.41057014e-05 9.99568695e-01 -6.78497905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.61, Y:-23.42, Z:-6.79 [[ 9.84366298e-01 1.73774280e-01 2.87313593e-02 1.60605360e+02] [-1.73697299e-01 9.84785504e-01 -5.17289298e-03 -2.34185730e+01] [-2.91931419e-02 1.01461995e-04 9.99573784e-01 -6.78621303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.63, Y:-23.42, Z:-6.79 [[ 9.84638012e-01 1.72256601e-01 2.85595760e-02 1.60633857e+02] [-1.72179940e-01 9.85052102e-01 -5.14057088e-03 -2.34241408e+01] [-2.90181676e-02 1.44215404e-04 9.99578874e-01 -6.78657826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.66, Y:-23.43, Z:-6.79 [[ 9.85171631e-01 1.69123973e-01 2.88780156e-02 1.60660599e+02] [-1.69044286e-01 9.85594757e-01 -5.19654328e-03 -2.34326903e+01] [-2.93408808e-02 2.37823482e-04 9.99569435e-01 -6.78892960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264000000004 meters Centerline goodness [0,1] 0.9998706311045947 Centerline is valid? [True, True] Translation: X:160.69, Y:-23.44, Z:-6.79 [[ 9.85420415e-01 1.67571461e-01 2.94348771e-02 1.60689317e+02] [-1.67488039e-01 9.85859890e-01 -5.29471551e-03 -2.34385587e+01] [-2.99059079e-02 2.87530926e-04 9.99552677e-01 -6.78827977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.72, Y:-23.45, Z:-6.79 [[ 9.85706893e-01 1.65849840e-01 2.95930880e-02 1.60716611e+02] [-1.65764784e-01 9.86150960e-01 -5.32180414e-03 -2.34465617e+01] [-3.00658724e-02 3.40247209e-04 9.99547862e-01 -6.78857873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.74, Y:-23.46, Z:-6.79 [[ 9.86028941e-01 1.63939691e-01 2.95077181e-02 1.60743186e+02] [-1.63854326e-01 9.86470284e-01 -5.30457858e-03 -2.34562542e+01] [-2.99781180e-02 3.95500743e-04 9.99550477e-01 -6.79080885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.77, Y:-23.46, Z:-6.79 [[ 9.86130757e-01 1.63340710e-01 2.94269168e-02 1.60771453e+02] [-1.63255605e-01 9.86569635e-01 -5.28806312e-03 -2.34622370e+01] [-2.98954585e-02 4.10612585e-04 9.99552947e-01 -6.79204662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.80, Y:-23.47, Z:-6.79 [[ 9.86144130e-01 1.63384165e-01 2.87292507e-02 1.60799770e+02] [-1.63303105e-01 9.86562444e-01 -5.16135383e-03 -2.34679628e+01] [-2.91864832e-02 3.98262931e-04 9.99573905e-01 -6.79450865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.83, Y:-23.47, Z:-6.80 [[ 9.86031646e-01 1.64251368e-01 2.76239105e-02 1.60827875e+02] [-1.64176803e-01 9.86418451e-01 -4.96152202e-03 -2.34742282e+01] [-2.80636718e-02 3.57012415e-04 9.99606074e-01 -6.79725153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.86, Y:-23.48, Z:-6.80 [[ 9.85870733e-01 1.65169083e-01 2.78939398e-02 1.60855734e+02] [-1.65093455e-01 9.86265209e-01 -5.00879151e-03 -2.34788803e+01] [-2.83381199e-02 3.32914073e-04 9.99598339e-01 -6.79803700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.89, Y:-23.48, Z:-6.80 [[ 9.85460422e-01 1.67608550e-01 2.78411723e-02 1.60885146e+02] [-1.67534233e-01 9.85853593e-01 -4.99746403e-03 -2.34796424e+01] [-2.82849374e-02 2.60453562e-04 9.99599867e-01 -6.79821131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.91, Y:-23.48, Z:-6.80 [[ 9.85468382e-01 1.67561703e-01 2.78414109e-02 1.60913022e+02] [-1.67487405e-01 9.85861556e-01 -4.99613454e-03 -2.34845562e+01] [-2.82849374e-02 2.60446962e-04 9.99599867e-01 -6.79938385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.94, Y:-23.49, Z:-6.80 [[ 9.85174230e-01 1.69262162e-01 2.79652901e-02 1.60942312e+02] [-1.69187929e-01 9.85571041e-01 -5.01683215e-03 -2.34874212e+01] [-2.84109399e-02 2.11064225e-04 9.99596305e-01 -6.79974865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:160.97, Y:-23.49, Z:-6.80 [[ 9.84844424e-01 1.71112653e-01 2.83181922e-02 1.60971618e+02] [-1.71037330e-01 9.85251458e-01 -5.07907409e-03 -2.34898305e+01] [-2.87696340e-02 1.58629824e-04 9.99586056e-01 -6.80048223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.00, Y:-23.49, Z:-6.80 [[ 9.84513953e-01 1.73034126e-01 2.81330267e-02 1.60999673e+02] [-1.72960594e-01 9.84915824e-01 -5.04497293e-03 -2.34921605e+01] [-2.85816157e-02 1.00941236e-04 9.99591457e-01 -6.80236361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.03, Y:-23.49, Z:-6.80 [[ 9.83699657e-01 1.77593538e-01 2.82049766e-02 1.61029271e+02] [-1.77521542e-01 9.84103924e-01 -5.05647913e-03 -2.34888406e+01] [-2.86546262e-02 -3.29341693e-05 9.99589371e-01 -6.80240543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83264000000003 meters Centerline goodness [0,1] 0.9998499689221338 Centerline is valid? [True, True] Translation: X:161.06, Y:-23.49, Z:-6.80 [[ 9.83294542e-01 1.79649151e-01 2.92920683e-02 1.61057307e+02] [-1.79572451e-01 9.83730742e-01 -5.24995527e-03 -2.34904245e+01] [-2.97586581e-02 -9.77961380e-05 9.99557108e-01 -6.80305926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264000000003 meters Centerline goodness [0,1] 0.9999784784246207 Centerline is valid? [True, True] Translation: X:161.08, Y:-23.49, Z:-6.81 [[ 9.83006802e-01 1.81212469e-01 2.93201026e-02 1.61084706e+02] [-1.81136376e-01 9.83443958e-01 -5.25298700e-03 -2.34923553e+01] [-2.97865845e-02 -1.47215189e-04 9.99556270e-01 -6.80512261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.11, Y:-23.50, Z:-6.81 [[ 9.83074209e-01 1.80940718e-01 2.87324967e-02 1.61113087e+02] [-1.80867569e-01 9.83493995e-01 -5.14633943e-03 -2.34971713e+01] [-2.91894203e-02 -1.37543257e-04 9.99573889e-01 -6.80591239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.14, Y:-23.50, Z:-6.81 [[ 9.83258501e-01 1.79959439e-01 2.85888220e-02 1.61139796e+02] [-1.79886634e-01 9.83674026e-01 -5.11962378e-03 -2.35022366e+01] [-2.90434062e-02 -1.08833342e-04 9.99578145e-01 -6.80808924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95264000000003 meters Centerline goodness [0,1] 0.9998697238144867 Centerline is valid? [True, True] Translation: X:161.17, Y:-23.51, Z:-6.81 [[ 9.84021196e-01 1.75657760e-01 2.90970167e-02 1.61167417e+02] [-1.75580551e-01 9.84451294e-01 -5.20758039e-03 -2.35134089e+01] [-2.95593476e-02 1.54992623e-05 9.99563027e-01 -6.80886961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.19, Y:-23.52, Z:-6.81 [[ 9.84642986e-01 1.72109545e-01 2.92659169e-02 1.61193841e+02] [-1.72029909e-01 9.85077809e-01 -5.23646605e-03 -2.35247149e+01] [-2.97304510e-02 1.21436541e-04 9.99557945e-01 -6.80983338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01264000000003 meters Centerline goodness [0,1] 0.9999352107809261 Centerline is valid? [True, True] Translation: X:161.22, Y:-23.54, Z:-6.81 [[ 9.85213918e-01 1.68775406e-01 2.94685832e-02 1.61220870e+02] [-1.68693231e-01 9.85654510e-01 -5.27073659e-03 -2.35358620e+01] [-2.99354126e-02 2.21652535e-04 9.99551811e-01 -6.81073779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264000000003 meters Centerline goodness [0,1] 0.9999783437283437 Centerline is valid? [True, True] Translation: X:161.25, Y:-23.55, Z:-6.81 [[ 9.86325667e-01 1.62201481e-01 2.91951635e-02 1.61247907e+02] [-1.62117993e-01 9.86757572e-01 -5.22011155e-03 -2.35521541e+01] [-2.96552585e-02 4.15668696e-04 9.99560100e-01 -6.81095765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07264000000004 meters Centerline goodness [0,1] 0.9999784371226497 Centerline is valid? [True, True] Translation: X:161.28, Y:-23.56, Z:-6.81 [[ 9.86728622e-01 1.59731450e-01 2.91974422e-02 1.61275332e+02] [-1.59646885e-01 9.87160384e-01 -5.21992399e-03 -2.35625469e+01] [-2.96563443e-02 4.89367698e-04 9.99560034e-01 -6.81289792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264000000004 meters Centerline goodness [0,1] 0.999935591910344 Centerline is valid? [True, True] Translation: X:161.30, Y:-23.58, Z:-6.82 [[ 9.87227240e-01 1.56667568e-01 2.89421843e-02 1.61302546e+02] [-1.56583199e-01 9.87651225e-01 -5.17292081e-03 -2.35790081e+01] [-2.93952127e-02 5.74988528e-04 9.99567702e-01 -6.81602881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13264000000004 meters Centerline goodness [0,1] 0.9999784724016189 Centerline is valid? [True, True] Translation: X:161.33, Y:-23.59, Z:-6.82 [[ 9.87393696e-01 1.55640666e-01 2.88040150e-02 1.61332494e+02] [-1.55556679e-01 9.87813556e-01 -5.14772264e-03 -2.35856116e+01] [-2.92541914e-02 6.02171960e-04 9.99571823e-01 -6.81541212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.36, Y:-23.60, Z:-6.82 [[ 9.87490059e-01 1.55016123e-01 2.88684024e-02 1.61360835e+02] [-1.54931497e-01 9.87911744e-01 -5.15911824e-03 -2.35960951e+01] [-2.93191803e-02 6.21953167e-04 9.99569907e-01 -6.81755930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19264000000004 meters Centerline goodness [0,1] 0.9999569994194921 Centerline is valid? [True, True] Translation: X:161.39, Y:-23.61, Z:-6.82 [[ 9.87466572e-01 1.55166852e-01 2.88620489e-02 1.61389603e+02] [-1.55082317e-01 9.87888084e-01 -5.15836519e-03 -2.36061161e+01] [-2.93128815e-02 6.17719784e-04 9.99570094e-01 -6.81871958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264000000004 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:161.42, Y:-23.61, Z:-6.82 [[ 9.87385802e-01 1.55695143e-01 2.87802113e-02 1.61420642e+02] [-1.55611319e-01 9.87804972e-01 -5.14344125e-03 -2.36111027e+01] [-2.92300447e-02 6.00034214e-04 9.99572531e-01 -6.81863791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.45, Y:-23.62, Z:-6.82 [[ 9.87261515e-01 1.56511671e-01 2.86146573e-02 1.61451222e+02] [-1.56429132e-01 9.87675943e-01 -5.11455764e-03 -2.36178359e+01] [-2.90624966e-02 5.73239933e-04 9.99577432e-01 -6.81951149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.48, Y:-23.63, Z:-6.82 [[ 9.86934331e-01 1.58506012e-01 2.89217893e-02 1.61480624e+02] [-1.58422524e-01 9.87357875e-01 -5.17019396e-03 -2.36284270e+01] [-2.93756633e-02 5.20779048e-04 9.99568306e-01 -6.82213997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.51, Y:-23.63, Z:-6.82 [[ 9.86751246e-01 1.59636991e-01 2.89484059e-02 1.61511668e+02] [-1.59553814e-01 9.87175665e-01 -5.17567560e-03 -2.36335005e+01] [-2.94033911e-02 4.88275755e-04 9.99567508e-01 -6.82199891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.54, Y:-23.64, Z:-6.82 [[ 9.86280447e-01 1.62421639e-01 2.94972952e-02 1.61540502e+02] [-1.62336495e-01 9.86721359e-01 -5.27470957e-03 -2.36431846e+01] [-2.99623382e-02 4.13855389e-04 9.99550943e-01 -6.82497908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.57, Y:-23.65, Z:-6.82 [[ 9.85971986e-01 1.64283068e-01 2.95011370e-02 1.61571897e+02] [-1.64198727e-01 9.86413172e-01 -5.27562122e-03 -2.36450210e+01] [-2.99670054e-02 3.57565576e-04 9.99550824e-01 -6.82289457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters Centerline goodness [0,1] 0.9999145043389048 Centerline is valid? [True, True] Translation: X:161.60, Y:-23.65, Z:-6.82 [[ 9.85628545e-01 1.66256827e-01 2.99171834e-02 1.61601609e+02] [-1.66170971e-01 9.86082439e-01 -5.35092180e-03 -2.36508877e+01] [-3.03904365e-02 3.02653844e-04 9.99538058e-01 -6.82487215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.63, Y:-23.66, Z:-6.83 [[ 9.85211986e-01 1.68741937e-01 2.97237575e-02 1.61630673e+02] [-1.68658299e-01 9.85660240e-01 -5.31696629e-03 -2.36558160e+01] [-3.01947211e-02 2.25180530e-04 9.99544010e-01 -6.82653393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.66, Y:-23.66, Z:-6.83 [[ 9.84175632e-01 1.74709235e-01 2.95805273e-02 1.61660863e+02] [-1.74629100e-01 9.84620070e-01 -5.29112448e-03 -2.36564218e+01] [-3.00499892e-02 4.17749169e-05 9.99548396e-01 -6.82693223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.69, Y:-23.66, Z:-6.83 [[ 9.83596497e-01 1.77925567e-01 2.96719422e-02 1.61689359e+02] [-1.77846408e-01 9.84043947e-01 -5.30714957e-03 -2.36577523e+01] [-3.01427728e-02 -5.69546119e-05 9.99545602e-01 -6.82832221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.72, Y:-23.65, Z:-6.83 [[ 9.82395182e-01 1.84458773e-01 2.95747748e-02 1.61719537e+02] [-1.84383146e-01 9.82840218e-01 -5.28782398e-03 -2.36542488e+01] [-3.00426637e-02 -2.58357227e-04 9.99548584e-01 -6.82936132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.75, Y:-23.66, Z:-6.83 [[ 9.81825838e-01 1.87514832e-01 2.92611037e-02 1.61748641e+02] [-1.87442198e-01 9.82261709e-01 -5.23034906e-03 -2.36556239e+01] [-2.97228297e-02 -3.49473737e-04 9.99558118e-01 -6.83113673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264000000003 meters Centerline goodness [0,1] 0.9999784987851814 Centerline is valid? [True, True] Translation: X:161.78, Y:-23.66, Z:-6.83 [[ 9.81333694e-01 1.90140577e-01 2.88226084e-02 1.61776217e+02] [-1.90071272e-01 9.81756783e-01 -5.15074423e-03 -2.36563370e+01] [-2.92761567e-02 -4.23750965e-04 9.99571272e-01 -6.83341498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61264000000003 meters Centerline goodness [0,1] 0.9999356802881523 Centerline is valid? [True, True] Translation: X:161.81, Y:-23.65, Z:-6.84 [[ 9.80580243e-01 1.94137305e-01 2.78045691e-02 1.61806419e+02] [-1.94074475e-01 9.80974225e-01 -4.96668236e-03 -2.36546124e+01] [-2.82397839e-02 -5.25926538e-04 9.99601039e-01 -6.83634515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.83, Y:-23.66, Z:-6.84 [[ 9.80343768e-01 1.95372113e-01 2.74924459e-02 1.61834166e+02] [-1.95311176e-01 9.80729029e-01 -4.91075240e-03 -2.36564264e+01] [-2.79220639e-02 -5.55356446e-04 9.99609949e-01 -6.83876197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67264000000003 meters Centerline goodness [0,1] 0.9999356361295859 Centerline is valid? [True, True] Translation: X:161.86, Y:-23.66, Z:-6.84 [[ 9.80078211e-01 1.96671458e-01 2.76954332e-02 1.61862273e+02] [-1.96610184e-01 9.80469265e-01 -4.94531016e-03 -2.36585087e+01] [-2.81271224e-02 -5.98413483e-04 9.99604175e-01 -6.83970438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264000000003 meters Centerline goodness [0,1] 0.9999573815206273 Centerline is valid? [True, True] Translation: X:161.89, Y:-23.66, Z:-6.84 [[ 9.80074795e-01 1.96621019e-01 2.81704110e-02 1.61890353e+02] [-1.96557657e-01 9.80479375e-01 -5.02824974e-03 -2.36624425e+01] [-2.86091666e-02 -6.09049159e-04 9.99590488e-01 -6.84038769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:161.92, Y:-23.67, Z:-6.84 [[ 9.80146091e-01 1.96256604e-01 2.82309488e-02 1.61918392e+02] [-1.96192857e-01 9.80552387e-01 -5.03771937e-03 -2.36676444e+01] [-2.86706099e-02 -6.01009562e-04 9.99588733e-01 -6.84115943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264000000003 meters Centerline goodness [0,1] 0.9999784649840641 Centerline is valid? [True, True] Translation: X:161.95, Y:-23.68, Z:-6.84 [[ 9.80436682e-01 1.94829030e-01 2.80278708e-02 1.61946400e+02] [-1.94765651e-01 9.80837061e-01 -5.00019331e-03 -2.36758400e+01] [-2.84649573e-02 -5.56493573e-04 9.99594636e-01 -6.84202851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79264000000003 meters Centerline goodness [0,1] 0.9999140136288398 Centerline is valid? [True, True] Translation: X:161.97, Y:-23.68, Z:-6.84 [[ 9.80643977e-01 1.93889349e-01 2.72820527e-02 1.61973622e+02] [-1.93828966e-01 9.81023269e-01 -4.86601644e-03 -2.36796897e+01] [-2.77077973e-02 -5.16222355e-04 9.99615932e-01 -6.84464812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264000000004 meters Centerline goodness [0,1] 0.9999569809210385 Centerline is valid? [True, True] Translation: X:162.00, Y:-23.69, Z:-6.85 [[ 9.81109633e-01 1.91590275e-01 2.67778535e-02 1.62001433e+02] [-1.91531295e-01 9.81474895e-01 -4.77433919e-03 -2.36860117e+01] [-2.71965079e-02 -4.44646785e-04 9.99630008e-01 -6.84562798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85264000000004 meters Centerline goodness [0,1] 0.9999783825850105 Centerline is valid? [True, True] Translation: X:162.03, Y:-23.69, Z:-6.85 [[ 9.81360148e-01 1.90386561e-01 2.61766658e-02 1.62029499e+02] [-1.90329805e-01 9.81709119e-01 -4.66588528e-03 -2.36931496e+01] [-2.65861934e-02 -4.03285837e-04 9.99646443e-01 -6.84712443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.06, Y:-23.70, Z:-6.85 [[ 9.81587311e-01 1.89281452e-01 2.56687277e-02 1.62056666e+02] [-1.89226528e-01 9.81922806e-01 -4.57425610e-03 -2.36970402e+01] [-2.60705309e-02 -3.67172475e-04 9.99660039e-01 -6.85172373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91264000000004 meters Centerline goodness [0,1] 0.9999139858936865 Centerline is valid? [True, True] Translation: X:162.08, Y:-23.70, Z:-6.85 [[ 9.81774623e-01 1.88383375e-01 2.51056344e-02 1.62083737e+02] [-1.88330565e-01 9.82095510e-01 -4.47297959e-03 -2.37011352e+01] [-2.54987658e-02 -3.36700470e-04 9.99674797e-01 -6.85421607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.11, Y:-23.70, Z:-6.86 [[ 9.81922164e-01 1.87650880e-01 2.48195573e-02 1.62112768e+02] [-1.87599118e-01 9.82235739e-01 -4.41863476e-03 -2.37048828e+01] [-2.52078169e-02 -3.17371655e-04 9.99682182e-01 -6.85508079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97264000000004 meters Centerline goodness [0,1] 0.9998500042855918 Centerline is valid? [True, True] Translation: X:162.14, Y:-23.71, Z:-6.86 [[ 9.81999442e-01 1.87228223e-01 2.49537273e-02 1.62140206e+02] [-1.87175790e-01 9.82316393e-01 -4.44148021e-03 -2.37086399e+01] [-2.53440259e-02 -3.09202534e-04 9.99678741e-01 -6.85712277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters Centerline goodness [0,1] 0.9999569624066622 Centerline is valid? [True, True] Translation: X:162.17, Y:-23.71, Z:-6.85 [[ 9.82060461e-01 1.86843968e-01 2.54279937e-02 1.62168824e+02] [-1.86789439e-01 9.82389555e-01 -4.52413983e-03 -2.37118502e+01] [-2.58255037e-02 -3.06701845e-04 9.99666419e-01 -6.85494842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.20, Y:-23.72, Z:-6.86 [[ 9.82080129e-01 1.86682299e-01 2.58522517e-02 1.62196956e+02] [-1.86625914e-01 9.82420289e-01 -4.59830881e-03 -2.37155054e+01] [-2.62561994e-02 -3.08792389e-04 9.99655199e-01 -6.85514661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.23, Y:-23.72, Z:-6.85 [[ 9.82061936e-01 1.86671101e-01 2.66130230e-02 1.62225562e+02] [-1.86611381e-01 9.82422413e-01 -4.73226043e-03 -2.37176861e+01] [-2.70286065e-02 -3.18920121e-04 9.99634610e-01 -6.85392154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09264000000002 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:162.25, Y:-23.72, Z:-6.86 [[ 9.82050643e-01 1.86729354e-01 2.66210943e-02 1.62252733e+02] [-1.86669640e-01 9.82411342e-01 -4.73289447e-03 -2.37199859e+01] [-2.70366353e-02 -3.21408028e-04 9.99634392e-01 -6.85578199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.28, Y:-23.72, Z:-6.86 [[ 9.82046018e-01 1.86778674e-01 2.64451304e-02 1.62281016e+02] [-1.86719839e-01 9.82401966e-01 -4.69883676e-03 -2.37234982e+01] [-2.68573906e-02 -3.23356574e-04 9.99639223e-01 -6.85667615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15264000000002 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:162.31, Y:-23.73, Z:-6.86 [[ 9.82116988e-01 1.86376232e-01 2.66481063e-02 1.62309531e+02] [-1.86316378e-01 9.82478397e-01 -4.73359144e-03 -2.37282477e+01] [-2.70634177e-02 -3.16038094e-04 9.99633669e-01 -6.85733740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters Centerline goodness [0,1] 0.9999784807402625 Centerline is valid? [True, True] Translation: X:162.34, Y:-23.73, Z:-6.86 [[ 9.82220170e-01 1.85762404e-01 2.71268688e-02 1.62336631e+02] [-1.85700175e-01 9.82594645e-01 -4.81755002e-03 -2.37325031e+01] [-2.75496357e-02 -3.05569500e-04 9.99620390e-01 -6.85734491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.36, Y:-23.74, Z:-6.86 [[ 9.82327422e-01 1.85066220e-01 2.79880515e-02 1.62364520e+02] [-1.84999767e-01 9.82726007e-01 -4.96794854e-03 -2.37371123e+01] [-2.84239856e-02 -2.97630930e-04 9.99595913e-01 -6.85956978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.39, Y:-23.74, Z:-6.86 [[ 9.82610676e-01 1.83448235e-01 2.86880508e-02 1.62392665e+02] [-1.83377770e-01 9.83029337e-01 -5.09069309e-03 -2.37440124e+01] [-2.91350742e-02 -2.58581396e-04 9.99575450e-01 -6.85876186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.42, Y:-23.75, Z:-6.86 [[ 9.82717104e-01 1.82899362e-01 2.85467515e-02 1.62421116e+02] [-1.82829398e-01 9.83131611e-01 -5.06423837e-03 -2.37482206e+01] [-2.89914597e-02 -2.42471736e-04 9.99579630e-01 -6.86076484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264000000003 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:162.45, Y:-23.75, Z:-6.86 [[ 9.82714128e-01 1.82978350e-01 2.81401098e-02 1.62448783e+02] [-1.82910432e-01 9.83116913e-01 -4.99090982e-03 -2.37514627e+01] [-2.85782463e-02 -2.42482031e-04 9.99591529e-01 -6.86289422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33264000000003 meters Centerline goodness [0,1] 0.9999786880354631 Centerline is valid? [True, True] Translation: X:162.48, Y:-23.75, Z:-6.86 [[ 9.82421340e-01 1.84644266e-01 2.74737347e-02 1.62477875e+02] [-1.84580227e-01 9.82805379e-01 -4.87097977e-03 -2.37545401e+01] [-2.79007328e-02 -2.85753715e-04 9.99610658e-01 -6.86404009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264000000003 meters Centerline goodness [0,1] 0.9999786684869558 Centerline is valid? [True, True] Translation: X:162.51, Y:-23.76, Z:-6.87 [[ 9.82194647e-01 1.85920789e-01 2.69654589e-02 1.62505311e+02] [-1.85859605e-01 9.82564685e-01 -4.77990502e-03 -2.37561163e+01] [-2.73839913e-02 -3.16992402e-04 9.99624938e-01 -6.86631309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.53, Y:-23.76, Z:-6.87 [[ 9.81923143e-01 1.87442606e-01 2.63098912e-02 1.62534395e+02] [-1.87384966e-01 9.82275493e-01 -4.66148629e-03 -2.37594417e+01] [-2.67173225e-02 -3.52856800e-04 9.99642966e-01 -6.86650863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.56, Y:-23.76, Z:-6.87 [[ 9.81610732e-01 1.89087029e-01 2.62005025e-02 1.62562467e+02] [-1.89030483e-01 9.81960253e-01 -4.64095572e-03 -2.37587920e+01] [-2.66053966e-02 -3.97081701e-04 9.99645935e-01 -6.86995799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.59, Y:-23.76, Z:-6.87 [[ 9.81024662e-01 1.92093330e-01 2.62824269e-02 1.62591640e+02] [-1.92037558e-01 9.81376544e-01 -4.65359224e-03 -2.37577228e+01] [-2.66868813e-02 -4.81924337e-04 9.99643726e-01 -6.86929580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264000000003 meters Centerline goodness [0,1] 0.999893917212993 Centerline is valid? [True, True] Translation: X:162.62, Y:-23.75, Z:-6.87 [[ 9.80451030e-01 1.94837799e-01 2.74592427e-02 1.62621190e+02] [-1.94778032e-01 9.80835303e-01 -4.86063175e-03 -2.37512298e+01] [-2.78800294e-02 -5.82845849e-04 9.99611107e-01 -6.86960294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51264000000003 meters Centerline goodness [0,1] 0.9999573524394405 Centerline is valid? [True, True] Translation: X:162.65, Y:-23.75, Z:-6.87 [[ 9.80229751e-01 1.95854473e-01 2.81186966e-02 1.62649717e+02] [-1.95792273e-01 9.80632770e-01 -4.97549155e-03 -2.37522898e+01] [-2.85485876e-02 -6.28298658e-04 9.99592209e-01 -6.87024372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264000000003 meters Centerline goodness [0,1] 0.9998515691263783 Centerline is valid? [True, True] Translation: X:162.68, Y:-23.75, Z:-6.87 [[ 9.80154517e-01 1.96236770e-01 2.80758294e-02 1.62677712e+02] [-1.96174965e-01 9.80556332e-01 -4.96618631e-03 -2.37547744e+01] [-2.85044807e-02 -6.40144896e-04 9.99593460e-01 -6.87210442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57264000000004 meters Centerline goodness [0,1] 0.9998515691263783 Centerline is valid? [True, True] Translation: X:162.70, Y:-23.76, Z:-6.87 [[ 9.80168194e-01 1.96168407e-01 2.80760935e-02 1.62704789e+02] [-1.96106616e-01 9.80570011e-01 -4.96469266e-03 -2.37594222e+01] [-2.85044912e-02 -6.39673849e-04 9.99593460e-01 -6.87324259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264000000004 meters Centerline goodness [0,1] 0.9999784705477093 Centerline is valid? [True, True] Translation: X:162.73, Y:-23.77, Z:-6.87 [[ 9.80280640e-01 1.95663319e-01 2.76718559e-02 1.62732612e+02] [-1.95603156e-01 9.80670935e-01 -4.89098336e-03 -2.37667114e+01] [-2.80939708e-02 -6.18166047e-04 9.99605095e-01 -6.87309353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.76, Y:-23.77, Z:-6.88 [[ 9.80788037e-01 1.93030231e-01 2.81807669e-02 1.62760254e+02] [-1.92966785e-01 9.81192653e-01 -4.97962731e-03 -2.37702131e+01] [-2.86119800e-02 -5.53993094e-04 9.99590440e-01 -6.87576124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264000000004 meters Centerline goodness [0,1] 0.9999788059258631 Centerline is valid? [True, True] Translation: X:162.79, Y:-23.77, Z:-6.88 [[ 9.81232108e-01 1.90829397e-01 2.77072462e-02 1.62787571e+02] [-1.90767226e-01 9.81623099e-01 -4.89461174e-03 -2.37736857e+01] [-2.81321087e-02 -4.82884306e-04 9.99604097e-01 -6.87998986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.82, Y:-23.79, Z:-6.88 [[ 9.82359793e-01 1.84988715e-01 2.73571425e-02 1.62815787e+02] [-1.84925936e-01 9.82740594e-01 -4.82930199e-03 -2.37864369e+01] [-2.77783409e-02 -3.14933092e-04 9.99614058e-01 -6.88075739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.84, Y:-23.80, Z:-6.88 [[ 9.83013093e-01 1.81503216e-01 2.72367643e-02 1.62843871e+02] [-1.81439649e-01 9.83390328e-01 -4.80806786e-03 -2.37958884e+01] [-2.76570503e-02 -2.15435297e-04 9.99617447e-01 -6.88073204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75264 meters Centerline goodness [0,1] 0.9998285506097169 Centerline is valid? [True, True] Translation: X:162.87, Y:-23.81, Z:-6.88 [[ 9.84415014e-01 1.73737825e-01 2.72442513e-02 1.62869463e+02] [-1.73671264e-01 9.84791942e-01 -4.80871160e-03 -2.38112987e+01] [-2.76653742e-02 2.22433592e-06 9.99617240e-01 -6.88354082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.90, Y:-23.82, Z:-6.88 [[ 9.85139254e-01 1.69543802e-01 2.74872435e-02 1.62896491e+02] [-1.69474468e-01 9.85522646e-01 -4.84971755e-03 -2.38228473e+01] [-2.79115405e-02 1.19261159e-04 9.99610390e-01 -6.88224930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.92, Y:-23.84, Z:-6.88 [[ 9.85811588e-01 1.65498052e-01 2.80340385e-02 1.62922988e+02] [-1.65424332e-01 9.86210088e-01 -4.94490256e-03 -2.38350648e+01] [-2.84658234e-02 2.37230150e-04 9.99594738e-01 -6.88335396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters Centerline goodness [0,1] 0.9998069291000751 Centerline is valid? [True, True] Translation: X:162.95, Y:-23.85, Z:-6.88 [[ 9.86421339e-01 1.61748944e-01 2.84643956e-02 1.62950051e+02] [-1.61671433e-01 9.86831879e-01 -5.01901349e-03 -2.38453149e+01] [-2.89013932e-02 3.48982381e-04 9.99582207e-01 -6.88344588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:162.98, Y:-23.86, Z:-6.88 [[ 9.87310297e-01 1.56135367e-01 2.89849113e-02 1.62976879e+02] [-1.56052646e-01 9.87735530e-01 -5.10835517e-03 -2.38641378e+01] [-2.94270217e-02 5.20359542e-04 9.99566796e-01 -6.88427663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.00, Y:-23.87, Z:-6.89 [[ 9.87527118e-01 1.54768371e-01 2.89299671e-02 1.63004968e+02] [-1.54685394e-01 9.87950625e-01 -5.09809503e-03 -2.38746860e+01] [-2.93704030e-02 5.59463721e-04 9.99568440e-01 -6.88552795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.03, Y:-23.88, Z:-6.89 [[ 9.87514831e-01 1.54891854e-01 2.86875014e-02 1.63034363e+02] [-1.54810307e-01 9.87931278e-01 -5.05562501e-03 -2.38815851e+01] [-2.91243550e-02 5.51383791e-04 9.99575644e-01 -6.88556162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.07, Y:-23.89, Z:-6.89 [[ 9.87270275e-01 1.56501832e-01 2.83651216e-02 1.63065087e+02] [-1.56422772e-01 9.87677543e-01 -4.99881172e-03 -2.38851133e+01] [-2.87979168e-02 4.98227271e-04 9.99585130e-01 -6.88626195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99264000000002 meters Centerline goodness [0,1] 0.9999785458368197 Centerline is valid? [True, True] Translation: X:163.09, Y:-23.89, Z:-6.89 [[ 9.86896468e-01 1.58871399e-01 2.81999949e-02 1.63094063e+02] [-1.58794219e-01 9.87299193e-01 -4.96986853e-03 -2.38910417e+01] [-2.86314022e-02 4.26749516e-04 9.99589946e-01 -6.88889540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.12, Y:-23.89, Z:-6.89 [[ 9.85843695e-01 1.65197722e-01 2.86691638e-02 1.63122952e+02] [-1.65120626e-01 9.86260438e-01 -5.05247221e-03 -2.38913507e+01] [-2.91099189e-02 2.47077626e-04 9.99576186e-01 -6.88992915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.15, Y:-23.89, Z:-6.89 [[ 9.85183553e-01 1.69064223e-01 2.88211104e-02 1.63151010e+02] [-1.68987982e-01 9.85605028e-01 -5.07847389e-03 -2.38913654e+01] [-2.92648196e-02 1.32807644e-04 9.99571685e-01 -6.89181924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.18, Y:-23.89, Z:-6.89 [[ 9.84500676e-01 1.72995041e-01 2.88294148e-02 1.63180314e+02] [-1.72920494e-01 9.84922695e-01 -5.07811254e-03 -2.38900282e+01] [-2.92732332e-02 1.42085799e-05 9.99571447e-01 -6.89066527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.21, Y:-23.88, Z:-6.89 [[ 9.83067091e-01 1.80919686e-01 2.91060614e-02 1.63210155e+02] [-1.80847212e-01 9.83497848e-01 -5.12536880e-03 -2.38848467e+01] [-2.95530289e-02 -2.25168668e-04 9.99563188e-01 -6.89154114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.24, Y:-23.88, Z:-6.89 [[ 9.82392691e-01 1.84579887e-01 2.88940440e-02 1.63238992e+02] [-1.84510085e-01 9.82817457e-01 -5.08675486e-03 -2.38830236e+01] [-2.93364835e-02 -3.34051710e-04 9.99569537e-01 -6.89448334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17264000000003 meters Centerline goodness [0,1] 0.9999139174037489 Centerline is valid? [True, True] Translation: X:163.27, Y:-23.88, Z:-6.90 [[ 9.81092106e-01 1.91515983e-01 2.79268316e-02 1.63271108e+02] [-1.91453650e-01 9.81489354e-01 -4.91403066e-03 -2.38768993e+01] [-2.83510033e-02 -5.25577160e-04 9.99597891e-01 -6.89710337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264000000003 meters Centerline goodness [0,1] 0.9999571404080233 Centerline is valid? [True, True] Translation: X:163.30, Y:-23.88, Z:-6.90 [[ 9.80492408e-01 1.94572355e-01 2.78610207e-02 1.63300787e+02] [-1.94511529e-01 9.80887978e-01 -4.90311267e-03 -2.38766265e+01] [-2.82825505e-02 -6.11825007e-04 9.99599781e-01 -6.89829206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23264000000003 meters Centerline goodness [0,1] 0.9998718030895456 Centerline is valid? [True, True] Translation: X:163.33, Y:-23.87, Z:-6.90 [[ 9.79977902e-01 1.97178825e-01 2.76373238e-02 1.63329997e+02] [-1.97120047e-01 9.80367301e-01 -4.86235390e-03 -2.38733887e+01] [-2.80534818e-02 -6.82871200e-04 9.99606190e-01 -6.90160029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264000000003 meters Centerline goodness [0,1] 0.9998917561482508 Centerline is valid? [True, True] Translation: X:163.36, Y:-23.88, Z:-6.90 [[ 9.79599037e-01 1.99063589e-01 2.75574838e-02 1.63358834e+02] [-1.99005936e-01 9.79986299e-01 -4.84685781e-03 -2.38781065e+01] [-2.79707895e-02 -7.36125611e-04 9.99608470e-01 -6.90081646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29264000000003 meters Centerline goodness [0,1] 0.999742018703644 Centerline is valid? [True, True] Translation: X:163.39, Y:-23.87, Z:-6.90 [[ 9.79272593e-01 2.00733654e-01 2.70405035e-02 1.63387578e+02] [-2.00678811e-01 9.79645552e-01 -4.75476034e-03 -2.38730904e+01] [-2.74445494e-02 -7.70249615e-04 9.99623031e-01 -6.90458404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264000000004 meters Centerline goodness [0,1] 0.9998713936639945 Centerline is valid? [True, True] Translation: X:163.42, Y:-23.88, Z:-6.91 [[ 9.79409247e-01 2.00105309e-01 2.67468087e-02 1.63415809e+02] [-2.00051468e-01 9.79774111e-01 -4.70126592e-03 -2.38782553e+01] [-2.71465789e-02 -7.46275013e-04 9.99631185e-01 -6.90621489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35264000000004 meters Centerline goodness [0,1] 0.9999569355324921 Centerline is valid? [True, True] Translation: X:163.44, Y:-23.89, Z:-6.91 [[ 9.80160752e-01 1.96478765e-01 2.60958921e-02 1.63443658e+02] [-1.96426265e-01 9.80507877e-01 -4.58543795e-03 -2.38850644e+01] [-2.64881689e-02 -6.31452298e-04 9.99648927e-01 -6.90958687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264000000004 meters Centerline goodness [0,1] 0.9998059592083136 Centerline is valid? [True, True] Translation: X:163.47, Y:-23.89, Z:-6.91 [[ 9.80694726e-01 1.93722992e-01 2.66318871e-02 1.63471653e+02] [-1.93667276e-01 9.81056104e-01 -4.68040316e-03 -2.38944005e+01] [-2.70340771e-02 -5.67678314e-04 9.99634351e-01 -6.90933784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41264000000004 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:163.50, Y:-23.90, Z:-6.91 [[ 9.81856478e-01 1.87514356e-01 2.82174300e-02 1.63499686e+02] [-1.87449434e-01 9.82261770e-01 -4.95232141e-03 -2.39040165e+01] [-2.86455341e-02 -4.26872428e-04 9.99589541e-01 -6.90816350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264000000004 meters Centerline goodness [0,1] 0.9999571569341502 Centerline is valid? [True, True] Translation: X:163.53, Y:-23.91, Z:-6.91 [[ 9.82459410e-01 1.84380664e-01 2.78797009e-02 1.63527886e+02] [-1.84316040e-01 9.82854852e-01 -4.89251855e-03 -2.39130697e+01] [-2.83037852e-02 -3.31975194e-04 9.99599312e-01 -6.90969360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47264000000004 meters Centerline goodness [0,1] 0.9999784203711696 Centerline is valid? [True, True] Translation: X:163.56, Y:-23.92, Z:-6.91 [[ 9.83001087e-01 1.81476519e-01 2.78412546e-02 1.63555363e+02] [-1.81410933e-01 9.83395247e-01 -4.88489635e-03 -2.39214745e+01] [-2.82654514e-02 -2.48849541e-04 9.99600421e-01 -6.91120456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:163.58, Y:-23.93, Z:-6.91 [[ 9.83466528e-01 1.78893150e-01 2.81216914e-02 1.63581888e+02] [-1.78825215e-01 9.83868492e-01 -4.93284751e-03 -2.39288668e+01] [-2.85504987e-02 -1.77577104e-04 9.99592336e-01 -6.91275795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.61, Y:-23.94, Z:-6.91 [[ 9.84235274e-01 1.74525385e-01 2.86673159e-02 1.63609154e+02] [-1.74452991e-01 9.84652673e-01 -5.02661583e-03 -2.39396953e+01] [-2.91046213e-02 -5.37264037e-05 9.99576369e-01 -6.91175384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.64, Y:-23.95, Z:-6.91 [[ 9.84537503e-01 1.72876151e-01 2.82797140e-02 1.63636882e+02] [-1.72805061e-01 9.84943570e-01 -4.95727133e-03 -2.39463203e+01] [-2.87109165e-02 -6.25817521e-06 9.99587757e-01 -6.91377367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.66, Y:-23.95, Z:-6.92 [[ 9.84769459e-01 1.71655752e-01 2.76299667e-02 1.63663656e+02] [-1.71587444e-01 9.85156994e-01 -4.84220338e-03 -2.39525850e+01] [-2.80510470e-02 2.74986404e-05 9.99606492e-01 -6.91730038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.69, Y:-23.96, Z:-6.92 [[ 9.85093502e-01 1.69931247e-01 2.67238419e-02 1.63691903e+02] [-1.69866759e-01 9.85455918e-01 -4.68167194e-03 -2.39588378e+01] [-2.71307305e-02 7.23921723e-05 9.99631891e-01 -6.91833376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.72, Y:-23.96, Z:-6.92 [[ 9.85183196e-01 1.69467237e-01 2.63614601e-02 1.63719330e+02] [-1.69404351e-01 9.85535818e-01 -4.61706008e-03 -2.39637011e+01] [-2.67626036e-02 8.29039560e-05 9.99641814e-01 -6.92115941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters Centerline goodness [0,1] 0.9999567511460946 Centerline is valid? [True, True] Translation: X:163.75, Y:-23.97, Z:-6.92 [[ 9.85240417e-01 1.69156153e-01 2.62205287e-02 1.63747385e+02] [-1.69093875e-01 9.85589259e-01 -4.59057097e-03 -2.39683963e+01] [-2.66191947e-02 8.90852445e-05 9.99645642e-01 -6.92169513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71264000000002 meters Centerline goodness [0,1] 0.9998272884283247 Centerline is valid? [True, True] Translation: X:163.77, Y:-23.97, Z:-6.92 [[ 9.85256287e-01 1.69003904e-01 2.66031793e-02 1.63774887e+02] [-1.68939772e-01 9.85615377e-01 -4.65637104e-03 -2.39729245e+01] [-2.70074475e-02 9.33837937e-05 9.99635228e-01 -6.92217738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264000000002 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:163.80, Y:-23.98, Z:-6.92 [[ 9.85281078e-01 1.68846464e-01 2.66846271e-02 1.63803092e+02] [-1.68781931e-01 9.85642360e-01 -4.66877104e-03 -2.39774478e+01] [-2.70898043e-02 9.61688938e-05 9.99632999e-01 -6.92301982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.83, Y:-23.99, Z:-6.93 [[ 9.85395220e-01 1.68064053e-01 2.73995384e-02 1.63829905e+02] [-1.67995748e-01 9.85776070e-01 -4.79259561e-03 -2.39850096e+01] [-2.78152723e-02 1.19594860e-04 9.99613073e-01 -6.92501251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.86, Y:-23.99, Z:-6.92 [[ 9.85479455e-01 1.67508597e-01 2.77689513e-02 1.63858330e+02] [-1.67438270e-01 9.85870606e-01 -4.85530444e-03 -2.39913668e+01] [-2.81898981e-02 1.35217594e-04 9.99602577e-01 -6.92387322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.89, Y:-24.00, Z:-6.93 [[ 9.85596589e-01 1.66807080e-01 2.78345297e-02 1.63885459e+02] [-1.66736177e-01 9.85989541e-01 -4.86552676e-03 -2.39976044e+01] [-2.82561594e-02 1.54423528e-04 9.99600703e-01 -6.92514382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.91, Y:-24.00, Z:-6.93 [[ 9.85717493e-01 1.66064046e-01 2.79956532e-02 1.63912712e+02] [-1.65992069e-01 9.86114954e-01 -4.89191833e-03 -2.40047121e+01] [-2.84193040e-02 1.74993077e-04 9.99596075e-01 -6.92776426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89264000000003 meters Centerline goodness [0,1] 0.999978501558637 Centerline is valid? [True, True] Translation: X:163.94, Y:-24.01, Z:-6.93 [[ 9.85782365e-01 1.65734712e-01 2.76610757e-02 1.63940861e+02] [-1.65664367e-01 9.86170357e-01 -4.83164121e-03 -2.40100653e+01] [-2.80793035e-02 1.80492102e-04 9.99605682e-01 -6.92747526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:163.97, Y:-24.02, Z:-6.93 [[ 9.85786056e-01 1.65646025e-01 2.80578986e-02 1.63967840e+02] [-1.65573647e-01 9.86185257e-01 -4.89972007e-03 -2.40154090e+01] [-2.84819051e-02 1.84427136e-04 9.99594291e-01 -6.92797772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.00, Y:-24.02, Z:-6.93 [[ 9.85556331e-01 1.66883416e-01 2.87861725e-02 1.63996332e+02] [-1.66807826e-01 9.85976624e-01 -5.02454617e-03 -2.40179175e+01] [-2.92210066e-02 1.50214427e-04 9.99572964e-01 -6.92737861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.02, Y:-24.02, Z:-6.93 [[ 9.85385850e-01 1.67901313e-01 2.87032281e-02 1.64023313e+02] [-1.67826613e-01 9.85803801e-01 -5.00928986e-03 -2.40222810e+01] [-2.91368177e-02 1.18917783e-04 9.99575426e-01 -6.92949147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01264000000003 meters Centerline goodness [0,1] 0.9998507876281628 Centerline is valid? [True, True] Translation: X:164.05, Y:-24.03, Z:-6.93 [[ 9.85228572e-01 1.68903727e-01 2.82168861e-02 1.64050708e+02] [-1.68831999e-01 9.85632550e-01 -4.92264144e-03 -2.40274780e+01] [-2.86429338e-02 8.60137085e-05 9.99589703e-01 -6.93250606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.08, Y:-24.03, Z:-6.93 [[ 9.84996478e-01 1.70194870e-01 2.85594761e-02 1.64079600e+02] [-1.70121987e-01 9.85410424e-01 -4.98050156e-03 -2.40306667e+01] [-2.89904613e-02 4.71816625e-05 9.99579687e-01 -6.93189492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.11, Y:-24.03, Z:-6.93 [[ 9.84913310e-01 1.70685815e-01 2.84977822e-02 1.64108640e+02] [-1.70613492e-01 9.85325505e-01 -4.96836922e-03 -2.40343308e+01] [-2.89276218e-02 3.13068367e-05 9.99581508e-01 -6.93267277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264000000004 meters Centerline goodness [0,1] 0.9998283445982191 Centerline is valid? [True, True] Translation: X:164.14, Y:-24.04, Z:-6.94 [[ 9.84876999e-01 1.71064845e-01 2.74611781e-02 1.64135537e+02] [-1.70997868e-01 9.85259772e-01 -4.78650569e-03 -2.40390320e+01] [-2.78751969e-02 1.83164586e-05 9.99611411e-01 -6.93740720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13264000000004 meters Centerline goodness [0,1] 0.9999357064786438 Centerline is valid? [True, True] Translation: X:164.16, Y:-24.04, Z:-6.94 [[ 9.84838704e-01 1.71358705e-01 2.69985375e-02 1.64163958e+02] [-1.71294126e-01 9.85208706e-01 -4.70406646e-03 -2.40444515e+01] [-2.74052769e-02 8.05583480e-06 9.99624405e-01 -6.93790800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264000000004 meters Centerline goodness [0,1] 0.999892722279437 Centerline is valid? [True, True] Translation: X:164.19, Y:-24.05, Z:-6.94 [[ 9.84867905e-01 1.71207070e-01 2.68951469e-02 1.64191275e+02] [-1.71142957e-01 9.85235068e-01 -4.68498021e-03 -2.40497497e+01] [-2.73001437e-02 1.11716635e-05 9.99627282e-01 -6.94015547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19264000000004 meters Centerline goodness [0,1] 0.9999353239193705 Centerline is valid? [True, True] Translation: X:164.22, Y:-24.06, Z:-6.94 [[ 9.85086126e-01 1.69966661e-01 2.67704928e-02 1.64219315e+02] [-1.69902740e-01 9.85449812e-01 -4.66120719e-03 -2.40589571e+01] [-2.71732269e-02 4.33104702e-05 9.99630739e-01 -6.94059664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264000000004 meters Centerline goodness [0,1] 0.9997221153435082 Centerline is valid? [True, True] Translation: X:164.25, Y:-24.07, Z:-6.94 [[ 9.85232266e-01 1.69157651e-01 2.65155044e-02 1.64246389e+02] [-1.69094679e-01 9.85589004e-01 -4.61566519e-03 -2.40664598e+01] [-2.69141647e-02 6.38715619e-05 9.99637746e-01 -6.94260508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.27, Y:-24.07, Z:-6.94 [[ 9.85444758e-01 1.67807598e-01 2.71889451e-02 1.64273392e+02] [-1.67740922e-01 9.85819760e-01 -4.73110595e-03 -2.40741144e+01] [-2.75973148e-02 1.01544853e-04 9.99619116e-01 -6.94362903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.30, Y:-24.08, Z:-6.94 [[ 9.85797847e-01 1.65636426e-01 2.76980133e-02 1.64300938e+02] [-1.65566426e-01 9.86186873e-01 -4.81777801e-03 -2.40830543e+01] [-2.81134166e-02 1.63494134e-04 9.99604726e-01 -6.94229044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31264000000002 meters Centerline goodness [0,1] 0.9999134142909712 Centerline is valid? [True, True] Translation: X:164.33, Y:-24.09, Z:-6.94 [[ 9.85960243e-01 1.64702516e-01 2.74859999e-02 1.64328601e+02] [-1.64633258e-01 9.86343270e-01 -4.77955376e-03 -2.40906071e+01] [-2.78978356e-02 1.87340265e-04 9.99610762e-01 -6.94294607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.36, Y:-24.10, Z:-6.94 [[ 9.86073425e-01 1.63867427e-01 2.84018687e-02 1.64355449e+02] [-1.63793169e-01 9.86482346e-01 -4.93747369e-03 -2.40983685e+01] [-2.88270331e-02 2.16679538e-04 9.99584391e-01 -6.94343624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.38, Y:-24.11, Z:-6.94 [[ 9.86119527e-01 1.63448599e-01 2.92033366e-02 1.64382618e+02] [-1.63369970e-01 9.86551824e-01 -5.07461741e-03 -2.41073612e+01] [-2.96400441e-02 2.33231094e-04 9.99560610e-01 -6.94302282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters Centerline goodness [0,1] 0.9999786725814708 Centerline is valid? [True, True] Translation: X:164.41, Y:-24.11, Z:-6.94 [[ 9.86022844e-01 1.64044969e-01 2.91238770e-02 1.64412197e+02] [-1.63967063e-01 9.86452838e-01 -5.05960850e-03 -2.41124671e+01] [-2.95593345e-02 2.13532967e-04 9.99563005e-01 -6.94358675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.44, Y:-24.12, Z:-6.94 [[ 9.85634688e-01 1.66247498e-01 2.97662805e-02 1.64439988e+02] [-1.66167131e-01 9.86084047e-01 -5.17085954e-03 -2.41155918e+01] [-3.02116967e-02 1.50401117e-04 9.99543511e-01 -6.94424733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.47, Y:-24.12, Z:-6.95 [[ 9.85352992e-01 1.67955999e-01 2.95002445e-02 1.64467766e+02] [-1.67877881e-01 9.85794488e-01 -5.12285210e-03 -2.41187084e+01] [-2.99415922e-02 9.53790987e-05 9.99551645e-01 -6.94605135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.50, Y:-24.12, Z:-6.95 [[ 9.85360801e-01 1.67910120e-01 2.95005674e-02 1.64495670e+02] [-1.67832038e-01 9.85802304e-01 -5.12099211e-03 -2.41234613e+01] [-2.99415937e-02 9.48845572e-05 9.99551645e-01 -6.94722385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.52, Y:-24.13, Z:-6.95 [[ 9.85004137e-01 1.70107889e-01 2.88124142e-02 1.64524281e+02] [-1.70034387e-01 9.85425444e-01 -5.00020540e-03 -2.41250730e+01] [-2.92430605e-02 2.61218210e-05 9.99572330e-01 -6.94879406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.55, Y:-24.12, Z:-6.95 [[ 9.83997156e-01 1.75901349e-01 2.84308282e-02 1.64554018e+02] [-1.75832235e-01 9.84407789e-01 -4.93264730e-03 -2.41201147e+01] [-2.88551880e-02 -1.45345137e-04 9.99583592e-01 -6.94964390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.58, Y:-24.12, Z:-6.95 [[ 9.83422297e-01 1.79052254e-01 2.86509519e-02 1.64583217e+02] [-1.78983442e-01 9.83839536e-01 -4.96942725e-03 -2.41204788e+01] [-2.90777264e-02 -2.41000421e-04 9.99577124e-01 -6.94992534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61264000000003 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:164.61, Y:-24.12, Z:-6.95 [[ 9.82864544e-01 1.82115795e-01 2.84802792e-02 1.64612746e+02] [-1.82049127e-01 9.83277035e-01 -4.93839955e-03 -2.41197842e+01] [-2.89033650e-02 -3.31032126e-04 9.99582156e-01 -6.95127779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264000000003 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:164.64, Y:-24.11, Z:-6.95 [[ 9.81818051e-01 1.87749725e-01 2.79884870e-02 1.64642852e+02] [-1.87687669e-01 9.82216779e-01 -4.85159252e-03 -2.41125590e+01] [-2.84016467e-02 -4.89712758e-04 9.99596472e-01 -6.95334405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67264000000003 meters Centerline goodness [0,1] 0.9998916951869341 Centerline is valid? [True, True] Translation: X:164.67, Y:-24.11, Z:-6.95 [[ 9.81476962e-01 1.89525983e-01 2.79799119e-02 1.64671630e+02] [-1.89464711e-01 9.81875556e-01 -4.84921462e-03 -2.41130809e+01] [-2.83918437e-02 -5.41813506e-04 9.99596724e-01 -6.95479556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264000000003 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:164.70, Y:-24.11, Z:-6.96 [[ 9.81173863e-01 1.90982497e-01 2.86973050e-02 1.64700586e+02] [-1.90918694e-01 9.81593259e-01 -4.97256768e-03 -2.41104762e+01] [-2.91187545e-02 -5.99898543e-04 9.99575779e-01 -6.95578771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73264000000003 meters Centerline goodness [0,1] 0.9999784361926942 Centerline is valid? [True, True] Translation: X:164.73, Y:-24.11, Z:-6.96 [[ 9.81256897e-01 1.90549055e-01 2.87395049e-02 1.64728764e+02] [-1.90484971e-01 9.81677497e-01 -4.97669229e-03 -2.41141677e+01] [-2.91612293e-02 -5.91030144e-04 9.99574546e-01 -6.95594775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.76, Y:-24.12, Z:-6.96 [[ 9.81525504e-01 1.89166166e-01 2.87027374e-02 1.64757519e+02] [-1.89101697e-01 9.81944937e-01 -4.96887724e-03 -2.41187909e+01] [-2.91244511e-02 -5.50656607e-04 9.99575642e-01 -6.95742327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.78, Y:-24.13, Z:-6.96 [[ 9.82575995e-01 1.83643602e-01 2.86258787e-02 1.64784506e+02] [-1.83577179e-01 9.82992817e-01 -4.95397572e-03 -2.41289506e+01] [-2.90487991e-02 -3.87400438e-04 9.99577920e-01 -6.95973612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264000000004 meters Centerline goodness [0,1] 0.9999129961935834 Centerline is valid? [True, True] Translation: X:164.81, Y:-24.14, Z:-6.96 [[ 9.83190506e-01 1.80345582e-01 2.84938587e-02 1.64812362e+02] [-1.80278411e-01 9.83603267e-01 -4.93024222e-03 -2.41394406e+01] [-2.89158000e-02 -2.89460230e-04 9.99581809e-01 -6.95917771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85264000000004 meters Centerline goodness [0,1] 0.9999564895792542 Centerline is valid? [True, True] Translation: X:164.84, Y:-24.15, Z:-6.96 [[ 9.83839472e-01 1.76817828e-01 2.82019470e-02 1.64839707e+02] [-1.76750614e-01 9.84243578e-01 -4.87844157e-03 -2.41463018e+01] [-2.86201807e-02 -1.85108064e-04 9.99590342e-01 -6.96111855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.87, Y:-24.15, Z:-6.96 [[ 9.84529266e-01 1.72955837e-01 2.80785219e-02 1.64867391e+02] [-1.72887695e-01 9.84929578e-01 -4.85509769e-03 -2.41548793e+01] [-2.84950842e-02 -7.44451714e-05 9.99593930e-01 -6.96308519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.89, Y:-24.17, Z:-6.96 [[ 9.85793759e-01 1.65573626e-01 2.82141682e-02 1.64894135e+02] [-1.65501839e-01 9.86197422e-01 -4.87710453e-03 -2.41686668e+01] [-2.86322598e-02 1.38322487e-04 9.99590003e-01 -6.96428867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264000000004 meters Centerline goodness [0,1] 0.9998703711705483 Centerline is valid? [True, True] Translation: X:164.92, Y:-24.18, Z:-6.97 [[ 9.86354976e-01 1.62224547e-01 2.80545496e-02 1.64920510e+02] [-1.62152250e-01 9.86753841e-01 -4.84824800e-03 -2.41783660e+01] [-2.84694394e-02 2.32985183e-04 9.99594636e-01 -6.96694791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:164.95, Y:-24.19, Z:-6.97 [[ 9.87576547e-01 1.54712501e-01 2.75064719e-02 1.64949025e+02] [-1.54640157e-01 9.87959437e-01 -4.75100218e-03 -2.41928154e+01] [-2.79103179e-02 4.38373200e-04 9.99610335e-01 -6.96791315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters Centerline goodness [0,1] 0.9999343918120982 Centerline is valid? [True, True] Translation: X:164.98, Y:-24.20, Z:-6.97 [[ 9.88103440e-01 1.51330156e-01 2.74002847e-02 1.64977082e+02] [-1.51257065e-01 9.88483131e-01 -4.73282928e-03 -2.42030753e+01] [-2.78009391e-02 5.32038249e-04 9.99613338e-01 -6.96865578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03264000000001 meters Centerline goodness [0,1] 0.9999784399120348 Centerline is valid? [True, True] Translation: X:165.00, Y:-24.21, Z:-6.97 [[ 9.88583759e-01 1.48098087e-01 2.77327837e-02 1.65004703e+02] [-1.48021953e-01 9.88972477e-01 -4.78974778e-03 -2.42148314e+01] [-2.81363123e-02 6.30006072e-04 9.99603897e-01 -6.97054338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.03, Y:-24.23, Z:-6.97 [[ 9.89402210e-01 1.42491949e-01 2.79161634e-02 1.65034292e+02] [-1.42412578e-01 9.89795642e-01 -4.82124708e-03 -2.42274726e+01] [-2.83182857e-02 7.94539715e-04 9.99598641e-01 -6.96993627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09264000000002 meters Centerline goodness [0,1] 0.9999784213024902 Centerline is valid? [True, True] Translation: X:165.06, Y:-24.24, Z:-6.97 [[ 9.89691790e-01 1.40355775e-01 2.84678337e-02 1.65064158e+02] [-1.40272393e-01 9.90100751e-01 -4.91508764e-03 -2.42391304e+01] [-2.88758845e-02 8.71170709e-04 9.99582625e-01 -6.97052551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters Centerline goodness [0,1] 0.9998278311023113 Centerline is valid? [True, True] Translation: X:165.10, Y:-24.25, Z:-6.97 [[ 9.89867196e-01 1.39048696e-01 2.87818352e-02 1.65095593e+02] [-1.38962783e-01 9.90285114e-01 -4.97373009e-03 -2.42464200e+01] [-2.91938136e-02 9.23728332e-04 9.99573343e-01 -6.96959878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15264000000002 meters Centerline goodness [0,1] 0.9997848860971884 Centerline is valid? [True, True] Translation: X:165.13, Y:-24.26, Z:-6.97 [[ 9.90151325e-01 1.36933944e-01 2.91453148e-02 1.65126293e+02] [-1.36844737e-01 9.90579671e-01 -5.04313227e-03 -2.42592341e+01] [-2.95613323e-02 1.00508114e-03 9.99562463e-01 -6.97024967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters Centerline goodness [0,1] 0.9998490598585476 Centerline is valid? [True, True] Translation: X:165.16, Y:-24.27, Z:-6.97 [[ 9.90236175e-01 1.36416613e-01 2.86849334e-02 1.65157546e+02] [-1.36329989e-01 9.90651048e-01 -4.96337263e-03 -2.42689847e+01] [-2.90938458e-02 1.00429449e-03 9.99576180e-01 -6.97262942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21264000000002 meters Centerline goodness [0,1] 0.9999785472175741 Centerline is valid? [True, True] Translation: X:165.19, Y:-24.28, Z:-6.97 [[ 9.90302960e-01 1.35945495e-01 2.86158933e-02 1.65188699e+02] [-1.35858949e-01 9.90715792e-01 -4.95631818e-03 -2.42778811e+01] [-2.90240066e-02 1.02053138e-03 9.99578194e-01 -6.97444428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264000000002 meters Centerline goodness [0,1] 0.999956964258817 Centerline is valid? [True, True] Translation: X:165.22, Y:-24.29, Z:-6.98 [[ 9.90248126e-01 1.36459919e-01 2.80595728e-02 1.65220096e+02] [-1.36376787e-01 9.90645098e-01 -4.86436140e-03 -2.42874619e+01] [-2.84608687e-02 9.90250367e-04 9.99594417e-01 -6.97586525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27264000000002 meters Centerline goodness [0,1] 0.9999139414802065 Centerline is valid? [True, True] Translation: X:165.25, Y:-24.30, Z:-6.98 [[ 9.90105939e-01 1.37580095e-01 2.76033755e-02 1.65250355e+02] [-1.37499915e-01 9.90490191e-01 -4.79116455e-03 -2.42968675e+01] [-2.80000415e-02 9.48298697e-04 9.99607472e-01 -6.97878060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264000000003 meters Centerline goodness [0,1] 0.9999784552407627 Centerline is valid? [True, True] Translation: X:165.28, Y:-24.30, Z:-6.98 [[ 9.89717705e-01 1.40552045e-01 2.65327556e-02 1.65279469e+02] [-1.40478889e-01 9.90072939e-01 -4.61063457e-03 -2.43046741e+01] [-2.69173974e-02 8.35934630e-04 9.99637312e-01 -6.98160561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33264000000003 meters Centerline goodness [0,1] 0.9998052706737635 Centerline is valid? [True, True] Translation: X:165.31, Y:-24.31, Z:-6.98 [[ 9.89408477e-01 1.42751366e-01 2.63232524e-02 1.65310878e+02] [-1.42680069e-01 9.89758279e-01 -4.57679057e-03 -2.43071396e+01] [-2.67070001e-02 7.72511918e-04 9.99643006e-01 -6.98066777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.34, Y:-24.32, Z:-6.98 [[ 9.89060417e-01 1.45087762e-01 2.66276500e-02 1.65339729e+02] [-1.45015629e-01 9.89418529e-01 -4.63058246e-03 -2.43165274e+01] [-2.70177311e-02 7.18500403e-04 9.99634696e-01 -6.98353131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39264000000003 meters Centerline goodness [0,1] 0.9999347556599465 Centerline is valid? [True, True] Translation: X:165.37, Y:-24.32, Z:-6.98 [[ 9.88611569e-01 1.48101808e-01 2.67024244e-02 1.65371152e+02] [-1.48030363e-01 9.88971914e-01 -4.64374424e-03 -2.43186108e+01] [-2.70956947e-02 6.38089693e-04 9.99632641e-01 -6.98194005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.40, Y:-24.32, Z:-6.98 [[ 9.87609360e-01 1.54486353e-01 2.75992499e-02 1.65400576e+02] [-1.54412487e-01 9.87994806e-01 -4.80076815e-03 -2.43232163e+01] [-2.80095687e-02 4.79614748e-04 9.99607540e-01 -6.98364344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.43, Y:-24.33, Z:-6.98 [[ 9.87027255e-01 1.58096218e-01 2.79782814e-02 1.65432789e+02] [-1.58021820e-01 9.87423638e-01 -4.86446755e-03 -2.43254194e+01] [-2.83954704e-02 3.80183091e-04 9.99596695e-01 -6.98275065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.46, Y:-24.33, Z:-6.98 [[ 9.86420100e-01 1.61748670e-01 2.85088537e-02 1.65463970e+02] [-1.61672746e-01 9.86831944e-01 -4.96365830e-03 -2.43279790e+01] [-2.89363126e-02 2.87147649e-04 9.99581216e-01 -6.98359944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.49, Y:-24.33, Z:-6.98 [[ 9.85376445e-01 1.68017725e-01 2.83426550e-02 1.65494561e+02] [-1.67945245e-01 9.85783969e-01 -4.93573056e-03 -2.43277025e+01] [-2.87690252e-02 1.03538498e-04 9.99586081e-01 -6.98439081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.52, Y:-24.33, Z:-6.99 [[ 9.84915678e-01 1.70760206e-01 2.79653326e-02 1.65523327e+02] [-1.70690752e-01 9.85312616e-01 -4.86986027e-03 -2.43318216e+01] [-2.83861734e-02 2.29780627e-05 9.99597031e-01 -6.98784032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.55, Y:-24.34, Z:-6.99 [[ 9.84173846e-01 1.75066663e-01 2.74500398e-02 1.65552857e+02] [-1.75001396e-01 9.84556577e-01 -4.78096552e-03 -2.43360056e+01] [-2.78631049e-02 -9.84940394e-05 9.99611743e-01 -6.98907783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.58, Y:-24.34, Z:-6.99 [[ 9.83807005e-01 1.77113350e-01 2.74706653e-02 1.65582010e+02] [-1.77048792e-01 9.84190447e-01 -4.78420193e-03 -2.43391232e+01] [-2.78837124e-02 -1.56916741e-04 9.99611161e-01 -6.99048222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.61, Y:-24.34, Z:-6.99 [[ 9.83472838e-01 1.78987308e-01 2.72895728e-02 1.65610444e+02] [-1.78924357e-01 9.83851360e-01 -4.75131202e-03 -2.43417659e+01] [-2.76993078e-02 -2.09982961e-04 9.99616279e-01 -6.99214469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.64, Y:-24.34, Z:-6.99 [[ 9.82817916e-01 1.82448615e-01 2.79543684e-02 1.65638050e+02] [-1.82383996e-01 9.83215339e-01 -4.86569854e-03 -2.43428191e+01] [-2.83729038e-02 -3.16333718e-04 9.99597358e-01 -6.99263906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69264000000004 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:165.67, Y:-24.35, Z:-6.99 [[ 9.82547624e-01 1.83795738e-01 2.86233040e-02 1.65666054e+02] [-1.83728606e-01 9.82964391e-01 -4.98058749e-03 -2.43458182e+01] [-2.90510993e-02 -3.65255324e-04 9.99577861e-01 -6.99261686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.69, Y:-24.35, Z:-6.99 [[ 9.82381814e-01 1.84702558e-01 2.84769589e-02 1.65694603e+02] [-1.84636553e-01 9.82794389e-01 -4.95298642e-03 -2.43488549e+01] [-2.89018247e-02 -3.92163761e-04 9.99582178e-01 -6.99390756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.72, Y:-24.35, Z:-7.00 [[ 9.82271461e-01 1.85412538e-01 2.76580574e-02 1.65723236e+02] [-1.85350592e-01 9.82660689e-01 -4.80926427e-03 -2.43525582e+01] [-2.80701836e-02 -4.02434279e-04 9.99605874e-01 -6.99711854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters Centerline goodness [0,1] 0.9999783821176877 Centerline is valid? [True, True] Translation: X:165.75, Y:-24.36, Z:-7.00 [[ 9.82332439e-01 1.85032436e-01 2.80352944e-02 1.65750402e+02] [-1.84968670e-01 9.82732333e-01 -4.87362587e-03 -2.43581491e+01] [-2.84529692e-02 -3.98130330e-04 9.99595053e-01 -6.99824650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.78, Y:-24.37, Z:-7.00 [[ 9.82680056e-01 1.83016715e-01 2.90652490e-02 1.65777364e+02] [-1.82947350e-01 9.83109738e-01 -5.05080646e-03 -2.43663366e+01] [-2.94987113e-02 -3.54083498e-04 9.99564756e-01 -6.99789425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters Centerline goodness [0,1] 0.9997862242934713 Centerline is valid? [True, True] Translation: X:165.81, Y:-24.37, Z:-7.00 [[ 9.82973626e-01 1.81459173e-01 2.89036121e-02 1.65805726e+02] [-1.81389957e-01 9.83398431e-01 -5.02090489e-03 -2.43736316e+01] [-2.93348560e-02 -3.07407868e-04 9.99569593e-01 -6.99910310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.83, Y:-24.38, Z:-7.00 [[ 9.83489531e-01 1.78658178e-01 2.88027484e-02 1.65833417e+02] [-1.78588283e-01 9.83911177e-01 -5.00201578e-03 -2.43828120e+01] [-2.92329971e-02 -2.24403233e-04 9.99572599e-01 -7.00140587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters Centerline goodness [0,1] 0.9998694033911586 Centerline is valid? [True, True] Translation: X:165.86, Y:-24.40, Z:-7.00 [[ 9.84584681e-01 1.72634412e-01 2.81134472e-02 1.65860136e+02] [-1.72565425e-01 9.84985968e-01 -4.88018802e-03 -2.43997742e+01] [-2.85338394e-02 -4.64506062e-05 9.99592826e-01 -7.00388057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.89, Y:-24.41, Z:-7.01 [[ 9.85189806e-01 1.69220842e-01 2.76650208e-02 1.65888375e+02] [-1.69152673e-01 9.85578157e-01 -4.80305454e-03 -2.44123182e+01] [-2.80788171e-02 5.23081566e-05 9.99605711e-01 -7.00713857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.92, Y:-24.43, Z:-7.01 [[ 9.85802920e-01 1.65709568e-01 2.70728932e-02 1.65916388e+02] [-1.65642966e-01 9.86174587e-01 -4.70009201e-03 -2.44256880e+01] [-2.74774495e-02 1.48930091e-04 9.99622413e-01 -7.01030078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99264000000002 meters Centerline goodness [0,1] 0.9998923504209098 Centerline is valid? [True, True] Translation: X:165.95, Y:-24.45, Z:-7.01 [[ 9.86789419e-01 1.59823980e-01 2.65129905e-02 1.65945111e+02] [-1.59758025e-01 9.87145482e-01 -4.60120450e-03 -2.44454570e+01] [-2.69075616e-02 3.04756930e-04 9.99637880e-01 -7.01147946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:165.98, Y:-24.46, Z:-7.01 [[ 9.87178869e-01 1.57390123e-01 2.65749704e-02 1.65975393e+02] [-1.57322845e-01 9.87536433e-01 -4.61682655e-03 -2.44563222e+01] [-2.69703943e-02 3.76783655e-04 9.99636162e-01 -7.01380140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.01, Y:-24.46, Z:-7.01 [[ 9.87361066e-01 1.56219949e-01 2.67105504e-02 1.66006479e+02] [-1.56151515e-01 9.87722207e-01 -4.64186880e-03 -2.44649092e+01] [-2.71077563e-02 4.12307612e-04 9.99632432e-01 -7.01438590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.04, Y:-24.47, Z:-7.01 [[ 9.87258881e-01 1.56779897e-01 2.72023071e-02 1.66036769e+02] [-1.56709002e-01 9.87633483e-01 -4.73199988e-03 -2.44727346e+01] [-2.76077918e-02 4.08862500e-04 9.99618749e-01 -7.01468959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.07, Y:-24.48, Z:-7.01 [[ 9.87001964e-01 1.58400733e-01 2.71354046e-02 1.66069400e+02] [-1.58330698e-01 9.87374839e-01 -4.72402755e-03 -2.44752709e+01] [-2.75411052e-02 3.66256921e-04 9.99620605e-01 -7.01230436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.10, Y:-24.48, Z:-7.02 [[ 9.86589139e-01 1.60902306e-01 2.74284293e-02 1.66099619e+02] [-1.60831574e-01 9.86970291e-01 -4.78010979e-03 -2.44837559e+01] [-2.78401756e-02 3.04646928e-04 9.99612341e-01 -7.01648661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17264000000003 meters Centerline goodness [0,1] 0.9998287561273198 Centerline is valid? [True, True] Translation: X:166.13, Y:-24.48, Z:-7.02 [[ 9.85455023e-01 1.67577872e-01 2.82144379e-02 1.66130451e+02] [-1.67505569e-01 9.85858834e-01 -4.92377317e-03 -2.44820376e+01] [-2.86405683e-02 1.26081519e-04 9.99589767e-01 -7.01612824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.16, Y:-24.48, Z:-7.01 [[ 9.84816498e-01 1.71268249e-01 2.83487619e-02 1.66163760e+02] [-1.71196831e-01 9.85224435e-01 -4.94552638e-03 -2.44811040e+01] [-2.87769046e-02 1.72177535e-05 9.99585859e-01 -7.01407306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.20, Y:-24.47, Z:-7.02 [[ 9.83615828e-01 1.78096215e-01 2.79578392e-02 1.66195793e+02] [-1.78029315e-01 9.84013063e-01 -4.88414374e-03 -2.44747133e+01] [-2.83807265e-02 -1.73193858e-04 9.99597171e-01 -7.02089690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.23, Y:-24.48, Z:-7.02 [[ 9.83063243e-01 1.81175668e-01 2.76050291e-02 1.66226538e+02] [-1.81111645e-01 9.83450716e-01 -4.82300645e-03 -2.44769933e+01] [-2.80219970e-02 -2.58271872e-04 9.99607273e-01 -7.01921820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29264000000003 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:166.26, Y:-24.47, Z:-7.03 [[ 9.82628829e-01 1.83593851e-01 2.70902571e-02 1.66256129e+02] [-1.83533099e-01 9.83002134e-01 -4.73356776e-03 -2.44747681e+01] [-2.74988344e-02 -3.20618686e-04 9.99621784e-01 -7.02560801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.29, Y:-24.48, Z:-7.02 [[ 9.81993975e-01 1.87061386e-01 2.63793668e-02 1.66285545e+02] [-1.87005060e-01 9.82348142e-01 -4.60824931e-03 -2.44789153e+01] [-2.67757475e-02 -4.07802026e-04 9.99641382e-01 -7.02456703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35264000000004 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:166.31, Y:-24.48, Z:-7.03 [[ 9.81728937e-01 1.88440952e-01 2.64253892e-02 1.66313704e+02] [-1.88384932e-01 9.82084420e-01 -4.61616727e-03 -2.44825153e+01] [-2.68218380e-02 -4.46320161e-04 9.99640130e-01 -7.02570505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264000000004 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:166.34, Y:-24.49, Z:-7.03 [[ 9.81737757e-01 1.88394957e-01 2.64256894e-02 1.66341610e+02] [-1.88338967e-01 9.82093244e-01 -4.61444824e-03 -2.44872965e+01] [-2.68218298e-02 -4.46808974e-04 9.99640130e-01 -7.02687772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.37, Y:-24.49, Z:-7.03 [[ 9.81555186e-01 1.89323071e-01 2.65742565e-02 1.66369959e+02] [-1.89266824e-01 9.81914736e-01 -4.63909881e-03 -2.44911193e+01] [-2.69719425e-02 -4.76093639e-04 9.99636078e-01 -7.02787757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.40, Y:-24.49, Z:-7.03 [[ 9.81182676e-01 1.91156565e-01 2.71978667e-02 1.66399032e+02] [-1.91098387e-01 9.81559410e-01 -4.74661844e-03 -2.44932184e+01] [-2.76036692e-02 -5.40168679e-04 9.99618800e-01 -7.02667371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.43, Y:-24.50, Z:-7.02 [[ 9.81030696e-01 1.91834203e-01 2.79000531e-02 1.66428735e+02] [-1.91773305e-01 9.81427179e-01 -4.86743027e-03 -2.44989243e+01] [-2.83156101e-02 -5.75386913e-04 9.99598867e-01 -7.02499530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters Centerline goodness [0,1] 0.9998936939235447 Centerline is valid? [True, True] Translation: X:166.46, Y:-24.49, Z:-7.03 [[ 9.80933721e-01 1.92185450e-01 2.88753821e-02 1.66457495e+02] [-1.92120382e-01 9.81358439e-01 -5.03725946e-03 -2.44920840e+01] [-2.93051878e-02 -6.06331753e-04 9.99570327e-01 -7.03089517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53264000000001 meters Centerline goodness [0,1] 0.9997434801197093 Centerline is valid? [True, True] Translation: X:166.49, Y:-24.49, Z:-7.03 [[ 9.80666441e-01 1.93418894e-01 2.97062871e-02 1.66486162e+02] [-1.93350658e-01 9.81116043e-01 -5.18000758e-03 -2.44932399e+01] [-3.01472262e-02 -6.63870541e-04 9.99545249e-01 -7.03040537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters Centerline goodness [0,1] 0.9999569262577532 Centerline is valid? [True, True] Translation: X:166.51, Y:-24.50, Z:-7.03 [[ 9.80521200e-01 1.94107413e-01 3.00081541e-02 1.66514004e+02] [-1.94038143e-01 9.80980036e-01 -5.23140250e-03 -2.45046730e+01] [-3.04528541e-02 -6.93225451e-04 9.99535964e-01 -7.02719077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59264000000002 meters Centerline goodness [0,1] 0.9999570280606763 Centerline is valid? [True, True] Translation: X:166.54, Y:-24.51, Z:-7.03 [[ 9.80323331e-01 1.95104872e-01 3.00042615e-02 1.66541641e+02] [-1.95036122e-01 9.80782118e-01 -5.22953135e-03 -2.45054535e+01] [-3.04479502e-02 -7.25283217e-04 9.99536091e-01 -7.02851042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters Centerline goodness [0,1] 0.9999787320019566 Centerline is valid? [True, True] Translation: X:166.57, Y:-24.51, Z:-7.03 [[ 9.80297423e-01 1.95231480e-01 3.00271848e-02 1.66569676e+02] [-1.95162759e-01 9.80756919e-01 -5.23109741e-03 -2.45095693e+01] [-3.04706441e-02 -7.32156910e-04 9.99535394e-01 -7.02992343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.60, Y:-24.52, Z:-7.03 [[ 9.80275080e-01 1.95358294e-01 2.99316694e-02 1.66598197e+02] [-1.95290112e-01 9.80731664e-01 -5.21304662e-03 -2.45163195e+01] [-3.03733478e-02 -7.35139362e-04 9.99538353e-01 -7.03002270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters Centerline goodness [0,1] 0.9999140745832618 Centerline is valid? [True, True] Translation: X:166.63, Y:-24.52, Z:-7.03 [[ 9.80356735e-01 1.95041073e-01 2.93198289e-02 1.66626000e+02] [-1.94975546e-01 9.80794817e-01 -5.10519775e-03 -2.45170691e+01] [-2.97524594e-02 -7.11734648e-04 9.99557044e-01 -7.03303353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.65, Y:-24.52, Z:-7.03 [[ 9.80467005e-01 1.94512489e-01 2.91435189e-02 1.66654492e+02] [-1.94447561e-01 9.80899797e-01 -5.07293504e-03 -2.45243392e+01] [-2.95736210e-02 -6.93040747e-04 9.99562365e-01 -7.03347199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.68, Y:-24.53, Z:-7.03 [[ 9.80537682e-01 1.94145089e-01 2.92153921e-02 1.66682233e+02] [-1.94079756e-01 9.80972585e-01 -5.08281721e-03 -2.45278674e+01] [-2.96463027e-02 -6.86222361e-04 9.99560216e-01 -7.03496932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77264000000002 meters Centerline goodness [0,1] 0.9999354630525976 Centerline is valid? [True, True] Translation: X:166.71, Y:-24.53, Z:-7.04 [[ 9.80621339e-01 1.93782103e-01 2.88146920e-02 1.66710964e+02] [-1.93718454e-01 9.81044367e-01 -5.01103108e-03 -2.45320490e+01] [-2.92395395e-02 -6.68013588e-04 9.99572210e-01 -7.03649886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.74, Y:-24.54, Z:-7.04 [[ 9.80934607e-01 1.92290824e-01 2.81342578e-02 1.66739704e+02] [-1.92229571e-01 9.81337794e-01 -4.89133458e-03 -2.45356260e+01] [-2.85497692e-02 -6.10156935e-04 9.99592186e-01 -7.03859940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83264000000003 meters Centerline goodness [0,1] 0.9999785715816316 Centerline is valid? [True, True] Translation: X:166.77, Y:-24.54, Z:-7.04 [[ 9.81159365e-01 1.91140833e-01 2.81332903e-02 1.66768338e+02] [-1.91079152e-01 9.81562452e-01 -4.88975883e-03 -2.45409776e+01] [-2.85492140e-02 -5.78052597e-04 9.99592221e-01 -7.03966856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264000000003 meters Centerline goodness [0,1] 0.9999570446735395 Centerline is valid? [True, True] Translation: X:166.80, Y:-24.54, Z:-7.04 [[ 9.81503032e-01 1.89458609e-01 2.75178824e-02 1.66796471e+02] [-1.89398969e-01 9.81888571e-01 -4.78163629e-03 -2.45432598e+01] [-2.79254164e-02 -5.18668037e-04 9.99609875e-01 -7.04311727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89264000000003 meters Centerline goodness [0,1] 0.9999362326233898 Centerline is valid? [True, True] Translation: X:166.82, Y:-24.54, Z:-7.05 [[ 9.81647140e-01 1.88711734e-01 2.75095146e-02 1.66824940e+02] [-1.88651887e-01 9.82032399e-01 -4.77839117e-03 -2.45418147e+01] [-2.79169731e-02 -4.99027820e-04 9.99610121e-01 -7.04829712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264000000003 meters Centerline goodness [0,1] 0.9998273443401317 Centerline is valid? [True, True] Translation: X:166.85, Y:-24.55, Z:-7.05 [[ 9.81690919e-01 1.88442699e-01 2.77900932e-02 1.66852983e+02] [-1.88381571e-01 9.82084060e-01 -4.82523067e-03 -2.45474491e+01] [-2.82014870e-02 -4.98256286e-04 9.99602135e-01 -7.04656006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.88, Y:-24.55, Z:-7.05 [[ 9.81964269e-01 1.86988099e-01 2.79575738e-02 1.66881946e+02] [-1.86925682e-01 9.82362071e-01 -4.85287889e-03 -2.45519068e+01] [-2.83718907e-02 -4.60634898e-04 9.99597331e-01 -7.04695254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264000000003 meters Centerline goodness [0,1] 0.9998918755271068 Centerline is valid? [True, True] Translation: X:166.91, Y:-24.56, Z:-7.05 [[ 9.82153600e-01 1.85964261e-01 2.81353907e-02 1.66910438e+02] [-1.85900653e-01 9.82556413e-01 -4.88287881e-03 -2.45575809e+01] [-2.85526495e-02 -4.34650501e-04 9.99592195e-01 -7.04705321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.94, Y:-24.56, Z:-7.05 [[ 9.82395337e-01 1.84572197e-01 2.88531639e-02 1.66939013e+02] [-1.84504744e-01 9.82818874e-01 -5.00599593e-03 -2.45631717e+01] [-2.92814017e-02 -4.05678547e-04 9.99571126e-01 -7.04663978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:166.97, Y:-24.57, Z:-7.05 [[ 9.82800289e-01 1.82201905e-01 3.01007939e-02 1.66966614e+02] [-1.82127425e-01 9.83261076e-01 -5.22097280e-03 -2.45657223e+01] [-3.05482101e-02 -3.51006492e-04 9.99533233e-01 -7.04541913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07264000000004 meters Centerline goodness [0,1] 0.9999144604593473 Centerline is valid? [True, True] Translation: X:167.00, Y:-24.57, Z:-7.05 [[ 9.83029093e-01 1.80897845e-01 3.04921723e-02 1.66995458e+02] [-1.80820856e-01 9.83501840e-01 -5.28665191e-03 -2.45710997e+01] [-3.09454515e-02 -3.16688071e-04 9.99521025e-01 -7.04596774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264000000004 meters Centerline goodness [0,1] 0.9999353545801279 Centerline is valid? [True, True] Translation: X:167.02, Y:-24.58, Z:-7.05 [[ 9.83823891e-01 1.76397291e-01 3.12177264e-02 1.67023438e+02] [-1.76314366e-01 9.84319035e-01 -5.41123254e-03 -2.45788638e+01] [-3.16827291e-02 -1.80433769e-04 9.99497960e-01 -7.04702866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.05, Y:-24.59, Z:-7.05 [[ 9.84383685e-01 1.73213228e-01 3.13996423e-02 1.67052939e+02] [-1.73127761e-01 9.84884344e-01 -5.44123272e-03 -2.45870691e+01] [-3.18675096e-02 -7.98890446e-05 9.99492099e-01 -7.04730002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264000000004 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:167.08, Y:-24.59, Z:-7.05 [[ 9.84875557e-01 1.70383585e-01 3.14574566e-02 1.67081760e+02] [-1.70296356e-01 9.85377813e-01 -5.45137049e-03 -2.45948820e+01] [-3.19263038e-02 1.18313251e-05 9.99490226e-01 -7.04832073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19264000000004 meters Centerline goodness [0,1] 0.99991334864174 Centerline is valid? [True, True] Translation: X:167.11, Y:-24.60, Z:-7.05 [[ 9.85376565e-01 1.67362974e-01 3.19790542e-02 1.67112199e+02] [-1.67271260e-01 9.85895341e-01 -5.54100615e-03 -2.46032569e+01] [-3.24553598e-02 1.10800919e-04 9.99473180e-01 -7.04902231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264000000004 meters Centerline goodness [0,1] 0.9999783004947487 Centerline is valid? [True, True] Translation: X:167.14, Y:-24.62, Z:-7.05 [[ 9.86451809e-01 1.60785201e-01 3.25721896e-02 1.67141024e+02] [-1.60686436e-01 9.86989365e-01 -5.64462595e-03 -2.46161766e+01] [-3.30559770e-02 3.34242430e-04 9.99453446e-01 -7.05057761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.17, Y:-24.63, Z:-7.05 [[ 9.86972019e-01 1.57590400e-01 3.24268399e-02 1.67170786e+02] [-1.57490800e-01 9.87504467e-01 -5.61915641e-03 -2.46260287e+01] [-3.29071744e-02 4.39021198e-04 9.99458316e-01 -7.05235122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters Centerline goodness [0,1] 0.9998267535786214 Centerline is valid? [True, True] Translation: X:167.20, Y:-24.64, Z:-7.05 [[ 9.87872905e-01 1.51741251e-01 3.28894521e-02 1.67200654e+02] [-1.51635334e-01 9.88420038e-01 -5.70563463e-03 -2.46386935e+01] [-3.33743736e-02 6.49238802e-04 9.99442710e-01 -7.05181312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.23, Y:-24.65, Z:-7.05 [[ 9.88290857e-01 1.49100273e-01 3.24081977e-02 1.67231854e+02] [-1.48995996e-01 9.88821813e-01 -5.62272516e-03 -2.46466854e+01] [-3.28842826e-02 7.28196192e-04 9.99458900e-01 -7.05355038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters Centerline goodness [0,1] 0.9999784663752449 Centerline is valid? [True, True] Translation: X:167.26, Y:-24.66, Z:-7.05 [[ 9.88793545e-01 1.45724652e-01 3.24291797e-02 1.67261708e+02] [-1.45618364e-01 9.89324828e-01 -5.62820327e-03 -2.46575089e+01] [-3.29031606e-02 8.42846950e-04 9.99458189e-01 -7.05499125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.29, Y:-24.67, Z:-7.06 [[ 9.88899943e-01 1.44850667e-01 3.30935958e-02 1.67291728e+02] [-1.44739495e-01 9.89453128e-01 -5.74331609e-03 -2.46671173e+01] [-3.35764851e-02 8.89614594e-04 9.99435755e-01 -7.05616853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.32, Y:-24.67, Z:-7.06 [[ 9.88955042e-01 1.44385099e-01 3.34793553e-02 1.67323239e+02] [-1.44270868e-01 9.89521144e-01 -5.81569212e-03 -2.46728497e+01] [-3.39682292e-02 9.21362391e-04 9.99422488e-01 -7.05609270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.35, Y:-24.68, Z:-7.06 [[ 9.88934460e-01 1.44323600e-01 3.43414024e-02 1.67354631e+02] [-1.44203158e-01 9.89530085e-01 -5.97155993e-03 -2.46808871e+01] [-3.48436879e-02 9.53342701e-04 9.99392320e-01 -7.05646653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.38, Y:-24.69, Z:-7.06 [[ 9.88847616e-01 1.44659744e-01 3.54111585e-02 1.67383907e+02] [-1.44531643e-01 9.89480976e-01 -6.16454086e-03 -2.46918023e+01] [-3.59304286e-02 9.77758609e-04 9.99353815e-01 -7.05721562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49264000000002 meters Centerline goodness [0,1] 0.9999132415139356 Centerline is valid? [True, True] Translation: X:167.42, Y:-24.70, Z:-7.06 [[ 9.88782860e-01 1.45041650e-01 3.56563594e-02 1.67415422e+02] [-1.44911812e-01 9.89425069e-01 -6.21286870e-03 -2.46974483e+01] [-3.61804206e-02 9.76150415e-04 9.99344798e-01 -7.05739390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.45, Y:-24.71, Z:-7.06 [[ 9.88752078e-01 1.45672280e-01 3.38956429e-02 1.67445345e+02] [-1.45555135e-01 9.89332480e-01 -5.91155304e-03 -2.47088126e+01] [-3.43952099e-02 9.11375459e-04 9.99407894e-01 -7.06349160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55264000000003 meters Centerline goodness [0,1] 0.9998927544935867 Centerline is valid? [True, True] Translation: X:167.48, Y:-24.72, Z:-7.07 [[ 9.88709860e-01 1.46158908e-01 3.30210009e-02 1.67477501e+02] [-1.46047807e-01 9.89260736e-01 -5.76487444e-03 -2.47170176e+01] [-3.35089674e-02 8.77143436e-04 9.99438032e-01 -7.06581565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.51, Y:-24.72, Z:-7.07 [[ 9.88607025e-01 1.46958567e-01 3.25473319e-02 1.67509244e+02] [-1.46850849e-01 9.89142288e-01 -5.68870615e-03 -2.47238855e+01] [-3.30299464e-02 8.44291557e-04 9.99454006e-01 -7.06889714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.54, Y:-24.73, Z:-7.07 [[ 9.88168895e-01 1.50056182e-01 3.17076728e-02 1.67539236e+02] [-1.49955328e-01 9.88677203e-01 -5.54868584e-03 -2.47311172e+01] [-3.21812679e-02 7.28304293e-04 9.99481784e-01 -7.07195173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.57, Y:-24.74, Z:-7.08 [[ 9.87800265e-01 1.52561315e-01 3.12359095e-02 1.67569855e+02] [-1.52464712e-01 9.88293802e-01 -5.46548124e-03 -2.47388827e+01] [-3.17040768e-02 6.36429859e-04 9.99497097e-01 -7.07539026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67264000000003 meters Centerline goodness [0,1] 0.9999351365375884 Centerline is valid? [True, True] Translation: X:167.60, Y:-24.74, Z:-7.08 [[ 9.86941001e-01 1.58107670e-01 3.08127577e-02 1.67601534e+02] [-1.58016156e-01 9.87421771e-01 -5.39815752e-03 -2.47387103e+01] [-3.12786779e-02 4.58749441e-04 9.99510597e-01 -7.07525937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264000000003 meters Centerline goodness [0,1] 0.9999137633666781 Centerline is valid? [True, True] Translation: X:167.63, Y:-24.74, Z:-7.08 [[ 9.86369802e-01 1.61678684e-01 3.05714928e-02 1.67632573e+02] [-1.61590336e-01 9.86843395e-01 -5.35511823e-03 -2.47442489e+01] [-3.10350842e-02 3.42069122e-04 9.99518237e-01 -7.07941036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.66, Y:-24.75, Z:-7.08 [[ 9.85785064e-01 1.65198645e-01 3.06139787e-02 1.67664904e+02] [-1.65111575e-01 9.86260286e-01 -5.36806454e-03 -2.47454837e+01] [-3.10801484e-02 2.37035595e-04 9.99516867e-01 -7.08096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.70, Y:-24.75, Z:-7.08 [[ 9.84639587e-01 1.71750143e-01 3.14129236e-02 1.67697720e+02] [-1.71661627e-01 9.85140542e-01 -5.51348774e-03 -2.47458386e+01] [-3.18930869e-02 3.64047177e-05 9.99491285e-01 -7.07975277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.73, Y:-24.75, Z:-7.08 [[ 9.84137077e-01 1.74575936e-01 3.15825461e-02 1.67730956e+02] [-1.74487708e-01 9.84643712e-01 -5.54974655e-03 -2.47502225e+01] [-3.20664076e-02 -4.90547205e-05 9.99485739e-01 -7.08071077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264000000004 meters Centerline goodness [0,1] 0.9999565283543809 Centerline is valid? [True, True] Translation: X:167.76, Y:-24.75, Z:-7.08 [[ 9.83278254e-01 1.79238257e-01 3.22105898e-02 1.67762714e+02] [-1.79148907e-01 9.83805675e-01 -5.66241288e-03 -2.47523795e+01] [-3.27038821e-02 -2.02764506e-04 9.99465064e-01 -7.08030703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.79, Y:-24.76, Z:-7.08 [[ 9.82915198e-01 1.81100274e-01 3.28694994e-02 1.67794219e+02] [-1.81008088e-01 9.83464601e-01 -5.78373220e-03 -2.47570121e+01] [-3.33734246e-02 -2.64726956e-04 9.99442917e-01 -7.08231590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.83, Y:-24.76, Z:-7.08 [[ 9.82579320e-01 1.82767472e-01 3.36739013e-02 1.67826119e+02] [-1.82671485e-01 9.83156115e-01 -5.93142462e-03 -2.47624044e+01] [-3.41907735e-02 -3.23166393e-04 9.99415272e-01 -7.08230742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.86, Y:-24.77, Z:-7.08 [[ 9.82298979e-01 1.84179679e-01 3.41549769e-02 1.67857412e+02] [-1.84081570e-01 9.82892521e-01 -6.02228022e-03 -2.47683510e+01] [-3.46798530e-02 -3.71622048e-04 9.99398404e-01 -7.08295969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.89, Y:-24.77, Z:-7.09 [[ 9.81914218e-01 1.86414926e-01 3.30748084e-02 1.67888530e+02] [-1.86324005e-01 9.82471012e-01 -5.83741213e-03 -2.47743484e+01] [-3.35832212e-02 -4.30792816e-04 9.99435832e-01 -7.08655307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97264000000004 meters Centerline goodness [0,1] 0.9998704523372558 Centerline is valid? [True, True] Translation: X:167.92, Y:-24.78, Z:-7.09 [[ 9.81708203e-01 1.87607122e-01 3.24433673e-02 1.67919618e+02] [-1.87520102e-01 9.82244043e-01 -5.73167279e-03 -2.47791214e+01] [-3.29426069e-02 -4.56953370e-04 9.99457141e-01 -7.08861037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.95, Y:-24.79, Z:-7.09 [[ 9.81342897e-01 1.89556673e-01 3.21618796e-02 1.67950452e+02] [-1.89471996e-01 9.81869648e-01 -5.68830869e-03 -2.47857586e+01] [-3.26570303e-02 -5.11594210e-04 9.99466486e-01 -7.09174024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:167.98, Y:-24.79, Z:-7.09 [[ 9.81183105e-01 1.90478273e-01 3.15870409e-02 1.67981491e+02] [-1.90397089e-01 9.81691267e-01 -5.58615712e-03 -2.47910628e+01] [-3.20727638e-02 -5.33037660e-04 9.99485394e-01 -7.09408968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.01, Y:-24.79, Z:-7.10 [[ 9.81129464e-01 1.90827603e-01 3.11416349e-02 1.68011293e+02] [-1.90748664e-01 9.81623423e-01 -5.51383584e-03 -2.47946784e+01] [-3.16215503e-02 -5.30438454e-04 9.99499773e-01 -7.09707950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09264000000002 meters Centerline goodness [0,1] 0.9999785389303802 Centerline is valid? [True, True] Translation: X:168.04, Y:-24.80, Z:-7.10 [[ 9.81090260e-01 1.91159140e-01 3.03329153e-02 1.68041289e+02] [-1.91084400e-01 9.81558916e-01 -5.37088121e-03 -2.48027590e+01] [-3.08002365e-02 -5.26827686e-04 9.99525421e-01 -7.09841104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters Centerline goodness [0,1] 0.9999784487403288 Centerline is valid? [True, True] Translation: X:168.07, Y:-24.81, Z:-7.10 [[ 9.81107346e-01 1.91068490e-01 3.03513972e-02 1.68072025e+02] [-1.90993592e-01 9.81576568e-01 -5.37491439e-03 -2.48096471e+01] [-3.08191971e-02 -5.23554383e-04 9.99524839e-01 -7.09969718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.10, Y:-24.82, Z:-7.10 [[ 9.81120081e-01 1.90925681e-01 3.08345655e-02 1.68101840e+02] [-1.90848296e-01 9.81604354e-01 -5.46087001e-03 -2.48151117e+01] [-3.13099640e-02 -5.26955049e-04 9.99509584e-01 -7.10092546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.13, Y:-24.82, Z:-7.10 [[ 9.81208691e-01 1.90315718e-01 3.17715613e-02 1.68132050e+02] [-1.90233156e-01 9.81722800e-01 -5.62934748e-03 -2.48229048e+01] [-3.22622195e-02 -5.20439722e-04 9.99479304e-01 -7.09964374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21264000000002 meters Centerline goodness [0,1] 0.9998287231309412 Centerline is valid? [True, True] Translation: X:168.16, Y:-24.83, Z:-7.10 [[ 9.81271040e-01 1.89970995e-01 3.19087371e-02 1.68162809e+02] [-1.89887549e-01 9.81789570e-01 -5.65324498e-03 -2.48278440e+01] [-3.24016178e-02 -5.11706316e-04 9.99474799e-01 -7.10045693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264000000002 meters Centerline goodness [0,1] 0.9998699778962423 Centerline is valid? [True, True] Translation: X:168.19, Y:-24.84, Z:-7.10 [[ 9.81368078e-01 1.89453270e-01 3.20024162e-02 1.68194028e+02] [-1.89368894e-01 9.81889616e-01 -5.67493321e-03 -2.48371113e+01] [-3.24979748e-02 -4.91063851e-04 9.99471681e-01 -7.10044446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.22, Y:-24.85, Z:-7.11 [[ 9.81681752e-01 1.87883599e-01 3.16336873e-02 1.68223465e+02] [-1.87800162e-01 9.82191208e-01 -5.61513714e-03 -2.48464974e+01] [-3.21253217e-02 -4.28533915e-04 9.99483757e-01 -7.10517377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.25, Y:-24.85, Z:-7.11 [[ 9.81650903e-01 1.88044863e-01 3.16328133e-02 1.68254605e+02] [-1.87961351e-01 9.82160346e-01 -5.62005577e-03 -2.48521816e+01] [-3.21253175e-02 -4.28813487e-04 9.99483757e-01 -7.10648508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.29, Y:-24.86, Z:-7.11 [[ 9.81766402e-01 1.87459854e-01 3.15203975e-02 1.68285534e+02] [-1.87376465e-01 9.82272183e-01 -5.60533651e-03 -2.48604771e+01] [-3.20123853e-02 -4.03049606e-04 9.99487391e-01 -7.10740255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.32, Y:-24.87, Z:-7.11 [[ 9.81857421e-01 1.86981848e-01 3.15244898e-02 1.68317405e+02] [-1.86898013e-01 9.82363295e-01 -5.61161936e-03 -2.48668012e+01] [-3.20177726e-02 -3.82054378e-04 9.99487227e-01 -7.10870455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.35, Y:-24.87, Z:-7.11 [[ 9.81851156e-01 1.87023793e-01 3.14707363e-02 1.68349524e+02] [-1.86940097e-01 9.82355312e-01 -5.60729995e-03 -2.48737465e+01] [-3.19641434e-02 -3.77608567e-04 9.99488945e-01 -7.10952181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.38, Y:-24.88, Z:-7.11 [[ 9.81814861e-01 1.87195507e-01 3.15819585e-02 1.68380918e+02] [-1.87111095e-01 9.82322604e-01 -5.63374988e-03 -2.48780968e+01] [-3.20782844e-02 -3.78035471e-04 9.99485288e-01 -7.11216035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45264000000003 meters Centerline goodness [0,1] 0.9998053717399766 Centerline is valid? [True, True] Translation: X:168.41, Y:-24.89, Z:-7.11 [[ 9.81593324e-01 1.88278230e-01 3.20289706e-02 1.68413595e+02] [-1.88191785e-01 9.82115644e-01 -5.71966333e-03 -2.48856192e+01] [-3.25330412e-02 -4.13205816e-04 9.99470575e-01 -7.11003398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.45, Y:-24.89, Z:-7.11 [[ 9.81463976e-01 1.88869341e-01 3.25090265e-02 1.68445117e+02] [-1.88780367e-01 9.82002131e-01 -5.81272797e-03 -2.48909071e+01] [-3.30217795e-02 -4.32082857e-04 9.99454539e-01 -7.11224070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.48, Y:-24.89, Z:-7.11 [[ 9.81294407e-01 1.89692399e-01 3.28341502e-02 1.68476662e+02] [-1.89601972e-01 9.81843461e-01 -5.87457968e-03 -2.48940842e+01] [-3.33523588e-02 -4.60727460e-04 9.99443549e-01 -7.11448973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.51, Y:-24.90, Z:-7.11 [[ 9.81215012e-01 1.90182493e-01 3.23685087e-02 1.68507616e+02] [-1.90094683e-01 9.81748646e-01 -5.79726034e-03 -2.49017523e+01] [-3.28802770e-02 -4.64722539e-04 9.99459189e-01 -7.11478398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.54, Y:-24.90, Z:-7.12 [[ 9.81154810e-01 1.90580658e-01 3.18473084e-02 1.68539079e+02] [-1.90495689e-01 9.81671430e-01 -5.70927500e-03 -2.49049220e+01] [-3.23516702e-02 -4.65092338e-04 9.99476440e-01 -7.11823764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.57, Y:-24.91, Z:-7.12 [[ 9.81135289e-01 1.90761200e-01 3.13641374e-02 1.68570245e+02] [-1.90678697e-01 9.81636366e-01 -5.62847573e-03 -2.49115609e+01] [-3.18618727e-02 -4.58176710e-04 9.99492177e-01 -7.11918695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.60, Y:-24.92, Z:-7.12 [[ 9.81196188e-01 1.90443549e-01 3.13894161e-02 1.68601024e+02] [-1.90360572e-01 9.81698049e-01 -5.63862813e-03 -2.49187296e+01] [-3.18887689e-02 -4.42706770e-04 9.99491326e-01 -7.12078070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264000000004 meters Centerline goodness [0,1] 0.99991336928508 Centerline is valid? [True, True] Translation: X:168.63, Y:-24.93, Z:-7.12 [[ 9.81288975e-01 1.89965785e-01 3.13838830e-02 1.68632667e+02] [-1.89882401e-01 9.81790621e-01 -5.64362829e-03 -2.49275843e+01] [-3.18844982e-02 -4.21216828e-04 9.99491471e-01 -7.12033176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.66, Y:-24.93, Z:-7.12 [[ 9.81450616e-01 1.89018187e-01 3.20439203e-02 1.68662630e+02] [-1.88930714e-01 9.81973506e-01 -5.76353325e-03 -2.49343995e+01] [-3.25556934e-02 -3.97457499e-04 9.99469844e-01 -7.12325220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264000000004 meters Centerline goodness [0,1] 0.9999351014580539 Centerline is valid? [True, True] Translation: X:168.69, Y:-24.94, Z:-7.12 [[ 9.81623990e-01 1.88116502e-01 3.20394128e-02 1.68693607e+02] [-1.88028406e-01 9.82146654e-01 -5.76785941e-03 -2.49434834e+01] [-3.25524317e-02 -3.62450565e-04 9.99469963e-01 -7.12212043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.72, Y:-24.95, Z:-7.12 [[ 9.81706359e-01 1.87577219e-01 3.26712825e-02 1.68724106e+02] [-1.87485102e-01 9.82249799e-01 -5.88799929e-03 -2.49502226e+01] [-3.31958152e-02 -3.45092391e-04 9.99448807e-01 -7.12355199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters Centerline goodness [0,1] 0.999914102261258 Centerline is valid? [True, True] Translation: X:168.76, Y:-24.96, Z:-7.12 [[ 9.81952860e-01 1.86208641e-01 3.30896105e-02 1.68755732e+02] [-1.86113253e-01 9.82510179e-01 -5.96695250e-03 -2.49593869e+01] [-3.36219773e-02 -2.99148964e-04 9.99434577e-01 -7.12196766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.79, Y:-24.97, Z:-7.12 [[ 9.81968159e-01 1.86176933e-01 3.28128748e-02 1.68788355e+02] [-1.86083086e-01 9.82516190e-01 -5.91796037e-03 -2.49668602e+01] [-3.33409684e-02 -2.94672372e-04 9.99443992e-01 -7.12423693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.82, Y:-24.98, Z:-7.13 [[ 9.82083145e-01 1.85643467e-01 3.23913596e-02 1.68818648e+02] [-1.85551506e-01 9.82617134e-01 -5.84862934e-03 -2.49760510e+01] [-3.29140648e-02 -2.66425254e-04 9.99458150e-01 -7.12692168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.85, Y:-24.98, Z:-7.13 [[ 9.82077179e-01 1.85679723e-01 3.23644030e-02 1.68850689e+02] [-1.85587734e-01 9.82610285e-01 -5.84987305e-03 -2.49839608e+01] [-3.28877981e-02 -2.61409399e-04 9.99459016e-01 -7.12754181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.88, Y:-24.99, Z:-7.13 [[ 9.82102663e-01 1.85415856e-01 3.30956137e-02 1.68881130e+02] [-1.85319250e-01 9.82660113e-01 -5.98983340e-03 -2.49901687e+01] [-3.36323496e-02 -2.50622974e-04 9.99434241e-01 -7.12766098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.91, Y:-25.00, Z:-7.13 [[ 9.82115066e-01 1.85318752e-01 3.32709586e-02 1.68913082e+02] [-1.85220974e-01 9.82678431e-01 -6.02421187e-03 -2.49968241e+01] [-3.38110529e-02 -2.46010121e-04 9.99428213e-01 -7.12902143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.94, Y:-25.00, Z:-7.13 [[ 9.82203872e-01 1.84929131e-01 3.28141738e-02 1.68944127e+02] [-1.84833583e-01 9.82751834e-01 -5.94808935e-03 -2.50045104e+01] [-3.33481645e-02 -2.22924911e-04 9.99443770e-01 -7.13117673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:168.98, Y:-25.01, Z:-7.13 [[ 9.82328706e-01 1.84329671e-01 3.24482051e-02 1.68975834e+02] [-1.84235722e-01 9.82864454e-01 -5.88762065e-03 -2.50137847e+01] [-3.29774506e-02 -1.94539726e-04 9.99456077e-01 -7.13275644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.01, Y:-25.02, Z:-7.14 [[ 9.82525592e-01 1.83358633e-01 3.19854930e-02 1.69006415e+02] [-1.83266622e-01 9.83046076e-01 -5.81008363e-03 -2.50226736e+01] [-3.25085423e-02 -1.53317404e-04 9.99471446e-01 -7.13528533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.04, Y:-25.03, Z:-7.14 [[ 9.82447922e-01 1.83794558e-01 3.18691186e-02 1.69037991e+02] [-1.83703252e-01 9.82964666e-01 -5.79490153e-03 -2.50288383e+01] [-3.23912889e-02 -1.61271747e-04 9.99475252e-01 -7.13821061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.07, Y:-25.04, Z:-7.14 [[ 9.82264197e-01 1.85108716e-01 2.98632055e-02 1.69068962e+02] [-1.85028992e-01 9.82718031e-01 -5.43542594e-03 -2.50357339e+01] [-3.03532552e-02 -1.86534501e-04 9.99539216e-01 -7.14234343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.10, Y:-25.04, Z:-7.14 [[ 9.81946305e-01 1.86851782e-01 2.94595699e-02 1.69100611e+02] [-1.86774837e-01 9.82388089e-01 -5.36683166e-03 -2.50405454e+01] [-2.99435326e-02 -2.32365833e-04 9.99551565e-01 -7.14416188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.13, Y:-25.05, Z:-7.14 [[ 9.81597830e-01 1.88737282e-01 2.90506066e-02 1.69132046e+02] [-1.88663140e-01 9.82027576e-01 -5.29720484e-03 -2.50451230e+01] [-2.95282769e-02 -2.81053884e-04 9.99563906e-01 -7.14437246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17264000000003 meters Centerline goodness [0,1] 0.9999350424389399 Centerline is valid? [True, True] Translation: X:169.16, Y:-25.04, Z:-7.15 [[ 9.80790902e-01 1.92858771e-01 2.92352618e-02 1.69163693e+02] [-1.92785367e-01 9.81226443e-01 -5.33576019e-03 -2.50446803e+01] [-2.97154601e-02 -4.02865623e-04 9.99558317e-01 -7.14510168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.20, Y:-25.05, Z:-7.15 [[ 9.80399068e-01 1.94810790e-01 2.94350695e-02 1.69195554e+02] [-1.94737116e-01 9.80840733e-01 -5.37693847e-03 -2.50487320e+01] [-2.99186008e-02 -4.60555091e-04 9.99552232e-01 -7.14615314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.23, Y:-25.05, Z:-7.15 [[ 9.80040188e-01 1.96518689e-01 3.00272178e-02 1.69226523e+02] [-1.96442641e-01 9.80499943e-01 -5.49102252e-03 -2.50498074e+01] [-3.05207738e-02 -5.17203227e-04 9.99533999e-01 -7.14808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.26, Y:-25.05, Z:-7.15 [[ 9.79609517e-01 1.98564004e-01 3.06191090e-02 1.69258897e+02] [-1.98485799e-01 9.80087746e-01 -5.60332439e-03 -2.50530782e+01] [-3.11220320e-02 -5.88388418e-04 9.99515419e-01 -7.14783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29264000000003 meters Centerline goodness [0,1] 0.9999784222337303 Centerline is valid? [True, True] Translation: X:169.29, Y:-25.06, Z:-7.15 [[ 9.79579790e-01 1.98828663e-01 2.98428879e-02 1.69290023e+02] [-1.98754350e-01 9.80034096e-01 -5.46611166e-03 -2.50607917e+01] [-3.03338673e-02 -5.76911276e-04 9.99539656e-01 -7.14900616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264000000004 meters Centerline goodness [0,1] 0.9999784115196131 Centerline is valid? [True, True] Translation: X:169.32, Y:-25.07, Z:-7.15 [[ 9.79815356e-01 1.97786155e-01 2.90259499e-02 1.69319888e+02] [-1.97715226e-01 9.80245052e-01 -5.32231413e-03 -2.50686870e+01] [-2.95052238e-02 -5.23987124e-04 9.99564489e-01 -7.15195143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.35, Y:-25.08, Z:-7.15 [[ 9.79974560e-01 1.97028233e-01 2.88051599e-02 1.69351017e+02] [-1.96957995e-01 9.80397690e-01 -5.28378943e-03 -2.50770162e+01] [-2.92815679e-02 -4.95427323e-04 9.99571080e-01 -7.15310963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.38, Y:-25.08, Z:-7.15 [[ 9.80164817e-01 1.96084423e-01 2.87720580e-02 1.69381466e+02] [-1.96013784e-01 9.80586909e-01 -5.28304424e-03 -2.50829018e+01] [-2.92494261e-02 -4.61465860e-04 9.99572037e-01 -7.15482905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.41, Y:-25.09, Z:-7.16 [[ 9.80346174e-01 1.95104092e-01 2.92535930e-02 1.69412468e+02] [-1.95030483e-01 9.80782445e-01 -5.37645836e-03 -2.50882276e+01] [-2.97403795e-02 -4.34551973e-04 9.99557563e-01 -7.15668503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.44, Y:-25.10, Z:-7.16 [[ 9.80841202e-01 1.92396280e-01 3.05648134e-02 1.69443471e+02] [-1.92314448e-01 9.81317247e-01 -5.62259319e-03 -2.50998374e+01] [-3.10755445e-02 -3.63184145e-04 9.99516973e-01 -7.15513212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.47, Y:-25.11, Z:-7.16 [[ 9.81169287e-01 1.90756353e-01 3.03124454e-02 1.69474924e+02] [-1.90674885e-01 9.81637368e-01 -5.58263469e-03 -2.51090241e+01] [-3.08207522e-02 -3.02312356e-04 9.99524882e-01 -7.15648586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.51, Y:-25.12, Z:-7.16 [[ 9.81760577e-01 1.87578421e-01 3.09920140e-02 1.69505291e+02] [-1.87491646e-01 9.82249609e-01 -5.70871048e-03 -2.51187656e+01] [-3.15127245e-02 -2.06156804e-04 9.99503330e-01 -7.15796568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.54, Y:-25.13, Z:-7.16 [[ 9.82057294e-01 1.86014691e-01 3.10162133e-02 1.69535936e+02] [-1.85926829e-01 9.82546952e-01 -5.71858992e-03 -2.51277647e+01] [-3.15386276e-02 -1.50763237e-04 9.99502522e-01 -7.15770646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.57, Y:-25.14, Z:-7.16 [[ 9.82479794e-01 1.83888323e-01 3.03074171e-02 1.69566403e+02] [-1.83803262e-01 9.82947140e-01 -5.59302500e-03 -2.51377560e+01] [-3.08190809e-02 -7.55680706e-05 9.99524976e-01 -7.15980870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.60, Y:-25.14, Z:-7.16 [[ 9.82598804e-01 1.83295482e-01 3.00392519e-02 1.69597999e+02] [-1.83211468e-01 9.83057864e-01 -5.54923398e-03 -2.51447884e+01] [-3.05474723e-02 -5.08647770e-05 9.99533316e-01 -7.16173924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:169.63, Y:-25.15, Z:-7.16 [[ 9.82658871e-01 1.83009424e-01 2.98176777e-02 1.69629811e+02] [-1.82926348e-01 9.83111158e-01 -5.51375432e-03 -2.51517624e+01] [-3.03231607e-02 -3.62993129e-05 9.99540147e-01 -7.16280143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.66, Y:-25.16, Z:-7.17 [[ 9.82903496e-01 1.81821264e-01 2.90128530e-02 1.69659507e+02] [-1.81741915e-01 9.83331596e-01 -5.37108782e-03 -2.51626374e+01] [-2.95058330e-02 6.40954139e-06 9.99564608e-01 -7.16690195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.69, Y:-25.17, Z:-7.17 [[ 9.83008017e-01 1.81247136e-01 2.90639781e-02 1.69691341e+02] [-1.81167127e-01 9.83437581e-01 -5.38491931e-03 -2.51713364e+01] [-2.95586095e-02 2.79814425e-05 9.99563048e-01 -7.16684163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.72, Y:-25.18, Z:-7.17 [[ 9.83091759e-01 1.80756954e-01 2.92833816e-02 1.69723457e+02] [-1.80675333e-01 9.83527794e-01 -5.43166518e-03 -2.51796534e+01] [-2.97828309e-02 4.90405571e-05 9.99556392e-01 -7.16809457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.75, Y:-25.19, Z:-7.17 [[ 9.83402478e-01 1.78843218e-01 3.05723744e-02 1.69752429e+02] [-1.78753108e-01 9.83877578e-01 -5.67778218e-03 -2.51929829e+01] [-3.10949066e-02 1.18638127e-04 9.99516429e-01 -7.16854288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.78, Y:-25.20, Z:-7.17 [[ 9.83574499e-01 1.77753155e-01 3.13850534e-02 1.69784371e+02] [-1.77657473e-01 9.84075094e-01 -5.83374008e-03 -2.52037398e+01] [-3.19222151e-02 1.62128691e-04 9.99490343e-01 -7.16694052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264000000003 meters Centerline goodness [0,1] 0.9999571220307006 Centerline is valid? [True, True] Translation: X:169.81, Y:-25.22, Z:-7.17 [[ 9.83748301e-01 1.76717741e-01 3.17823905e-02 1.69814881e+02] [-1.76618865e-01 9.84261550e-01 -5.91425401e-03 -2.52168816e+01] [-3.23273385e-02 2.04767603e-04 9.99477314e-01 -7.16815953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.85, Y:-25.22, Z:-7.17 [[ 9.83676952e-01 1.77257523e-01 3.09745764e-02 1.69847103e+02] [-1.77163705e-01 9.84164486e-01 -5.76942207e-03 -2.52235126e+01] [-3.15067515e-02 1.87676815e-04 9.99503521e-01 -7.16905163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.88, Y:-25.23, Z:-7.17 [[ 9.83454361e-01 1.78468870e-01 3.10866806e-02 1.69877167e+02] [-1.78374741e-01 9.83945546e-01 -5.79772452e-03 -2.52313593e+01] [-3.16223143e-02 1.56718854e-04 9.99499877e-01 -7.17205006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.91, Y:-25.24, Z:-7.17 [[ 9.83185515e-01 1.80003819e-01 3.07387052e-02 1.69909473e+02] [-1.79912471e-01 9.83665905e-01 -5.73492046e-03 -2.52391155e+01] [-3.12689239e-02 1.08214305e-04 9.99511002e-01 -7.17311988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264000000003 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:169.94, Y:-25.24, Z:-7.17 [[ 9.82244115e-01 1.84969167e-01 3.13513231e-02 1.69941661e+02] [-1.84876457e-01 9.82744323e-01 -5.85579815e-03 -2.52437622e+01] [-3.18934769e-02 -4.42982603e-05 9.99491273e-01 -7.17267437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:169.97, Y:-25.25, Z:-7.17 [[ 9.81569545e-01 1.88571486e-01 3.10164979e-02 1.69974031e+02] [-1.88482380e-01 9.82059454e-01 -5.79842874e-03 -2.52472205e+01] [-3.15534633e-02 -1.54502270e-04 9.99502054e-01 -7.17290149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.01, Y:-25.24, Z:-7.18 [[ 9.79983362e-01 1.96748225e-01 3.03767521e-02 1.70005986e+02] [-1.96666483e-01 9.80453963e-01 -5.68513038e-03 -2.52422953e+01] [-3.09015463e-02 -4.02755830e-04 9.99522352e-01 -7.17770997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.04, Y:-25.24, Z:-7.18 [[ 9.79094972e-01 2.01152492e-01 3.01779879e-02 1.70038195e+02] [-2.01073810e-01 9.79559793e-01 -5.65105268e-03 -2.52444685e+01] [-3.06978670e-02 -5.35085745e-04 9.99528566e-01 -7.17834080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264000000003 meters Centerline goodness [0,1] 0.9999784096552022 Centerline is valid? [True, True] Translation: X:170.07, Y:-25.24, Z:-7.18 [[ 9.78182947e-01 2.05595187e-01 2.98117612e-02 1.70068698e+02] [-2.05520423e-01 9.78636897e-01 -5.58379728e-03 -2.52433091e+01] [-3.03228914e-02 -6.64950506e-04 9.99539934e-01 -7.18030644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07264000000004 meters Centerline goodness [0,1] 0.9999569966457383 Centerline is valid? [True, True] Translation: X:170.10, Y:-25.24, Z:-7.18 [[ 9.76314989e-01 2.14295163e-01 2.97762444e-02 1.70100875e+02] [-2.14224548e-01 9.76768506e-01 -5.57924378e-03 -2.52382330e+01] [-3.02801028e-02 -9.31703180e-04 9.99541018e-01 -7.18040053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264000000004 meters Centerline goodness [0,1] 0.9998058838754206 Centerline is valid? [True, True] Translation: X:170.13, Y:-25.24, Z:-7.18 [[ 9.75436670e-01 2.18210774e-01 3.01224261e-02 1.70131794e+02] [-2.18140334e-01 9.75901084e-01 -5.64529201e-03 -2.52360654e+01] [-3.06283719e-02 -1.06429126e-03 9.99530275e-01 -7.18189568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13264000000004 meters Centerline goodness [0,1] 0.9997844966920242 Centerline is valid? [True, True] Translation: X:170.16, Y:-25.24, Z:-7.18 [[ 9.74055638e-01 2.24245593e-01 3.04881749e-02 1.70162835e+02] [-2.24176379e-01 9.74531838e-01 -5.71381429e-03 -2.52369569e+01] [-3.09929948e-02 -1.26915565e-03 9.99518796e-01 -7.18114913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264000000004 meters Centerline goodness [0,1] 0.9988703214255265 Centerline is valid? [True, True] Translation: X:170.19, Y:-25.23, Z:-7.18 [[ 9.73548600e-01 2.26394391e-01 3.08010419e-02 1.70194397e+02] [-2.26324815e-01 9.74034781e-01 -5.77266533e-03 -2.52283993e+01] [-3.13081852e-02 -1.35106987e-03 9.99508865e-01 -7.18483372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19264000000004 meters Centerline goodness [0,1] 0.9988703214255265 Centerline is valid? [True, True] Translation: X:170.22, Y:-25.23, Z:-7.19 [[ 9.73558641e-01 2.26351204e-01 3.08010511e-02 1.70222263e+02] [-2.26281608e-01 9.74044820e-01 -5.77261631e-03 -2.52335310e+01] [-3.13082429e-02 -1.34973088e-03 9.99508865e-01 -7.18600732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264000000004 meters Centerline goodness [0,1] 0.9993221057091409 Centerline is valid? [True, True] Translation: X:170.25, Y:-25.24, Z:-7.19 [[ 9.73237456e-01 2.27715319e-01 3.08964201e-02 1.70250949e+02] [-2.27646025e-01 9.73726746e-01 -5.78895961e-03 -2.52382965e+01] [-3.14029054e-02 -1.39941490e-03 9.99505827e-01 -7.18668425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25264 meters Centerline goodness [0,1] 0.9995480177349232 Centerline is valid? [True, True] Translation: X:170.28, Y:-25.24, Z:-7.19 [[ 9.72971663e-01 2.28834698e-01 3.09971463e-02 1.70280369e+02] [-2.28765564e-01 9.73464228e-01 -5.80636679e-03 -2.52447125e+01] [-3.15033113e-02 -1.44164931e-03 9.99502608e-01 -7.18635587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters Centerline goodness [0,1] 0.999613634412295 Centerline is valid? [True, True] Translation: X:170.31, Y:-25.25, Z:-7.19 [[ 9.72978941e-01 2.28788909e-01 3.11065323e-02 1.70309603e+02] [-2.28719251e-01 9.73474986e-01 -5.82724870e-03 -2.52468252e+01] [-3.16146410e-02 -1.44487250e-03 9.99499088e-01 -7.18767270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31264000000002 meters Centerline goodness [0,1] 0.9996357168877366 Centerline is valid? [True, True] Translation: X:170.34, Y:-25.25, Z:-7.19 [[ 9.73271104e-01 2.27672096e-01 3.01458760e-02 1.70338932e+02] [-2.27606167e-01 9.73736900e-01 -5.64641553e-03 -2.52477703e+01] [-3.06396831e-02 -1.36589420e-03 9.99529561e-01 -7.19073126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters Centerline goodness [0,1] 0.9993576704849588 Centerline is valid? [True, True] Translation: X:170.37, Y:-25.25, Z:-7.19 [[ 9.73563295e-01 2.26533647e-01 2.92748700e-02 1.70367380e+02] [-2.26470975e-01 9.74002483e-01 -5.48271950e-03 -2.52498987e+01] [-2.97558165e-02 -1.29213390e-03 9.99556362e-01 -7.19396327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37264000000002 meters Centerline goodness [0,1] 0.9997625523464145 Centerline is valid? [True, True] Translation: X:170.40, Y:-25.26, Z:-7.19 [[ 9.73976814e-01 2.24797825e-01 2.88981543e-02 1.70395979e+02] [-2.24736027e-01 9.74404659e-01 -5.41101070e-03 -2.52597684e+01] [-2.93748796e-02 -1.22425741e-03 9.99567715e-01 -7.19480623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters Centerline goodness [0,1] 0.9996797608881298 Centerline is valid? [True, True] Translation: X:170.42, Y:-25.27, Z:-7.20 [[ 9.75223432e-01 2.19304634e-01 2.90643424e-02 1.70424814e+02] [-2.19239710e-01 9.75655852e-01 -5.44126610e-03 -2.52666486e+01] [-2.95500906e-02 -1.06560780e-03 9.99562733e-01 -7.19641676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43264000000002 meters Centerline goodness [0,1] 0.9999354227656277 Centerline is valid? [True, True] Translation: X:170.45, Y:-25.28, Z:-7.20 [[ 9.76103192e-01 2.15357823e-01 2.90442209e-02 1.70453839e+02] [-2.15291263e-01 9.76534747e-01 -5.43683673e-03 -2.52780288e+01] [-2.95335563e-02 -9.46053316e-04 9.99563342e-01 -7.19625880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264000000002 meters Centerline goodness [0,1] 0.9999355393210142 Centerline is valid? [True, True] Translation: X:170.48, Y:-25.29, Z:-7.20 [[ 9.77072990e-01 2.10845736e-01 2.95372326e-02 1.70483830e+02] [-2.10774824e-01 9.77519001e-01 -5.52950281e-03 -2.52877156e+01] [-3.00390782e-02 -8.22977156e-04 9.99548386e-01 -7.19700594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.51, Y:-25.30, Z:-7.20 [[ 9.79152939e-01 2.00854444e-01 3.02822531e-02 1.70511686e+02] [-2.00775109e-01 9.79620954e-01 -5.66946063e-03 -2.53014856e+01] [-3.08038660e-02 -5.28653631e-04 9.99525309e-01 -7.19891693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264000000002 meters Centerline goodness [0,1] 0.9999570160545036 Centerline is valid? [True, True] Translation: X:170.54, Y:-25.32, Z:-7.20 [[ 9.80210016e-01 1.95649709e-01 3.01581783e-02 1.70540516e+02] [-1.95568562e-01 9.80673778e-01 -5.64610256e-03 -2.53165278e+01] [-3.06799930e-02 -3.63625272e-04 9.99529192e-01 -7.19793911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.57, Y:-25.34, Z:-7.20 [[ 9.82123594e-01 1.85911993e-01 2.94953696e-02 1.70568264e+02] [-1.85830004e-01 9.82566399e-01 -5.52104571e-03 -2.53357641e+01] [-3.00075877e-02 -5.87754057e-05 9.99549669e-01 -7.20290825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.60, Y:-25.35, Z:-7.20 [[ 9.82897001e-01 1.81781388e-01 2.94790226e-02 1.70598856e+02] [-1.81697483e-01 9.83338966e-01 -5.52294791e-03 -2.53494553e+01] [-2.99918407e-02 7.22247445e-05 9.99550141e-01 -7.20347619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61264000000003 meters Centerline goodness [0,1] 0.999891922270497 Centerline is valid? [True, True] Translation: X:170.63, Y:-25.36, Z:-7.20 [[ 9.83526080e-01 1.78283090e-01 2.98594931e-02 1.70629772e+02] [-1.78195198e-01 9.83979220e-01 -5.60060957e-03 -2.53619017e+01] [-3.03796147e-02 1.87527288e-04 9.99538415e-01 -7.20281163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.66, Y:-25.38, Z:-7.21 [[ 9.84369255e-01 1.73567909e-01 2.98555100e-02 1.70658310e+02] [-1.73477703e-01 9.84821845e-01 -5.60538714e-03 -2.53776228e+01] [-3.03752737e-02 3.38505474e-04 9.99538508e-01 -7.20530968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67264000000003 meters Centerline goodness [0,1] 0.9998919199342873 Centerline is valid? [True, True] Translation: X:170.69, Y:-25.38, Z:-7.20 [[ 9.84533156e-01 1.72662022e-01 2.97033933e-02 1.70690250e+02] [-1.72572178e-01 9.84981061e-01 -5.58154397e-03 -2.53841848e+01] [-3.02210005e-02 3.69235831e-04 9.99543173e-01 -7.20409126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264000000003 meters Centerline goodness [0,1] 0.999740428293316 Centerline is valid? [True, True] Translation: X:170.72, Y:-25.40, Z:-7.21 [[ 9.84601687e-01 1.72295433e-01 2.95601229e-02 1.70719567e+02] [-1.72206121e-01 9.85045246e-01 -5.56017909e-03 -2.53952203e+01] [-3.00760520e-02 3.84127621e-04 9.99547539e-01 -7.20861547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.75, Y:-25.40, Z:-7.21 [[ 9.84558795e-01 1.72657960e-01 2.88653369e-02 1.70751203e+02] [-1.72572823e-01 9.84981773e-01 -5.43395378e-03 -2.54028913e+01] [-2.93700461e-02 3.68674312e-04 9.99568539e-01 -7.21109917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.78, Y:-25.41, Z:-7.21 [[ 9.84413594e-01 1.73537975e-01 2.85385342e-02 1.70783873e+02] [-1.73454970e-01 9.84827118e-01 -5.37778952e-03 -2.54080507e+01] [-2.90387731e-02 3.43818520e-04 9.99578227e-01 -7.21076019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.81, Y:-25.42, Z:-7.22 [[ 9.83943248e-01 1.76311606e-01 2.77471136e-02 1.70813904e+02] [-1.76234074e-01 9.84334369e-01 -5.23465055e-03 -2.54154664e+01] [-2.82353672e-02 2.60612191e-04 9.99601269e-01 -7.21510191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.84, Y:-25.42, Z:-7.22 [[ 9.83624813e-01 1.78082534e-01 2.77279242e-02 1.70844981e+02] [-1.78005683e-01 9.84015531e-01 -5.23561664e-03 -2.54214861e+01] [-2.82170800e-02 2.14154350e-04 9.99601796e-01 -7.21697257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.88, Y:-25.43, Z:-7.22 [[ 9.83253883e-01 1.80131693e-01 2.76473295e-02 1.70876616e+02] [-1.80055970e-01 9.83642490e-01 -5.22490832e-03 -2.54263811e+01] [-2.81362596e-02 1.59344662e-04 9.99604084e-01 -7.21598680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.91, Y:-25.43, Z:-7.22 [[ 9.82529281e-01 1.84005495e-01 2.78960482e-02 1.70908355e+02] [-1.83929819e-01 9.82925213e-01 -5.27699585e-03 -2.54315448e+01] [-2.83907254e-02 5.38878454e-05 9.99596901e-01 -7.21690287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.94, Y:-25.44, Z:-7.22 [[ 9.82143205e-01 1.86062808e-01 2.78452230e-02 1.70940898e+02] [-1.85988102e-01 9.82537852e-01 -5.27204105e-03 -2.54377670e+01] [-2.83399164e-02 -9.80897481e-07 9.99598344e-01 -7.21850509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:170.97, Y:-25.44, Z:-7.22 [[ 9.81506053e-01 1.89314379e-01 2.83889620e-02 1.70973184e+02] [-1.89237913e-01 9.81916523e-01 -5.38092942e-03 -2.54433871e+01] [-2.88942782e-02 -9.08531406e-05 9.99582469e-01 -7.21896836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.00, Y:-25.45, Z:-7.22 [[ 9.81197162e-01 1.90856751e-01 2.87372546e-02 1.71004723e+02] [-1.90778880e-01 9.81617891e-01 -5.45306930e-03 -2.54488517e+01] [-2.92497583e-02 -1.31925105e-04 9.99572126e-01 -7.22140993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.04, Y:-25.46, Z:-7.22 [[ 9.80732587e-01 1.93341937e-01 2.79729755e-02 1.71035492e+02] [-1.93269010e-01 9.81131417e-01 -5.31343872e-03 -2.54560944e+01] [-2.84724756e-02 -1.95246769e-04 9.99594558e-01 -7.22307815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.07, Y:-25.46, Z:-7.23 [[ 9.80474547e-01 1.94654368e-01 2.79166607e-02 1.71066094e+02] [-1.94582135e-01 9.80871870e-01 -5.30731897e-03 -2.54618428e+01] [-2.84157600e-02 -2.28392284e-04 9.99596165e-01 -7.22575092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.10, Y:-25.47, Z:-7.23 [[ 9.80198224e-01 1.96050693e-01 2.78490148e-02 1.71097737e+02] [-1.95979248e-01 9.80593726e-01 -5.29889395e-03 -2.54680906e+01] [-2.83474210e-02 -2.63862525e-04 9.99598096e-01 -7.22715346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09264000000002 meters Centerline goodness [0,1] 0.999850395383629 Centerline is valid? [True, True] Translation: X:171.13, Y:-25.47, Z:-7.23 [[ 9.79909213e-01 1.97476913e-01 2.79428443e-02 1.71129778e+02] [-1.97405428e-01 9.80307491e-01 -5.32157416e-03 -2.54742048e+01] [-2.84434677e-02 -3.01409590e-04 9.99595357e-01 -7.22826688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.16, Y:-25.48, Z:-7.23 [[ 9.79435754e-01 1.99882998e-01 2.74297404e-02 1.71160522e+02] [-1.99814897e-01 9.79819707e-01 -5.22959032e-03 -2.54799529e+01] [-2.79215064e-02 -3.58823015e-04 9.99610054e-01 -7.23090219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15264000000002 meters Centerline goodness [0,1] 0.9999786087105331 Centerline is valid? [True, True] Translation: X:171.19, Y:-25.49, Z:-7.23 [[ 9.79149098e-01 2.01236516e-01 2.77652269e-02 1.71192363e+02] [-2.01167239e-01 9.79542599e-01 -5.29508048e-03 -2.54859318e+01] [-2.82627861e-02 -4.00780755e-04 9.99600447e-01 -7.23186089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.22, Y:-25.49, Z:-7.23 [[ 9.78560645e-01 2.03918215e-01 2.89210125e-02 1.71224305e+02] [-2.03844066e-01 9.78987803e-01 -5.52072096e-03 -2.54916799e+01] [-2.94390940e-02 -4.93016519e-04 9.99566454e-01 -7.23066003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.26, Y:-25.50, Z:-7.23 [[ 9.78253902e-01 2.05296398e-01 2.95413707e-02 1.71256064e+02] [-2.05219503e-01 9.78699697e-01 -5.64438978e-03 -2.54966766e+01] [-3.00709034e-02 -5.40819082e-04 9.99547622e-01 -7.23108102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.29, Y:-25.50, Z:-7.23 [[ 9.78043137e-01 2.06252788e-01 2.98564798e-02 1.71287408e+02] [-2.06174531e-01 9.78498575e-01 -5.70977639e-03 -2.55021386e+01] [-3.03921803e-02 -5.71238103e-04 9.99537888e-01 -7.23171423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27264000000002 meters Centerline goodness [0,1] 0.9999571449998929 Centerline is valid? [True, True] Translation: X:171.32, Y:-25.51, Z:-7.23 [[ 9.77771159e-01 2.07584097e-01 2.95364638e-02 1.71319415e+02] [-2.07507965e-01 9.78216991e-01 -5.65358338e-03 -2.55067824e+01] [-3.00666647e-02 -6.01140718e-04 9.99547715e-01 -7.23425713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264000000003 meters Centerline goodness [0,1] 0.9999574558604553 Centerline is valid? [True, True] Translation: X:171.35, Y:-25.51, Z:-7.24 [[ 9.77734639e-01 2.07861794e-01 2.87828003e-02 1.71350007e+02] [-2.07789474e-01 9.78158028e-01 -5.51424377e-03 -2.55120802e+01] [-2.93003278e-02 -5.89295807e-04 9.99570480e-01 -7.23758741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33264000000003 meters Centerline goodness [0,1] 0.999978624257193 Centerline is valid? [True, True] Translation: X:171.38, Y:-25.52, Z:-7.24 [[ 9.77739967e-01 2.07924837e-01 2.81392678e-02 1.71382135e+02] [-2.07855631e-01 9.78144638e-01 -5.39482324e-03 -2.55191630e+01] [-2.86459916e-02 -5.74170952e-04 9.99589454e-01 -7.24035254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264000000003 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:171.41, Y:-25.53, Z:-7.24 [[ 9.77910263e-01 2.07183721e-01 2.76843470e-02 1.71413820e+02] [-2.07116240e-01 9.78301905e-01 -5.31463820e-03 -2.55270442e+01] [-2.81847560e-02 -5.36638638e-04 9.99602587e-01 -7.24259470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39264000000003 meters Centerline goodness [0,1] 0.9998704663212435 Centerline is valid? [True, True] Translation: X:171.44, Y:-25.53, Z:-7.24 [[ 9.77999896e-01 2.06729138e-01 2.79153370e-02 1.71444752e+02] [-2.06660305e-01 9.78398071e-01 -5.36027086e-03 -2.55328026e+01] [-2.84204360e-02 -5.26647693e-04 9.99595919e-01 -7.24306679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.48, Y:-25.54, Z:-7.24 [[ 9.78263523e-01 2.05383440e-01 2.86028479e-02 1.71476269e+02] [-2.05310501e-01 9.78681458e-01 -5.49565405e-03 -2.55414003e+01] [-2.91217932e-02 -4.96267120e-04 9.99575747e-01 -7.24456611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45264000000003 meters Centerline goodness [0,1] 0.999978397995334 Centerline is valid? [True, True] Translation: X:171.51, Y:-25.55, Z:-7.25 [[ 9.78403194e-01 2.04698633e-01 2.87342831e-02 1.71507184e+02] [-2.04624713e-01 9.78824929e-01 -5.52135319e-03 -2.55487575e+01] [-2.92560461e-02 -4.77634843e-04 9.99571836e-01 -7.24542123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264000000003 meters Centerline goodness [0,1] 0.9999137205841117 Centerline is valid? [True, True] Translation: X:171.54, Y:-25.56, Z:-7.24 [[ 9.78535640e-01 2.03983046e-01 2.93072999e-02 1.71538660e+02] [-2.03905675e-01 9.78974313e-01 -5.63656682e-03 -2.55562682e+01] [-2.98408578e-02 -4.60343227e-04 9.99554556e-01 -7.24483101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.57, Y:-25.56, Z:-7.25 [[ 9.78754983e-01 2.02750342e-01 3.05119843e-02 1.71569757e+02] [-2.02665704e-01 9.79230366e-01 -5.87391082e-03 -2.55626035e+01] [-3.10691990e-02 -4.34613278e-04 9.99517141e-01 -7.24564572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264000000003 meters Centerline goodness [0,1] 0.9998914647911783 Centerline is valid? [True, True] Translation: X:171.60, Y:-25.57, Z:-7.25 [[ 9.78890789e-01 2.02046542e-01 3.08223558e-02 1.71600165e+02] [-2.01959648e-01 9.79375835e-01 -5.93924431e-03 -2.55679305e+01] [-3.13866743e-02 -4.11000592e-04 9.99507232e-01 -7.24660959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.63, Y:-25.58, Z:-7.25 [[ 9.79008276e-01 2.01401555e-01 3.13082954e-02 1.71630581e+02] [-2.01311412e-01 9.79508683e-01 -6.03781341e-03 -2.55786194e+01] [-3.18827722e-02 -3.91647862e-04 9.99491538e-01 -7.24655020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.66, Y:-25.58, Z:-7.25 [[ 9.79006501e-01 2.01436680e-01 3.11373699e-02 1.71661594e+02] [-2.01347369e-01 9.79501463e-01 -6.01014349e-03 -2.55847247e+01] [-3.17097628e-02 -3.85457957e-04 9.99497045e-01 -7.24845521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.69, Y:-25.59, Z:-7.25 [[ 9.78928615e-01 2.01842680e-01 3.09564142e-02 1.71693888e+02] [-2.01754429e-01 9.79417878e-01 -5.98085974e-03 -2.55909570e+01] [-3.15264583e-02 -3.90758929e-04 9.99502841e-01 -7.25007758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264000000004 meters Centerline goodness [0,1] 0.9999130661566548 Centerline is valid? [True, True] Translation: X:171.73, Y:-25.60, Z:-7.25 [[ 9.78813490e-01 2.02459996e-01 3.05630819e-02 1.71725073e+02] [-2.02374074e-01 9.79290453e-01 -5.91128993e-03 -2.55951875e+01] [-3.11269340e-02 -3.99125083e-04 9.99515360e-01 -7.25102229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69264000000004 meters Centerline goodness [0,1] 0.999891800653524 Centerline is valid? [True, True] Translation: X:171.76, Y:-25.60, Z:-7.25 [[ 9.78676727e-01 2.03097670e-01 3.07115630e-02 1.71757623e+02] [-2.03011080e-01 9.79158395e-01 -5.94463672e-03 -2.56004481e+01] [-3.12788266e-02 -4.16909968e-04 9.99510611e-01 -7.25214171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264000000004 meters Centerline goodness [0,1] 0.9999569336778639 Centerline is valid? [True, True] Translation: X:171.79, Y:-25.60, Z:-7.25 [[ 9.78351447e-01 2.04528468e-01 3.15682131e-02 1.71788549e+02] [-2.04437504e-01 9.78860504e-01 -6.11729245e-03 -2.56041651e+01] [-3.21520374e-02 -4.68864762e-04 9.99482880e-01 -7.25266478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.82, Y:-25.61, Z:-7.25 [[ 9.78118907e-01 2.05485998e-01 3.25408663e-02 1.71820658e+02] [-2.05389702e-01 9.78659922e-01 -6.31084484e-03 -2.56104249e+01] [-3.31432320e-02 -5.10802171e-04 9.99450482e-01 -7.25376473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.85, Y:-25.61, Z:-7.25 [[ 9.77841797e-01 2.06721077e-01 3.30426369e-02 1.71852013e+02] [-2.06622255e-01 9.78399759e-01 -6.41517740e-03 -2.56137418e+01] [-3.36550603e-02 -5.54315550e-04 9.99433354e-01 -7.25460575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:171.88, Y:-25.62, Z:-7.25 [[ 9.77407954e-01 2.08651720e-01 3.37365081e-02 1.71883502e+02] [-2.08549659e-01 9.77989808e-01 -6.55550409e-03 -2.56179364e+01] [-3.43617783e-02 -6.28335416e-04 9.99409262e-01 -7.25445722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters Centerline goodness [0,1] 0.9999784199054792 Centerline is valid? [True, True] Translation: X:171.91, Y:-25.62, Z:-7.26 [[ 9.77184800e-01 2.09705973e-01 3.36640877e-02 1.71914558e+02] [-2.09604788e-01 9.77764272e-01 -6.54687051e-03 -2.56209069e+01] [-3.42884600e-02 -6.58651617e-04 9.99411761e-01 -7.25659025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87264000000002 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:171.95, Y:-25.62, Z:-7.26 [[ 9.76762440e-01 2.11674334e-01 3.36022573e-02 1.71945898e+02] [-2.11574482e-01 9.77339991e-01 -6.54075127e-03 -2.56220391e+01] [-3.42253390e-02 -7.20620004e-04 9.99413882e-01 -7.25911895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters Centerline goodness [0,1] 0.999978366216684 Centerline is valid? [True, True] Translation: X:171.98, Y:-25.63, Z:-7.26 [[ 9.76475643e-01 2.12998567e-01 3.35697544e-02 1.71978031e+02] [-2.12899608e-01 9.77052213e-01 -6.53683000e-03 -2.56253180e+01] [-3.41917383e-02 -7.63932258e-04 9.99415000e-01 -7.26077266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93264000000002 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:172.01, Y:-25.63, Z:-7.26 [[ 9.76154861e-01 2.14527435e-01 3.31612234e-02 1.72010416e+02] [-2.14431567e-01 9.76717634e-01 -6.46273290e-03 -2.56277965e+01] [-3.37755851e-02 -8.02184968e-04 9.99429120e-01 -7.26319040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.04, Y:-25.63, Z:-7.26 [[ 9.75435429e-01 2.17864826e-01 3.25674867e-02 1.72041372e+02] [-2.17774000e-01 9.75978543e-01 -6.35356669e-03 -2.56294708e+01] [-3.31693869e-02 -8.94857809e-04 9.99449344e-01 -7.26471896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99264000000002 meters Centerline goodness [0,1] 0.9999783188430935 Centerline is valid? [True, True] Translation: X:172.07, Y:-25.63, Z:-7.27 [[ 9.75028603e-01 2.19727401e-01 3.22349629e-02 1.72073038e+02] [-2.19639465e-01 9.75560848e-01 -6.28784914e-03 -2.56323387e+01] [-3.28287805e-02 -9.49237260e-04 9.99460540e-01 -7.26654959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264000000002 meters Centerline goodness [0,1] 0.9998051188774847 Centerline is valid? [True, True] Translation: X:172.10, Y:-25.63, Z:-7.27 [[ 9.74675312e-01 2.21426670e-01 3.12772510e-02 1.72104358e+02] [-2.21344602e-01 9.75176541e-01 -6.10586552e-03 -2.56347556e+01] [-3.18528429e-02 -9.71814310e-04 9.99492097e-01 -7.26717190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05264000000003 meters Centerline goodness [0,1] 0.9999358261315993 Centerline is valid? [True, True] Translation: X:172.14, Y:-25.63, Z:-7.27 [[ 9.74099084e-01 2.23841570e-01 3.20300893e-02 1.72135990e+02] [-2.23756598e-01 9.74624957e-01 -6.25922910e-03 -2.56333943e+01] [-3.26184001e-02 -1.06983451e-03 9.99467306e-01 -7.26999435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264000000003 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:172.17, Y:-25.63, Z:-7.27 [[ 9.73848863e-01 2.24864722e-01 3.24691915e-02 1.72167695e+02] [-2.24777941e-01 9.74389350e-01 -6.34594294e-03 -2.56312334e+01] [-3.30646131e-02 -1.11836870e-03 9.99452590e-01 -7.27177773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11264000000003 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:172.20, Y:-25.64, Z:-7.27 [[ 9.73848862e-01 2.24864741e-01 3.24690994e-02 1.72197131e+02] [-2.24777945e-01 9.74389346e-01 -6.34641414e-03 -2.56369865e+01] [-3.30646293e-02 -1.11788925e-03 9.99452590e-01 -7.27302004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264000000003 meters Centerline goodness [0,1] 0.9999139433316839 Centerline is valid? [True, True] Translation: X:172.23, Y:-25.64, Z:-7.27 [[ 9.73505088e-01 2.26166504e-01 3.37128452e-02 1.72228608e+02] [-2.26073715e-01 9.74087910e-01 -6.58935047e-03 -2.56396315e+01] [-3.43295653e-02 -1.20682195e-03 9.99409838e-01 -7.27150321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17264000000003 meters Centerline goodness [0,1] 0.9998729109741373 Centerline is valid? [True, True] Translation: X:172.26, Y:-25.64, Z:-7.27 [[ 9.73391988e-01 2.26584337e-01 3.41698080e-02 1.72259411e+02] [-2.26489234e-01 9.73990764e-01 -6.67973587e-03 -2.56370960e+01] [-3.47946009e-02 -1.23709229e-03 9.99393719e-01 -7.27314052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264000000003 meters Centerline goodness [0,1] 0.9998919105884387 Centerline is valid? [True, True] Translation: X:172.29, Y:-25.65, Z:-7.27 [[ 9.73360339e-01 2.26591998e-01 3.50102282e-02 1.72288522e+02] [-2.26492181e-01 9.73988941e-01 -6.84352742e-03 -2.56461611e+01] [-3.56502636e-02 -1.26832477e-03 9.99363522e-01 -7.27214231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23264000000003 meters Centerline goodness [0,1] 0.9999353852118288 Centerline is valid? [True, True] Translation: X:172.32, Y:-25.65, Z:-7.27 [[ 9.73318412e-01 2.26649932e-01 3.57921307e-02 1.72319512e+02] [-2.26545645e-01 9.73975421e-01 -6.99636766e-03 -2.56477501e+01] [-3.64463818e-02 -1.29885789e-03 9.99334766e-01 -7.27181374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264000000003 meters Centerline goodness [0,1] 0.9999148610105998 Centerline is valid? [True, True] Translation: X:172.35, Y:-25.65, Z:-7.27 [[ 9.73379869e-01 2.26399309e-01 3.57069104e-02 1.72349367e+02] [-2.26295353e-01 9.74033725e-01 -6.97963349e-03 -2.56488838e+01] [-3.63599192e-02 -1.28647319e-03 9.99337931e-01 -7.27354110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29264000000003 meters Centerline goodness [0,1] 0.9999785375485588 Centerline is valid? [True, True] Translation: X:172.38, Y:-25.66, Z:-7.27 [[ 9.73531549e-01 2.25763835e-01 3.55951307e-02 1.72379720e+02] [-2.25660086e-01 9.74181250e-01 -6.95828833e-03 -2.56568607e+01] [-3.62470388e-02 -1.25828704e-03 9.99342068e-01 -7.27499893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264000000004 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:172.41, Y:-25.66, Z:-7.28 [[ 9.73869922e-01 2.24470082e-01 3.45044565e-02 1.72411716e+02] [-2.24371788e-01 9.74480275e-01 -6.74496420e-03 -2.56614379e+01] [-3.51379549e-02 -1.17310885e-03 9.99381783e-01 -7.27743347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35264000000004 meters Centerline goodness [0,1] 0.9999570363687139 Centerline is valid? [True, True] Translation: X:172.44, Y:-25.66, Z:-7.28 [[ 9.74113949e-01 2.23475569e-01 3.40688092e-02 1.72442776e+02] [-2.23378893e-01 9.74708892e-01 -6.66676745e-03 -2.56620271e+01] [-3.46970309e-02 -1.11606170e-03 9.99397254e-01 -7.28092505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264000000004 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:172.47, Y:-25.67, Z:-7.28 [[ 9.74794589e-01 2.20611822e-01 3.32555872e-02 1.72473145e+02] [-2.20518031e-01 9.75361187e-01 -6.50794179e-03 -2.56704161e+01] [-3.38719379e-02 -9.89550167e-04 9.99425691e-01 -7.28350921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41264000000004 meters Centerline goodness [0,1] 0.99997860001284 Centerline is valid? [True, True] Translation: X:172.50, Y:-25.68, Z:-7.29 [[ 9.75219449e-01 2.18803762e-01 3.27404981e-02 1.72502784e+02] [-2.18711806e-01 9.75768458e-01 -6.40805514e-03 -2.56754077e+01] [-3.33492519e-02 -9.11473455e-04 9.99443343e-01 -7.28641952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264000000004 meters Centerline goodness [0,1] 0.9999571596872657 Centerline is valid? [True, True] Translation: X:172.53, Y:-25.68, Z:-7.29 [[ 9.75678322e-01 2.16895423e-01 3.17519499e-02 1.72533357e+02] [-2.16807918e-01 9.76194500e-01 -6.21484949e-03 -2.56818197e+01] [-3.23440513e-02 -8.20380222e-04 9.99476458e-01 -7.28777748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47264000000004 meters Centerline goodness [0,1] 0.9999139285176339 Centerline is valid? [True, True] Translation: X:172.56, Y:-25.69, Z:-7.29 [[ 9.76690663e-01 2.12425232e-01 3.08361681e-02 1.72564062e+02] [-2.12340455e-01 9.77177105e-01 -6.03620915e-03 -2.56912272e+01] [-3.14146406e-02 -6.52256861e-04 9.99506226e-01 -7.29078196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:172.59, Y:-25.70, Z:-7.29 [[ 9.77130946e-01 2.10376282e-01 3.09343717e-02 1.72594432e+02] [-2.10289938e-01 9.77620312e-01 -6.05540029e-03 -2.56967105e+01] [-3.15159828e-02 -5.88268109e-04 9.99503075e-01 -7.29472390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.62, Y:-25.70, Z:-7.30 [[ 9.78013972e-01 2.06283604e-01 3.05899413e-02 1.72624452e+02] [-2.06196973e-01 9.78492144e-01 -5.99428303e-03 -2.57031468e+01] [-3.11685395e-02 -4.45060746e-04 9.99514044e-01 -7.29927846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.66, Y:-25.72, Z:-7.30 [[ 9.78406039e-01 2.04419371e-01 3.05670249e-02 1.72655537e+02] [-2.04331949e-01 9.78883329e-01 -5.99014222e-03 -2.57150867e+01] [-3.11460522e-02 -3.85028456e-04 9.99514770e-01 -7.29812545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59264000000002 meters Centerline goodness [0,1] 0.9997623368766745 Centerline is valid? [True, True] Translation: X:172.69, Y:-25.72, Z:-7.30 [[ 9.78652516e-01 2.03274419e-01 3.03111291e-02 1.72686073e+02] [-2.03187879e-01 9.79121745e-01 -5.94086309e-03 -2.57220634e+01] [-3.08859111e-02 -3.44813435e-04 9.99522857e-01 -7.29714831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters Centerline goodness [0,1] 0.9998270868456318 Centerline is valid? [True, True] Translation: X:172.72, Y:-25.73, Z:-7.30 [[ 9.79051812e-01 2.01295496e-01 3.06214493e-02 1.72717847e+02] [-2.01206050e-01 9.79530523e-01 -6.00671217e-03 -2.57291779e+01] [-3.12037684e-02 -2.80338423e-04 9.99513005e-01 -7.29805813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65264000000002 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:172.75, Y:-25.73, Z:-7.30 [[ 9.79116571e-01 2.01026156e-01 3.03187322e-02 1.72749211e+02] [-2.00938182e-01 9.79585838e-01 -5.95251151e-03 -2.57343471e+01] [-3.08964113e-02 -2.63988274e-04 9.99522557e-01 -7.30149955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.78, Y:-25.74, Z:-7.31 [[ 9.79082161e-01 2.01248147e-01 2.99550602e-02 1.72780145e+02] [-2.01162195e-01 9.79540257e-01 -5.88701664e-03 -2.57384149e+01] [-3.05269385e-02 -2.61952665e-04 9.99533910e-01 -7.30617772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.81, Y:-25.75, Z:-7.31 [[ 9.79005602e-01 2.01666687e-01 2.96408315e-02 1.72811970e+02] [-2.01582592e-01 9.79454172e-01 -5.82950817e-03 -2.57451032e+01] [-3.02074536e-02 -2.67954475e-04 9.99543615e-01 -7.30686721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.84, Y:-25.75, Z:-7.31 [[ 9.78940152e-01 2.01984032e-01 2.96416795e-02 1.72843445e+02] [-2.01899906e-01 9.79388777e-01 -5.83534682e-03 -2.57502795e+01] [-3.02093751e-02 -2.72196981e-04 9.99543556e-01 -7.30898737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.88, Y:-25.76, Z:-7.31 [[ 9.78832119e-01 2.02441517e-01 3.00851117e-02 1.72875483e+02] [-2.02354888e-01 9.79294313e-01 -5.92859900e-03 -2.57559984e+01] [-3.06623734e-02 -2.84766298e-04 9.99529758e-01 -7.30967021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.91, Y:-25.76, Z:-7.31 [[ 9.78761725e-01 2.02817519e-01 2.98419181e-02 1.72906457e+02] [-2.02732299e-01 9.79216509e-01 -5.88595690e-03 -2.57609768e+01] [-3.04154741e-02 -2.88971330e-04 9.99537301e-01 -7.31198187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83264000000003 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:172.94, Y:-25.77, Z:-7.31 [[ 9.78655815e-01 2.03421880e-01 2.91947638e-02 1.72937950e+02] [-2.03340403e-01 9.79091136e-01 -5.76443992e-03 -2.57653736e+01] [-2.97569477e-02 -2.95072393e-04 9.99557120e-01 -7.31173054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:172.97, Y:-25.77, Z:-7.32 [[ 9.78615706e-01 2.03628446e-01 2.90990567e-02 1.72968239e+02] [-2.03547569e-01 9.79048194e-01 -5.74640368e-03 -2.57690717e+01] [-2.96595101e-02 -2.99521336e-04 9.99560015e-01 -7.31757720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.00, Y:-25.77, Z:-7.32 [[ 9.78542046e-01 2.04020468e-01 2.88290275e-02 1.72997766e+02] [-2.03941240e-01 9.78966574e-01 -5.69357545e-03 -2.57749248e+01] [-2.93842603e-02 -3.08024651e-04 9.99568142e-01 -7.31874260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264000000003 meters Centerline goodness [0,1] 0.9998710509348807 Centerline is valid? [True, True] Translation: X:173.03, Y:-25.78, Z:-7.31 [[ 9.78116126e-01 2.05983354e-01 2.93206749e-02 1.73028064e+02] [-2.05902282e-01 9.78555424e-01 -5.79067312e-03 -2.57805836e+01] [-2.98846877e-02 -3.73243106e-04 9.99553283e-01 -7.31374757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.06, Y:-25.78, Z:-7.32 [[ 9.77877897e-01 2.07028120e-01 2.99027705e-02 1.73058175e+02] [-2.06944280e-01 9.78334905e-01 -5.90576872e-03 -2.57800075e+01] [-3.04775843e-02 -4.13086617e-04 9.99535365e-01 -7.31942599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.09, Y:-25.78, Z:-7.32 [[ 9.77219507e-01 2.10095185e-01 3.00341339e-02 1.73088357e+02] [-2.10012061e-01 9.77680803e-01 -5.93146469e-03 -2.57814227e+01] [-3.06099683e-02 -5.11187371e-04 9.99531274e-01 -7.31734288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01264000000003 meters Centerline goodness [0,1] 0.9999786384124069 Centerline is valid? [True, True] Translation: X:173.12, Y:-25.78, Z:-7.32 [[ 9.76899939e-01 2.11602294e-01 2.98492704e-02 1.73117460e+02] [-2.11520914e-01 9.77355698e-01 -5.89426297e-03 -2.57792830e+01] [-3.04205941e-02 -5.55639846e-04 9.99537032e-01 -7.32137875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264000000003 meters Centerline goodness [0,1] 0.9999570658824034 Centerline is valid? [True, True] Translation: X:173.15, Y:-25.78, Z:-7.32 [[ 9.76671159e-01 2.12682778e-01 2.96560906e-02 1.73145812e+02] [-2.12602966e-01 9.77121125e-01 -5.85543224e-03 -2.57842728e+01] [-3.02229422e-02 -5.86141055e-04 9.99543011e-01 -7.32204110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07264000000004 meters Centerline goodness [0,1] 0.9999784626650299 Centerline is valid? [True, True] Translation: X:173.17, Y:-25.79, Z:-7.32 [[ 9.76660639e-01 2.12814101e-01 2.90543282e-02 1.73174177e+02] [-2.12737595e-01 9.77092535e-01 -5.73525127e-03 -2.57895895e+01] [-2.96093095e-02 -5.79553732e-04 9.99561380e-01 -7.32421719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.20, Y:-25.80, Z:-7.32 [[ 9.76794278e-01 2.12189518e-01 2.91298253e-02 1.73203046e+02] [-2.12112387e-01 9.77228372e-01 -5.74846032e-03 -2.57980722e+01] [-2.96862547e-02 -5.63733620e-04 9.99559107e-01 -7.32414783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.23, Y:-25.80, Z:-7.33 [[ 9.77130547e-01 2.10562922e-01 2.96504617e-02 1.73231151e+02] [-2.10482286e-01 9.77580166e-01 -5.85035017e-03 -2.58019781e+01] [-3.02175701e-02 -5.24341073e-04 9.99543207e-01 -7.32600383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264000000004 meters Centerline goodness [0,1] 0.9998706422611733 Centerline is valid? [True, True] Translation: X:173.26, Y:-25.81, Z:-7.32 [[ 9.77339616e-01 2.09627466e-01 2.93870742e-02 1.73260023e+02] [-2.09547845e-01 9.77781205e-01 -5.79795944e-03 -2.58090867e+01] [-2.99495403e-02 -4.91422625e-04 9.99551291e-01 -7.32382051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19264000000004 meters Centerline goodness [0,1] 0.9999785084891468 Centerline is valid? [True, True] Translation: X:173.29, Y:-25.82, Z:-7.33 [[ 9.77937514e-01 2.06744823e-01 2.99131682e-02 1.73289268e+02] [-2.06661011e-01 9.78394812e-01 -5.90065024e-03 -2.58209825e+01] [-3.04868175e-02 -4.11418342e-04 9.99535084e-01 -7.32664946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.32, Y:-25.83, Z:-7.33 [[ 9.78241407e-01 2.05223549e-01 3.04474170e-02 1.73318184e+02] [-2.05135965e-01 9.78715055e-01 -6.00650109e-03 -2.58278918e+01] [-3.10320209e-02 -3.70052189e-04 9.99518322e-01 -7.32830696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.35, Y:-25.83, Z:-7.33 [[ 9.78497458e-01 2.03971543e-01 3.06322407e-02 1.73346479e+02] [-2.03882291e-01 9.78976761e-01 -6.04257071e-03 -2.58347034e+01] [-3.12207643e-02 -3.32731325e-04 9.99512458e-01 -7.32901524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.38, Y:-25.84, Z:-7.33 [[ 9.78843404e-01 2.02376873e-01 3.01527945e-02 1.73376572e+02] [-2.02289659e-01 9.79307676e-01 -5.94725365e-03 -2.58428754e+01] [-3.07324497e-02 -2.78168511e-04 9.99527608e-01 -7.33093138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.41, Y:-25.85, Z:-7.33 [[ 9.78912811e-01 2.01967248e-01 3.06421195e-02 1.73407416e+02] [-2.01876956e-01 9.79392239e-01 -6.04452011e-03 -2.58503289e+01] [-3.12314491e-02 -2.68879644e-04 9.99512143e-01 -7.33072859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.44, Y:-25.86, Z:-7.33 [[ 9.78892620e-01 2.01955226e-01 3.13580071e-02 1.73439345e+02] [-2.01860679e-01 9.79394717e-01 -6.18511458e-03 -2.58574014e+01] [-3.19609827e-02 -2.75385580e-04 9.99489079e-01 -7.32973882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.47, Y:-25.86, Z:-7.33 [[ 9.78786487e-01 2.02530513e-01 3.09580973e-02 1.73471039e+02] [-2.02438477e-01 9.79275911e-01 -6.11171447e-03 -2.58631750e+01] [-3.15543276e-02 -2.85046547e-04 9.99501998e-01 -7.33196438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.50, Y:-25.87, Z:-7.33 [[ 9.78638175e-01 2.03259232e-01 3.08707954e-02 1.73501301e+02] [-2.03167853e-01 9.79124912e-01 -6.10159338e-03 -2.58677373e+01] [-3.14665701e-02 -3.00701016e-04 9.99504760e-01 -7.33414544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.53, Y:-25.87, Z:-7.34 [[ 9.78417289e-01 2.04288065e-01 3.10804569e-02 1.73530657e+02] [-2.04195938e-01 9.78910759e-01 -6.14367041e-03 -2.58696313e+01] [-3.16800722e-02 -3.35429706e-04 9.99498004e-01 -7.33740521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264000000002 meters Centerline goodness [0,1] 0.9998934765009161 Centerline is valid? [True, True] Translation: X:173.56, Y:-25.87, Z:-7.34 [[ 9.77996263e-01 2.06362550e-01 3.06236302e-02 1.73560463e+02] [-2.06274137e-01 9.78475519e-01 -6.05310719e-03 -2.58717809e+01] [-3.12136071e-02 -3.96946669e-04 9.99512658e-01 -7.33651512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.59, Y:-25.88, Z:-7.34 [[ 9.77847051e-01 2.07118966e-01 3.02800100e-02 1.73589536e+02] [-2.07032910e-01 9.78315675e-01 -5.98448644e-03 -2.58776014e+01] [-3.08629091e-02 -4.17046164e-04 9.99523540e-01 -7.34048030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.62, Y:-25.88, Z:-7.34 [[ 9.77881585e-01 2.06955265e-01 3.02840522e-02 1.73617815e+02] [-2.06869127e-01 9.78350320e-01 -5.98467106e-03 -2.58814969e+01] [-3.08669713e-02 -4.12535818e-04 9.99523416e-01 -7.34435232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.65, Y:-25.89, Z:-7.34 [[ 9.78039172e-01 2.06332771e-01 2.94306826e-02 1.73646528e+02] [-2.06251172e-01 9.78481804e-01 -5.81487217e-03 -2.58913244e+01] [-2.99971861e-02 -3.82940032e-04 9.99549910e-01 -7.34398935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264000000003 meters Centerline goodness [0,1] 0.9999575947756764 Centerline is valid? [True, True] Translation: X:173.68, Y:-25.90, Z:-7.34 [[ 9.78131512e-01 2.05858718e-01 2.96805056e-02 1.73676057e+02] [-2.05775537e-01 9.78581652e-01 -5.86336028e-03 -2.58974622e+01] [-3.02518221e-02 -3.72384522e-04 9.99542240e-01 -7.34499218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.71, Y:-25.90, Z:-7.35 [[ 9.78242077e-01 2.05259462e-01 3.01826483e-02 1.73705026e+02] [-2.05173160e-01 9.78707527e-01 -5.96243320e-03 -2.59000565e+01] [-3.07638309e-02 -3.59966307e-04 9.99526617e-01 -7.34722442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.73, Y:-25.91, Z:-7.35 [[ 9.78109031e-01 2.05845556e-01 3.05013260e-02 1.73733627e+02] [-2.05757746e-01 9.78584416e-01 -6.02413073e-03 -2.59093132e+01] [-3.10881629e-02 -3.83627413e-04 9.99516573e-01 -7.34561581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.76, Y:-25.92, Z:-7.34 [[ 9.77920071e-01 2.06673488e-01 3.09581128e-02 1.73763951e+02] [-2.06583478e-01 9.78409881e-01 -6.11321303e-03 -2.59157536e+01] [-3.15531625e-02 -4.17200888e-04 9.99501988e-01 -7.34458891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264000000003 meters Centerline goodness [0,1] 0.9996569321154424 Centerline is valid? [True, True] Translation: X:173.79, Y:-25.92, Z:-7.34 [[ 9.77664959e-01 2.07802309e-01 3.14551886e-02 1.73793732e+02] [-2.07709948e-01 9.78170736e-01 -6.21200848e-03 -2.59191628e+01] [-3.20594147e-02 -4.60292580e-04 9.99485859e-01 -7.34196012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.82, Y:-25.92, Z:-7.34 [[ 9.77311414e-01 2.09359870e-01 3.21067730e-02 1.73823651e+02] [-2.09264499e-01 9.77838520e-01 -6.34016233e-03 -2.59229320e+01] [-3.27226149e-02 -5.22494736e-04 9.99464335e-01 -7.34447499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264000000003 meters Centerline goodness [0,1] 0.9998718085674607 Centerline is valid? [True, True] Translation: X:173.85, Y:-25.92, Z:-7.35 [[ 9.76644687e-01 2.12532047e-01 3.15481424e-02 1.73853606e+02] [-2.12441612e-01 9.77153902e-01 -6.23007687e-03 -2.59202877e+01] [-3.21514815e-02 -6.17566756e-04 9.99482817e-01 -7.34561314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79264000000003 meters Centerline goodness [0,1] 0.9999787690282584 Centerline is valid? [True, True] Translation: X:173.88, Y:-25.92, Z:-7.35 [[ 9.76058693e-01 2.15303838e-01 3.08817836e-02 1.73884139e+02] [-2.15218593e-01 9.76546863e-01 -6.09771931e-03 -2.59193290e+01] [-3.14703713e-02 -6.94602088e-04 9.99504444e-01 -7.35055914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.91, Y:-25.92, Z:-7.35 [[ 9.75817988e-01 2.16428373e-01 3.06270167e-02 1.73912739e+02] [-2.16345098e-01 9.76298230e-01 -6.04693878e-03 -2.59234338e+01] [-3.12098313e-02 -7.25293272e-04 9.99512591e-01 -7.35122965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:173.94, Y:-25.93, Z:-7.35 [[ 9.75630951e-01 2.17306543e-01 3.03663199e-02 1.73941534e+02] [-2.17225151e-01 9.76103123e-01 -5.99397171e-03 -2.59268703e+01] [-3.09431889e-02 -7.48424098e-04 9.99520865e-01 -7.35312429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264000000004 meters Centerline goodness [0,1] 0.9999786041336813 Centerline is valid? [True, True] Translation: X:173.97, Y:-25.93, Z:-7.36 [[ 9.75431023e-01 2.18374116e-01 2.91043689e-02 1.73969819e+02] [-2.18299861e-01 9.75864838e-01 -5.74364226e-03 -2.59262935e+01] [-2.96561930e-02 -7.50952828e-04 9.99559876e-01 -7.35785060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91264000000004 meters Centerline goodness [0,1] 0.9999573415237608 Centerline is valid? [True, True] Translation: X:174.00, Y:-25.93, Z:-7.36 [[ 9.75401348e-01 2.18600037e-01 2.83942624e-02 1.73998501e+02] [-2.18529511e-01 9.75814262e-01 -5.60162627e-03 -2.59303432e+01] [-2.89320419e-02 -7.41150469e-04 9.99581106e-01 -7.35974650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264000000004 meters Centerline goodness [0,1] 0.9999571670271775 Centerline is valid? [True, True] Translation: X:174.03, Y:-25.93, Z:-7.36 [[ 9.75594576e-01 2.17748329e-01 2.82999670e-02 1.74026970e+02] [-2.17677953e-01 9.76004690e-01 -5.58164338e-03 -2.59305168e+01] [-2.88362940e-02 -7.14857861e-04 9.99583892e-01 -7.36145270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97264000000004 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:174.06, Y:-25.94, Z:-7.36 [[ 9.75836897e-01 2.16605437e-01 2.87129837e-02 1.74055440e+02] [-2.16532542e-01 9.76258985e-01 -5.66154083e-03 -2.59379502e+01] [-2.92576289e-02 -6.92554936e-04 9.99571664e-01 -7.35977601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters Centerline goodness [0,1] 0.9999571211114208 Centerline is valid? [True, True] Translation: X:174.08, Y:-25.94, Z:-7.36 [[ 9.75852306e-01 2.16535991e-01 2.87131029e-02 1.74082426e+02] [-2.16463084e-01 9.76274391e-01 -5.66093635e-03 -2.59431355e+01] [-2.92576636e-02 -6.91089016e-04 9.99571664e-01 -7.36091423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03264000000001 meters Centerline goodness [0,1] 0.9998719070899426 Centerline is valid? [True, True] Translation: X:174.11, Y:-25.95, Z:-7.36 [[ 9.76166931e-01 2.15104579e-01 2.87774607e-02 1.74110838e+02] [-2.15030794e-01 9.76590802e-01 -5.67119575e-03 -2.59492338e+01] [-2.93237036e-02 -6.52006486e-04 9.99569755e-01 -7.36387761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.14, Y:-25.95, Z:-7.37 [[ 9.76582798e-01 2.13202646e-01 2.88213452e-02 1.74137777e+02] [-2.13127846e-01 9.77007817e-01 -5.67856871e-03 -2.59548005e+01] [-2.93693654e-02 -5.97038704e-04 9.99568449e-01 -7.36530604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09264000000002 meters Centerline goodness [0,1] 0.9998498337445029 Centerline is valid? [True, True] Translation: X:174.16, Y:-25.96, Z:-7.37 [[ 9.77491075e-01 2.09084416e-01 2.81940807e-02 1.74164750e+02] [-2.09011171e-01 9.77897485e-01 -5.55330264e-03 -2.59627449e+01] [-2.87320297e-02 -4.64574067e-04 9.99587042e-01 -7.36523601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.19, Y:-25.97, Z:-7.37 [[ 9.78285248e-01 2.05319317e-01 2.83187374e-02 1.74192324e+02] [-2.05243899e-01 9.78694973e-01 -5.57597940e-03 -2.59721558e+01] [-2.88602622e-02 -3.57349675e-04 9.99583392e-01 -7.36810377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15264000000002 meters Centerline goodness [0,1] 0.9998288184191381 Centerline is valid? [True, True] Translation: X:174.22, Y:-25.98, Z:-7.37 [[ 9.78599792e-01 2.03843472e-01 2.81120226e-02 1.74220401e+02] [-2.03768580e-01 9.79003443e-01 -5.53395162e-03 -2.59797305e+01] [-2.86498268e-02 -3.12823029e-04 9.99589461e-01 -7.36650633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:174.25, Y:-25.99, Z:-7.37 [[ 9.78888949e-01 2.02496798e-01 2.77754024e-02 1.74247634e+02] [-2.02423182e-01 9.79282887e-01 -5.46645968e-03 -2.59852571e+01] [-2.83069168e-02 -2.71328351e-04 9.99599242e-01 -7.37093423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.28, Y:-25.99, Z:-7.37 [[ 9.79102970e-01 2.01374839e-01 2.83821806e-02 1.74275777e+02] [-2.01297558e-01 9.79514223e-01 -5.58386555e-03 -2.59931211e+01] [-2.89251996e-02 -2.46084299e-04 9.99581549e-01 -7.37131736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264000000002 meters Centerline goodness [0,1] 0.9998073341468113 Centerline is valid? [True, True] Translation: X:174.30, Y:-26.00, Z:-7.37 [[ 9.79454144e-01 1.99509594e-01 2.94194044e-02 1.74304721e+02] [-1.99425773e-01 9.79895853e-01 -5.78612278e-03 -2.59994674e+01] [-2.99823394e-02 -1.99745536e-04 9.99550409e-01 -7.36658733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27264000000002 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:174.33, Y:-26.00, Z:-7.37 [[ 9.79583701e-01 1.98854268e-01 2.95423781e-02 1.74333424e+02] [-1.98769465e-01 9.80029054e-01 -5.80968559e-03 -2.60025021e+01] [-3.01076696e-02 -1.81049386e-04 9.99546645e-01 -7.36910038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264000000003 meters Centerline goodness [0,1] 0.9998271914286949 Centerline is valid? [True, True] Translation: X:174.36, Y:-26.01, Z:-7.37 [[ 9.79648452e-01 1.98625167e-01 2.89301626e-02 1.74361527e+02] [-1.98543779e-01 9.80075514e-01 -5.68807888e-03 -2.60082845e+01] [-2.94835396e-02 -1.71586145e-04 9.99565251e-01 -7.37220563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.39, Y:-26.02, Z:-7.37 [[ 9.79661035e-01 1.98570083e-01 2.88821512e-02 1.74389957e+02] [-1.98488963e-01 9.80086676e-01 -5.67788028e-03 -2.60154676e+01] [-2.94344688e-02 -1.70390173e-04 9.99566698e-01 -7.37361377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.42, Y:-26.02, Z:-7.38 [[ 9.79732050e-01 1.98325703e-01 2.81429498e-02 1.74417920e+02] [-1.98248602e-01 9.80136159e-01 -5.53189445e-03 -2.60191567e+01] [-2.86810395e-02 -1.59526143e-04 9.99588602e-01 -7.37728432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39264000000003 meters Centerline goodness [0,1] 0.9999141465089825 Centerline is valid? [True, True] Translation: X:174.45, Y:-26.02, Z:-7.37 [[ 9.79735325e-01 1.98293990e-01 2.82521835e-02 1.74446985e+02] [-1.98216298e-01 9.80142575e-01 -5.55258771e-03 -2.60244623e+01] [-2.87922127e-02 -1.59976900e-04 9.99585406e-01 -7.37488764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.47, Y:-26.03, Z:-7.38 [[ 9.79756302e-01 1.98178526e-01 2.83347970e-02 1.74474792e+02] [-1.98100347e-01 9.80165928e-01 -5.56824999e-03 -2.60299943e+01] [-2.88763101e-02 -1.57605103e-04 9.99582980e-01 -7.37826988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.50, Y:-26.04, Z:-7.38 [[ 9.79722245e-01 1.98422347e-01 2.78009922e-02 1.74503485e+02] [-1.98347219e-01 9.80116598e-01 -5.46215057e-03 -2.60358886e+01] [-2.83320266e-02 -1.62859061e-04 9.99598554e-01 -7.38045672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.53, Y:-26.04, Z:-7.38 [[ 9.79671103e-01 1.98728239e-01 2.74156331e-02 1.74531447e+02] [-1.98655309e-01 9.80054620e-01 -5.38610109e-03 -2.60415473e+01] [-2.79391882e-02 -1.69653450e-04 9.99609610e-01 -7.38166324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.56, Y:-26.05, Z:-7.38 [[ 9.79429714e-01 1.99840681e-01 2.79488513e-02 1.74559667e+02] [-1.99765380e-01 9.79828383e-01 -5.48939655e-03 -2.60464724e+01] [-2.84820826e-02 -2.06734819e-04 9.99594282e-01 -7.38157413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264000000003 meters Centerline goodness [0,1] 0.9998503122059704 Centerline is valid? [True, True] Translation: X:174.59, Y:-26.05, Z:-7.38 [[ 9.79270982e-01 2.00577341e-01 2.82324910e-02 1.74588459e+02] [-2.00500851e-01 9.79677843e-01 -5.54365831e-03 -2.60506204e+01] [-2.87706781e-02 -2.31894757e-04 9.99586011e-01 -7.38027204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.62, Y:-26.05, Z:-7.38 [[ 9.78846120e-01 2.02577170e-01 2.86838440e-02 1.74616507e+02] [-2.02499111e-01 9.79266257e-01 -5.63095159e-03 -2.60507703e+01] [-2.92298228e-02 -2.96617785e-04 9.99572673e-01 -7.38371336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.64, Y:-26.05, Z:-7.38 [[ 9.78643811e-01 2.03526172e-01 2.88684685e-02 1.74644545e+02] [-2.03447573e-01 9.79069451e-01 -5.66532969e-03 -2.60538586e+01] [-2.94172785e-02 -3.28880025e-04 9.99567164e-01 -7.38437211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.67, Y:-26.06, Z:-7.39 [[ 9.78471804e-01 2.04372339e-01 2.87206527e-02 1.74673280e+02] [-2.04294961e-01 9.78893161e-01 -5.63446361e-03 -2.60588995e+01] [-2.92659790e-02 -3.54320854e-04 9.99571597e-01 -7.38575268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264000000004 meters Centerline goodness [0,1] 0.9999355988236052 Centerline is valid? [True, True] Translation: X:174.70, Y:-26.06, Z:-7.39 [[ 9.78249611e-01 2.05539936e-01 2.79469598e-02 1.74701084e+02] [-2.05467185e-01 9.78648655e-01 -5.48138750e-03 -2.60649665e+01] [-2.84768986e-02 -3.80017956e-04 9.99594379e-01 -7.38598181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69264000000004 meters Centerline goodness [0,1] 0.9999786707618804 Centerline is valid? [True, True] Translation: X:174.73, Y:-26.07, Z:-7.39 [[ 9.78114556e-01 2.06165955e-01 2.80627035e-02 1.74728260e+02] [-2.06092893e-01 9.78516959e-01 -5.50284121e-03 -2.60689229e+01] [-2.85943297e-02 -4.01114652e-04 9.99591018e-01 -7.38855799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264000000004 meters Centerline goodness [0,1] 0.9996808578540882 Centerline is valid? [True, True] Translation: X:174.76, Y:-26.07, Z:-7.39 [[ 9.77911364e-01 2.07137655e-01 2.79885025e-02 1.74755971e+02] [-2.07065425e-01 9.78311713e-01 -5.48657406e-03 -2.60720758e+01] [-2.85179559e-02 -4.30068055e-04 9.99593188e-01 -7.38830704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:174.78, Y:-26.08, Z:-7.39 [[ 9.77813541e-01 2.07649820e-01 2.76085299e-02 1.74783827e+02] [-2.07579793e-01 9.78203127e-01 -5.41029640e-03 -2.60775944e+01] [-2.81301973e-02 -4.40711827e-04 9.99604171e-01 -7.39058319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters Centerline goodness [0,1] 0.9997656483020154 Centerline is valid? [True, True] Translation: X:174.81, Y:-26.08, Z:-7.39 [[ 9.77638220e-01 2.08401041e-01 2.81516724e-02 1.74812380e+02] [-2.08328583e-01 9.78043344e-01 -5.51531806e-03 -2.60819706e+01] [-2.86829538e-02 -4.72812286e-04 9.99588448e-01 -7.39019860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81264000000002 meters Centerline goodness [0,1] 0.9999787134403337 Centerline is valid? [True, True] Translation: X:174.84, Y:-26.08, Z:-7.39 [[ 9.77298090e-01 2.10045695e-01 2.77353472e-02 1.74840484e+02] [-2.09976055e-01 9.77691435e-01 -5.43275304e-03 -2.60847341e+01] [-2.82577378e-02 -5.14339615e-04 9.99600538e-01 -7.39368408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters Centerline goodness [0,1] 0.9999783418522048 Centerline is valid? [True, True] Translation: X:174.87, Y:-26.09, Z:-7.39 [[ 9.77168576e-01 2.10744948e-01 2.69840766e-02 1.74867807e+02] [-2.10679358e-01 9.77540942e-01 -5.28337779e-03 -2.60941749e+01] [-2.74914848e-02 -5.22237173e-04 9.99621901e-01 -7.39234075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87264000000002 meters Centerline goodness [0,1] 0.9998510986790325 Centerline is valid? [True, True] Translation: X:174.90, Y:-26.09, Z:-7.40 [[ 9.76918806e-01 2.11835956e-01 2.74804314e-02 1.74896601e+02] [-2.11768395e-01 9.77305075e-01 -5.37933791e-03 -2.60923338e+01] [-2.79963022e-02 -5.64310491e-04 9.99607867e-01 -7.39650008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters Centerline goodness [0,1] 0.999957040060144 Centerline is valid? [True, True] Translation: X:174.92, Y:-26.10, Z:-7.40 [[ 9.76889972e-01 2.12026933e-01 2.70289005e-02 1.74924097e+02] [-2.11961710e-01 9.77263661e-01 -5.28871090e-03 -2.61011863e+01] [-2.75357114e-02 -5.62603322e-04 9.99620662e-01 -7.39702817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93264000000002 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:174.95, Y:-26.11, Z:-7.40 [[ 9.76897292e-01 2.11970684e-01 2.72049814e-02 1.74952481e+02] [-2.11904624e-01 9.77275861e-01 -5.32178151e-03 -2.61077294e+01] [-2.77148333e-02 -5.66027413e-04 9.99615710e-01 -7.39766380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264000000002 meters Centerline goodness [0,1] 0.9999360272950208 Centerline is valid? [True, True] Translation: X:174.98, Y:-26.11, Z:-7.40 [[ 9.76941861e-01 2.11629219e-01 2.82431227e-02 1.74980629e+02] [-2.11557917e-01 9.77349855e-01 -5.52350805e-03 -2.61086778e+01] [-2.87723476e-02 -5.78909979e-04 9.99585823e-01 -7.39949369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.01, Y:-26.12, Z:-7.40 [[ 9.77015302e-01 2.11315173e-01 2.80534543e-02 1.75007870e+02] [-2.11244751e-01 9.77417810e-01 -5.48452442e-03 -2.61185289e+01] [-2.85789091e-02 -5.67680668e-04 9.99591378e-01 -7.39853275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.04, Y:-26.12, Z:-7.40 [[ 9.77084637e-01 2.11108396e-01 2.71819271e-02 1.75035373e+02] [-2.11042231e-01 9.77462505e-01 -5.31308468e-03 -2.61221908e+01] [-2.76909513e-02 -5.45201102e-04 9.99616383e-01 -7.40203564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.06, Y:-26.13, Z:-7.40 [[ 9.77084158e-01 2.11107943e-01 2.72026536e-02 1.75063108e+02] [-2.11041736e-01 9.77462601e-01 -5.31500176e-03 -2.61289282e+01] [-2.77116156e-02 -5.47691224e-04 9.99615809e-01 -7.40203297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.09, Y:-26.13, Z:-7.40 [[ 9.77055147e-01 2.11271279e-01 2.69756441e-02 1.75091176e+02] [-2.11206268e-01 9.77427310e-01 -5.26945697e-03 -2.61322073e+01] [-2.74800162e-02 -5.48875059e-04 9.99622202e-01 -7.40418640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11264000000003 meters Centerline goodness [0,1] 0.9997845199103603 Centerline is valid? [True, True] Translation: X:175.12, Y:-26.13, Z:-7.41 [[ 9.76969492e-01 2.11704640e-01 2.66787612e-02 1.75119418e+02] [-2.11641258e-01 9.77333534e-01 -5.20979411e-03 -2.61324968e+01] [-2.71769855e-02 -5.56516680e-04 9.99630483e-01 -7.40646917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264000000003 meters Centerline goodness [0,1] 0.9998700595560368 Centerline is valid? [True, True] Translation: X:175.15, Y:-26.14, Z:-7.41 [[ 9.76992792e-01 2.11605101e-01 2.66151349e-02 1.75147320e+02] [-2.11542025e-01 9.77355091e-01 -5.19589574e-03 -2.61382788e+01] [-2.71119156e-02 -5.53866850e-04 9.99632251e-01 -7.40629538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17264000000003 meters Centerline goodness [0,1] 0.9997856423227798 Centerline is valid? [True, True] Translation: X:175.18, Y:-26.14, Z:-7.41 [[ 9.77004715e-01 2.11503743e-01 2.69806204e-02 1.75175749e+02] [-2.11438946e-01 9.77377027e-01 -5.26497462e-03 -2.61389067e+01] [-2.74838004e-02 -5.60848917e-04 9.99622092e-01 -7.40833578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264000000003 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:175.20, Y:-26.14, Z:-7.41 [[ 9.77091766e-01 2.11056972e-01 2.73246356e-02 1.75204369e+02] [-2.10990392e-01 9.77473603e-01 -5.33015275e-03 -2.61410230e+01] [-2.78340759e-02 -5.57187211e-04 9.99612402e-01 -7.40923717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23264000000003 meters Centerline goodness [0,1] 0.9999784566332026 Centerline is valid? [True, True] Translation: X:175.23, Y:-26.15, Z:-7.41 [[ 9.77316297e-01 2.09964072e-01 2.77117954e-02 1.75232790e+02] [-2.09895179e-01 9.77708956e-01 -5.40472561e-03 -2.61488805e+01] [-2.82288687e-02 -5.34445831e-04 9.99601343e-01 -7.40804814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264000000003 meters Centerline goodness [0,1] 0.9998491281763907 Centerline is valid? [True, True] Translation: X:175.26, Y:-26.16, Z:-7.41 [[ 9.78077926e-01 2.06324947e-01 2.81706717e-02 1.75259744e+02] [-2.06252319e-01 9.78483430e-01 -5.49157252e-03 -2.61566779e+01] [-2.86975839e-02 -4.39080510e-04 9.99588043e-01 -7.40916530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.29, Y:-26.17, Z:-7.41 [[ 9.78639769e-01 2.03704867e-01 2.77223566e-02 1.75287464e+02] [-2.03633535e-01 9.79032277e-01 -5.40227818e-03 -2.61657630e+01] [-2.82415522e-02 -3.58317214e-04 9.99601064e-01 -7.41148570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.31, Y:-26.17, Z:-7.41 [[ 9.79256647e-01 2.00709126e-01 2.77896911e-02 1.75314692e+02] [-2.00636276e-01 9.79650842e-01 -5.41413714e-03 -2.61724577e+01] [-2.83108610e-02 -2.73790362e-04 9.99599130e-01 -7.41436952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.34, Y:-26.19, Z:-7.41 [[ 9.80493964e-01 1.94583414e-01 2.77287307e-02 1.75342153e+02] [-1.94508490e-01 9.80885970e-01 -5.40020290e-03 -2.61851773e+01] [-2.82495128e-02 -9.86071747e-05 9.99600898e-01 -7.41383802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.37, Y:-26.19, Z:-7.42 [[ 9.81076363e-01 1.91581844e-01 2.80279613e-02 1.75369379e+02] [-1.91504099e-01 9.81476641e-01 -5.45737025e-03 -2.61939615e+01] [-2.85543223e-02 -1.33725129e-05 9.99592242e-01 -7.41681152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.40, Y:-26.21, Z:-7.42 [[ 9.81968001e-01 1.86967032e-01 2.79673804e-02 1.75397111e+02] [-1.86887786e-01 9.82366182e-01 -5.44433421e-03 -2.62055562e+01] [-2.84921197e-02 1.19400179e-04 9.99594010e-01 -7.41704830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264000000004 meters Centerline goodness [0,1] 0.9998694232861807 Centerline is valid? [True, True] Translation: X:175.43, Y:-26.21, Z:-7.42 [[ 9.82235643e-01 1.85541101e-01 2.80649333e-02 1.75426909e+02] [-1.85460749e-01 9.82636491e-01 -5.46229557e-03 -2.62132406e+01] [-2.85911080e-02 1.60317858e-04 9.99591178e-01 -7.41724564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.46, Y:-26.22, Z:-7.42 [[ 9.82480200e-01 1.84360869e-01 2.72713407e-02 1.75456209e+02] [-1.84284543e-01 9.82858603e-01 -5.30783815e-03 -2.62214383e+01] [-2.77824295e-02 1.89159327e-04 9.99613976e-01 -7.42036796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.48, Y:-26.23, Z:-7.42 [[ 9.82452906e-01 1.84566210e-01 2.68626383e-02 1.75484813e+02] [-1.84492235e-01 9.82820066e-01 -5.22813337e-03 -2.62266725e+01] [-2.73660767e-02 1.80446623e-04 9.99625463e-01 -7.42272797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53264000000001 meters Centerline goodness [0,1] 0.9998704858937553 Centerline is valid? [True, True] Translation: X:175.51, Y:-26.23, Z:-7.42 [[ 9.82314075e-01 1.85271905e-01 2.70809742e-02 1.75514297e+02] [-1.85196968e-01 9.82687282e-01 -5.27144662e-03 -2.62302278e+01] [-2.75887799e-02 1.62901882e-04 9.99619344e-01 -7.42232507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.54, Y:-26.23, Z:-7.43 [[ 9.82004705e-01 1.86929447e-01 2.69098919e-02 1.75542945e+02] [-1.86856090e-01 9.82373335e-01 -5.23763409e-03 -2.62329295e+01] [-2.74146282e-02 1.15104135e-04 9.99624142e-01 -7.42604836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59264000000002 meters Centerline goodness [0,1] 0.9996981066977185 Centerline is valid? [True, True] Translation: X:175.57, Y:-26.24, Z:-7.42 [[ 9.81771019e-01 1.88123361e-01 2.71158181e-02 1.75572101e+02] [-1.88049366e-01 9.82145404e-01 -5.27649378e-03 -2.62370169e+01] [-2.76243079e-02 8.11962664e-05 9.99618373e-01 -7.42474720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.60, Y:-26.24, Z:-7.43 [[ 9.81458372e-01 1.89873606e-01 2.62197785e-02 1.75600170e+02] [-1.89805058e-01 9.81808542e-01 -5.10167954e-03 -2.62405521e+01] [-2.67114768e-02 3.04395026e-05 9.99643184e-01 -7.42851139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.63, Y:-26.25, Z:-7.43 [[ 9.81303316e-01 1.90647522e-01 2.64069017e-02 1.75629524e+02] [-1.90578304e-01 9.81658557e-01 -5.13689618e-03 -2.62456111e+01] [-2.69018975e-02 8.27072333e-06 9.99638078e-01 -7.42922110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.66, Y:-26.25, Z:-7.43 [[ 9.81166306e-01 1.91313308e-01 2.66814133e-02 1.75657471e+02] [-1.91242903e-01 9.81529021e-01 -5.18977851e-03 -2.62513223e+01] [-2.71814551e-02 -1.05951318e-05 9.99630516e-01 -7.43040715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71264000000002 meters Centerline goodness [0,1] 0.9999782953139583 Centerline is valid? [True, True] Translation: X:175.69, Y:-26.25, Z:-7.43 [[ 9.80878363e-01 1.92658881e-01 2.75715825e-02 1.75686786e+02] [-1.92584245e-01 9.81265791e-01 -5.36240814e-03 -2.62545993e+01] [-2.80881663e-02 -4.99823004e-05 9.99605448e-01 -7.42867345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.72, Y:-26.26, Z:-7.43 [[ 9.80779238e-01 1.93165514e-01 2.75530346e-02 1.75715701e+02] [-1.93091265e-01 9.81166183e-01 -5.35575291e-03 -2.62590102e+01] [-2.80686525e-02 -6.74390239e-05 9.99605995e-01 -7.42988606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.74, Y:-26.26, Z:-7.43 [[ 9.80628206e-01 1.93858838e-01 2.80548013e-02 1.75743585e+02] [-1.93782154e-01 9.81029430e-01 -5.45287063e-03 -2.62636840e+01] [-2.85796729e-02 -8.92810791e-05 9.99591514e-01 -7.43179064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.77, Y:-26.27, Z:-7.43 [[ 9.80577338e-01 1.94085781e-01 2.82629271e-02 1.75772178e+02] [-1.94008091e-01 9.80984556e-01 -5.49185772e-03 -2.62690922e+01] [-2.87913865e-02 -9.80453135e-05 9.99585437e-01 -7.43140215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.80, Y:-26.27, Z:-7.43 [[ 9.80591194e-01 1.94005768e-01 2.83314552e-02 1.75799439e+02] [-1.93927705e-01 9.81000383e-01 -5.50389211e-03 -2.62735738e+01] [-2.88609553e-02 -9.71859553e-05 9.99583431e-01 -7.43398239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.83, Y:-26.28, Z:-7.44 [[ 9.80643150e-01 1.93792079e-01 2.79936278e-02 1.75827266e+02] [-1.93715833e-01 9.81042620e-01 -5.43637624e-03 -2.62796879e+01] [-2.85164686e-02 -9.16638178e-05 9.99593319e-01 -7.43562793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89264000000003 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:175.86, Y:-26.29, Z:-7.43 [[ 9.80630166e-01 1.93811138e-01 2.83146666e-02 1.75855180e+02] [-1.93733182e-01 9.81038854e-01 -5.49732453e-03 -2.62860403e+01] [-2.88432308e-02 -9.46481685e-05 9.99583943e-01 -7.43462166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264000000003 meters Centerline goodness [0,1] 0.9999354880330301 Centerline is valid? [True, True] Translation: X:175.88, Y:-26.29, Z:-7.44 [[ 9.80639632e-01 1.93763199e-01 2.83149352e-02 1.75882985e+02] [-1.93685263e-01 9.81048324e-01 -5.49594048e-03 -2.62913472e+01] [-2.88432307e-02 -9.46486111e-05 9.99583943e-01 -7.43579415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.91, Y:-26.30, Z:-7.44 [[ 9.80610585e-01 1.94070977e-01 2.71907426e-02 1.75910193e+02] [-1.93999257e-01 9.80987485e-01 -5.27660311e-03 -2.62959342e+01] [-2.76978137e-02 -1.00690995e-04 9.99616337e-01 -7.43995135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.94, Y:-26.30, Z:-7.44 [[ 9.80495862e-01 1.94590324e-01 2.76128709e-02 1.75938390e+02] [-1.94516619e-01 9.80884597e-01 -5.35658864e-03 -2.63015281e+01] [-2.81273800e-02 -1.19049307e-04 9.99604340e-01 -7.43954546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.97, Y:-26.30, Z:-7.44 [[ 9.80221408e-01 1.95848022e-01 2.84524874e-02 1.75966027e+02] [-1.95770336e-01 9.80634247e-01 -5.51809112e-03 -2.63046132e+01] [-2.89821908e-02 -1.61201968e-04 9.99579915e-01 -7.43976299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:175.99, Y:-26.31, Z:-7.44 [[ 9.80074515e-01 1.96527091e-01 2.88278865e-02 1.75994063e+02] [-1.96447690e-01 9.80498377e-01 -5.58898677e-03 -2.63069371e+01] [-2.93640833e-02 -1.85548226e-04 9.99568765e-01 -7.44100370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.02, Y:-26.31, Z:-7.44 [[ 9.79898005e-01 1.97345352e-01 2.92354730e-02 1.76023358e+02] [-1.97264112e-01 9.80334007e-01 -5.66604168e-03 -2.63097452e+01] [-2.97786954e-02 -2.14966697e-04 9.99556493e-01 -7.44181414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264000000004 meters Centerline goodness [0,1] 0.9998070532747347 Centerline is valid? [True, True] Translation: X:176.05, Y:-26.31, Z:-7.44 [[ 9.79526980e-01 1.99097817e-01 2.97817875e-02 1.76052312e+02] [-1.99014367e-01 9.79979583e-01 -5.77043655e-03 -2.63108580e+01] [-3.03344250e-02 -2.74705293e-04 9.99539768e-01 -7.44251394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.08, Y:-26.32, Z:-7.45 [[ 9.79432735e-01 1.99759098e-01 2.84221700e-02 1.76080467e+02] [-1.99683409e-01 9.79844999e-01 -5.50573579e-03 -2.63150263e+01] [-2.89491420e-02 -2.82937953e-04 9.99580846e-01 -7.44528795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264000000004 meters Centerline goodness [0,1] 0.999828814756168 Centerline is valid? [True, True] Translation: X:176.11, Y:-26.32, Z:-7.45 [[ 9.79202882e-01 2.00886155e-01 2.83984041e-02 1.76109686e+02] [-2.00811108e-01 9.79614543e-01 -5.49972089e-03 -2.63176911e+01] [-2.89243074e-02 -3.17372431e-04 9.99581554e-01 -7.44598012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.14, Y:-26.32, Z:-7.45 [[ 9.79235483e-01 2.00750756e-01 2.82312529e-02 1.76137405e+02] [-2.00676570e-01 9.79642300e-01 -5.46607992e-03 -2.63215263e+01] [-2.87538492e-02 -3.12771577e-04 9.99586474e-01 -7.44909687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264000000004 meters Centerline goodness [0,1] 0.9998481693562381 Centerline is valid? [True, True] Translation: X:176.17, Y:-26.33, Z:-7.45 [[ 9.79252617e-01 2.00569880e-01 2.89142896e-02 1.76165527e+02] [-2.00492040e-01 9.79679347e-01 -5.59633289e-03 -2.63284822e+01] [-2.94491882e-02 -3.16861291e-04 9.99566228e-01 -7.44595695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.19, Y:-26.33, Z:-7.45 [[ 9.79622421e-01 1.98763791e-01 2.88594421e-02 1.76192398e+02] [-1.98685503e-01 9.80047390e-01 -5.58434761e-03 -2.63331040e+01] [-2.93935870e-02 -2.63400658e-04 9.99567880e-01 -7.44924212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.22, Y:-26.34, Z:-7.45 [[ 9.79897602e-01 1.97395977e-01 2.89053346e-02 1.76219494e+02] [-1.97316901e-01 9.80323813e-01 -5.59130160e-03 -2.63384587e+01] [-2.94402883e-02 -2.24608027e-04 9.99566516e-01 -7.45174855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.25, Y:-26.35, Z:-7.45 [[ 9.80179147e-01 1.95964618e-01 2.90982513e-02 1.76247309e+02] [-1.95883913e-01 9.80610949e-01 -5.62660040e-03 -2.63458935e+01] [-2.96366784e-02 -1.84802929e-04 9.99560720e-01 -7.45265688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.27, Y:-26.36, Z:-7.45 [[ 9.80715232e-01 1.93227316e-01 2.93400360e-02 1.76274663e+02] [-1.93144082e-01 9.81154011e-01 -5.67186731e-03 -2.63558741e+01] [-2.98830537e-02 -1.04367647e-04 9.99553396e-01 -7.45367630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.30, Y:-26.36, Z:-7.45 [[ 9.80950084e-01 1.92036467e-01 2.93074694e-02 1.76303019e+02] [-1.91952936e-01 9.81387788e-01 -5.66391821e-03 -2.63623473e+01] [-2.98496714e-02 -6.96337634e-05 9.99554397e-01 -7.45491309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters Centerline goodness [0,1] 0.9997004642803654 Centerline is valid? [True, True] Translation: X:176.33, Y:-26.37, Z:-7.46 [[ 9.81179669e-01 1.90852539e-01 2.93558387e-02 1.76329802e+02] [-1.90768228e-01 9.81618718e-01 -5.67241147e-03 -2.63677446e+01] [-2.98988349e-02 -3.45065160e-05 9.99552929e-01 -7.45644034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.36, Y:-26.37, Z:-7.46 [[ 9.81314222e-01 1.90300770e-01 2.84255969e-02 1.76357785e+02] [-1.90221541e-01 9.81725836e-01 -5.49078081e-03 -2.63736491e+01] [-2.89510427e-02 -1.89795390e-05 9.99580831e-01 -7.45969544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.39, Y:-26.38, Z:-7.46 [[ 9.81385617e-01 1.89906286e-01 2.85984862e-02 1.76386155e+02] [-1.89825962e-01 9.81802222e-01 -5.52280294e-03 -2.63797759e+01] [-2.91268723e-02 -8.73580442e-06 9.99575723e-01 -7.45927940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.41, Y:-26.39, Z:-7.46 [[ 9.81394028e-01 1.89819728e-01 2.88830813e-02 1.76413888e+02] [-1.89737805e-01 9.81818960e-01 -5.57627490e-03 -2.63852606e+01] [-2.94164438e-02 -7.68955226e-06 9.99567243e-01 -7.46141475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.44, Y:-26.39, Z:-7.46 [[ 9.81430889e-01 1.89540367e-01 2.94594635e-02 1.76442744e+02] [-1.89455068e-01 9.81872929e-01 -5.68574689e-03 -2.63910594e+01] [-3.00031283e-02 -1.07703997e-06 9.99549805e-01 -7.46055834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.47, Y:-26.40, Z:-7.46 [[ 9.81458164e-01 1.89363445e-01 2.96876763e-02 1.76470325e+02] [-1.89276758e-01 9.81907066e-01 -5.72916630e-03 -2.63968149e+01] [-3.02354338e-02 3.74992376e-06 9.99542805e-01 -7.46238291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.50, Y:-26.40, Z:-7.46 [[ 9.81629522e-01 1.88417745e-01 3.00372201e-02 1.76499159e+02] [-1.88328601e-01 9.82088974e-01 -5.79532528e-03 -2.64041719e+01] [-3.05911647e-02 3.19947681e-05 9.99531980e-01 -7.46265124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61264000000003 meters Centerline goodness [0,1] 0.9997852325931017 Centerline is valid? [True, True] Translation: X:176.53, Y:-26.41, Z:-7.46 [[ 9.81819423e-01 1.87420657e-01 3.00685483e-02 1.76527672e+02] [-1.87330882e-01 9.82279743e-01 -5.80061921e-03 -2.64112121e+01] [-3.06228818e-02 6.23929341e-05 9.99531008e-01 -7.46357250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.56, Y:-26.42, Z:-7.47 [[ 9.82053262e-01 1.86339819e-01 2.91352397e-02 1.76556947e+02] [-1.86255085e-01 9.82485350e-01 -5.61958015e-03 -2.64179092e+01] [-2.96720977e-02 9.21404731e-05 9.99559682e-01 -7.46705182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.59, Y:-26.43, Z:-7.47 [[ 9.82234877e-01 1.85489137e-01 2.84328580e-02 1.76585844e+02] [-1.85408088e-01 9.82646308e-01 -5.48398229e-03 -2.64254642e+01] [-2.89566621e-02 1.14876832e-04 9.99580661e-01 -7.47091218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.61, Y:-26.43, Z:-7.47 [[ 9.82430886e-01 1.84434613e-01 2.85206475e-02 1.76614800e+02] [-1.84352598e-01 9.82844775e-01 -5.50161560e-03 -2.64332187e+01] [-2.90460577e-02 1.47101622e-04 9.99578063e-01 -7.47277905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73264000000003 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:176.64, Y:-26.44, Z:-7.47 [[ 9.82690719e-01 1.82890723e-01 2.94946384e-02 1.76643489e+02] [-1.82802336e-01 9.83133228e-01 -5.68876205e-03 -2.64419431e+01] [-3.00375808e-02 1.98604875e-04 9.99548750e-01 -7.47029771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264000000003 meters Centerline goodness [0,1] 0.9998482549317147 Centerline is valid? [True, True] Translation: X:176.67, Y:-26.45, Z:-7.47 [[ 9.82831722e-01 1.81996880e-01 3.03140637e-02 1.76673092e+02] [-1.81903119e-01 9.83299081e-01 -5.84579873e-03 -2.64486404e+01] [-3.08717081e-02 2.31213705e-04 9.99523328e-01 -7.46857703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79264000000003 meters Centerline goodness [0,1] 0.9998707732069783 Centerline is valid? [True, True] Translation: X:176.70, Y:-26.46, Z:-7.47 [[ 9.83118410e-01 1.80186588e-01 3.17960061e-02 1.76703537e+02] [-1.80082493e-01 9.83632402e-01 -6.13135112e-03 -2.64588240e+01] [-3.23803691e-02 3.01940116e-04 9.99475573e-01 -7.46686801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.73, Y:-26.47, Z:-7.47 [[ 9.83281333e-01 1.79251759e-01 3.20410117e-02 1.76732959e+02] [-1.79145568e-01 9.83803179e-01 -6.17822298e-03 -2.64687429e+01] [-3.26295065e-02 3.34926074e-04 9.99467460e-01 -7.46940963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85264000000004 meters Centerline goodness [0,1] 0.9998064224722001 Centerline is valid? [True, True] Translation: X:176.76, Y:-26.48, Z:-7.47 [[ 9.83331403e-01 1.78875319e-01 3.26032547e-02 1.76763598e+02] [-1.78764959e-01 9.83871684e-01 -6.29272938e-03 -2.64768008e+01] [-3.32030331e-02 3.59518923e-04 9.99448563e-01 -7.46952445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.79, Y:-26.49, Z:-7.47 [[ 9.83554596e-01 1.77911595e-01 3.11098072e-02 1.76794375e+02] [-1.77810569e-01 9.84046403e-01 -6.00655742e-03 -2.64859113e+01] [-3.16821301e-02 3.76124636e-04 9.99497925e-01 -7.47377947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.83, Y:-26.49, Z:-7.48 [[ 9.83571022e-01 1.77898683e-01 3.06611198e-02 1.76825572e+02] [-1.77800384e-01 9.84048737e-01 -5.92504132e-03 -2.64938795e+01] [-3.12260932e-02 3.76140063e-04 9.99512276e-01 -7.47607486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264000000004 meters Centerline goodness [0,1] 0.9999785144919752 Centerline is valid? [True, True] Translation: X:176.86, Y:-26.50, Z:-7.48 [[ 9.83544103e-01 1.78222806e-01 2.96248028e-02 1.76856541e+02] [-1.78131044e-01 9.83990093e-01 -5.72957577e-03 -2.65016885e+01] [-3.01716536e-02 3.58193414e-04 9.99544668e-01 -7.47742966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97264000000004 meters Centerline goodness [0,1] 0.999871211470765 Centerline is valid? [True, True] Translation: X:176.89, Y:-26.51, Z:-7.48 [[ 9.83467050e-01 1.78721807e-01 2.91732130e-02 1.76887889e+02] [-1.78632873e-01 9.83899587e-01 -5.64788880e-03 -2.65086824e+01] [-2.97129131e-02 3.43217679e-04 9.99558415e-01 -7.47924007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.92, Y:-26.51, Z:-7.48 [[ 9.83384101e-01 1.79281595e-01 2.85275178e-02 1.76919354e+02] [-1.79196707e-01 9.83797747e-01 -5.52577240e-03 -2.65148525e+01] [-2.90559770e-02 3.21919491e-04 9.99577734e-01 -7.48201304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.95, Y:-26.52, Z:-7.48 [[ 9.83176188e-01 1.80470664e-01 2.81943748e-02 1.76949912e+02] [-1.80388043e-01 9.83580325e-01 -5.46798571e-03 -2.65203806e+01] [-2.87182433e-02 2.90065267e-04 9.99587504e-01 -7.48391145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:176.98, Y:-26.53, Z:-7.49 [[ 9.83004638e-01 1.81383820e-01 2.83159265e-02 1.76980354e+02] [-1.81300891e-01 9.83412345e-01 -5.49058242e-03 -2.65271037e+01] [-2.88421345e-02 2.63565270e-04 9.99583944e-01 -7.48654636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.01, Y:-26.53, Z:-7.49 [[ 9.82582369e-01 1.83667676e-01 2.82501707e-02 1.77010927e+02] [-1.83585895e-01 9.82988374e-01 -5.48411832e-03 -2.65319307e+01] [-2.87768447e-02 2.02265098e-04 9.99585840e-01 -7.48791115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.04, Y:-26.54, Z:-7.49 [[ 9.82296434e-01 1.85184172e-01 2.82937910e-02 1.77041469e+02] [-1.85102737e-01 9.82703820e-01 -5.49359697e-03 -2.65364411e+01] [-2.88217437e-02 1.59082550e-04 9.99584555e-01 -7.48925611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.07, Y:-26.54, Z:-7.49 [[ 9.81597942e-01 1.88791787e-01 2.86904480e-02 1.77070918e+02] [-1.88709588e-01 9.82017137e-01 -5.57076052e-03 -2.65373852e+01] [-2.92262255e-02 5.40844463e-05 9.99572821e-01 -7.49052338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.10, Y:-26.54, Z:-7.49 [[ 9.81161855e-01 1.91053364e-01 2.86361142e-02 1.77100629e+02] [-1.90972444e-01 9.81579651e-01 -5.56000351e-03 -2.65394426e+01] [-2.91708844e-02 -1.34453738e-05 9.99574439e-01 -7.49143796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.13, Y:-26.54, Z:-7.49 [[ 9.80637321e-01 1.93749884e-01 2.84855596e-02 1.77129774e+02] [-1.93670966e-01 9.81050954e-01 -5.53022373e-03 -2.65400789e+01] [-2.90172657e-02 -9.36820675e-05 9.99578906e-01 -7.49264401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264000000002 meters Centerline goodness [0,1] 0.9998489588952422 Centerline is valid? [True, True] Translation: X:177.16, Y:-26.53, Z:-7.49 [[ 9.79496192e-01 1.99417718e-01 2.86318465e-02 1.77160091e+02] [-1.99340432e-01 9.79914539e-01 -5.55771100e-03 -2.65336288e+01] [-2.91650687e-02 -2.63727885e-04 9.99574574e-01 -7.49239869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.19, Y:-26.53, Z:-7.50 [[ 9.79021365e-01 2.01696169e-01 2.89105828e-02 1.77189213e+02] [-2.01618404e-01 9.79448081e-01 -5.61039485e-03 -2.65346304e+01] [-2.94480099e-02 -3.36209141e-04 9.99566257e-01 -7.49525775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.22, Y:-26.53, Z:-7.50 [[ 9.78267008e-01 2.05274617e-01 2.92573552e-02 1.77219131e+02] [-2.05196617e-01 9.78704311e-01 -5.67624581e-03 -2.65334188e+01] [-2.97994889e-02 -4.50626319e-04 9.99555795e-01 -7.49600725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.25, Y:-26.54, Z:-7.50 [[ 9.78091962e-01 2.06088094e-01 2.93906843e-02 1.77246581e+02] [-2.06009783e-01 9.78533325e-01 -5.70094871e-03 -2.65352953e+01] [-2.99346617e-02 -4.78716405e-04 9.99551743e-01 -7.49737079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264000000003 meters Centerline goodness [0,1] 0.9999141446662374 Centerline is valid? [True, True] Translation: X:177.28, Y:-26.54, Z:-7.50 [[ 9.78017256e-01 2.06428637e-01 2.94866990e-02 1.77275084e+02] [-2.06350041e-01 9.78461535e-01 -5.71717466e-03 -2.65385786e+01] [-3.00317893e-02 -4.93086071e-04 9.99548822e-01 -7.49852941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.30, Y:-26.54, Z:-7.50 [[ 9.78188346e-01 2.05618991e-01 2.94684705e-02 1.77303684e+02] [-2.05540166e-01 9.78632010e-01 -5.71224454e-03 -2.65449025e+01] [-3.00133345e-02 -4.69303286e-04 9.99549388e-01 -7.49905806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264000000003 meters Centerline goodness [0,1] 0.9999360477510125 Centerline is valid? [True, True] Translation: X:177.33, Y:-26.55, Z:-7.50 [[ 9.78330644e-01 2.04938292e-01 2.94863819e-02 1.77331816e+02] [-2.04859102e-01 9.78774792e-01 -5.71438712e-03 -2.65480629e+01] [-3.00316240e-02 -4.49993674e-04 9.99548848e-01 -7.50035416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.36, Y:-26.56, Z:-7.50 [[ 9.78769913e-01 2.02757639e-01 2.99799376e-02 1.77360040e+02] [-2.02674815e-01 9.79228873e-01 -5.80801335e-03 -2.65555157e+01] [-3.05348396e-02 -3.91469587e-04 9.99533626e-01 -7.50038494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.39, Y:-26.56, Z:-7.50 [[ 9.78970974e-01 2.01732939e-01 3.03257872e-02 1.77387790e+02] [-2.01647744e-01 9.79440497e-01 -5.87361801e-03 -2.65606184e+01] [-3.08872063e-02 -3.65025025e-04 9.99522810e-01 -7.50152724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.42, Y:-26.57, Z:-7.50 [[ 9.79183282e-01 2.00645956e-01 3.06806100e-02 1.77416177e+02] [-2.00558285e-01 9.79663762e-01 -5.94029708e-03 -2.65671365e+01] [-3.12485784e-02 -3.36610939e-04 9.99511587e-01 -7.50222783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.44, Y:-26.57, Z:-7.50 [[ 9.79553858e-01 1.98777728e-01 3.10105403e-02 1.77443776e+02] [-1.98687274e-01 9.80044558e-01 -6.00264722e-03 -2.65740214e+01] [-3.15849038e-02 -2.81483459e-04 9.99501033e-01 -7.50273943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.47, Y:-26.58, Z:-7.50 [[ 9.79697637e-01 1.98116727e-01 3.06969476e-02 1.77471194e+02] [-1.98027811e-01 9.80178400e-01 -5.94059845e-03 -2.65787276e+01] [-3.12654169e-02 -2.58859064e-04 9.99511084e-01 -7.50442823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.50, Y:-26.58, Z:-7.50 [[ 9.79925427e-01 1.97031884e-01 3.04071403e-02 1.77499545e+02] [-1.96944176e-01 9.80397055e-01 -5.88260018e-03 -2.65829083e+01] [-3.09701307e-02 -2.23999714e-04 9.99520285e-01 -7.50423667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.53, Y:-26.59, Z:-7.51 [[ 9.80122014e-01 1.96021338e-01 3.06018414e-02 1.77528261e+02] [-1.95932049e-01 9.80599611e-01 -5.91904074e-03 -2.65886495e+01] [-3.11684121e-02 -1.94499348e-04 9.99514128e-01 -7.50560324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.56, Y:-26.60, Z:-7.51 [[ 9.80310733e-01 1.95087915e-01 3.05216713e-02 1.77556487e+02] [-1.94998729e-01 9.80785745e-01 -5.90069980e-03 -2.65951775e+01] [-3.10863753e-02 -1.67167765e-04 9.99516688e-01 -7.50678049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.59, Y:-26.60, Z:-7.51 [[ 9.80466948e-01 1.94344714e-01 3.02439452e-02 1.77585273e+02] [-1.94256837e-01 9.80933286e-01 -5.84549173e-03 -2.66001506e+01] [-3.08033330e-02 -1.43781694e-04 9.99525454e-01 -7.50859851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.61, Y:-26.60, Z:-7.51 [[ 9.80646667e-01 1.93594600e-01 2.92103829e-02 1.77613057e+02] [-1.93512333e-01 9.81081606e-01 -5.64445478e-03 -2.66024943e+01] [-2.97505053e-02 -1.17353562e-04 9.99557349e-01 -7.51196845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.64, Y:-26.61, Z:-7.51 [[ 9.80673766e-01 1.93502518e-01 2.89091835e-02 1.77641415e+02] [-1.93421956e-01 9.81099772e-01 -5.58431850e-03 -2.66071638e+01] [-2.94433731e-02 -1.15276175e-04 9.99566443e-01 -7.51270003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.67, Y:-26.61, Z:-7.52 [[ 9.80656142e-01 1.93574570e-01 2.90244267e-02 1.77669809e+02] [-1.93493436e-01 9.81085558e-01 -5.60523647e-03 -2.66080000e+01] [-2.95604771e-02 -1.19226482e-04 9.99562986e-01 -7.51501357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.70, Y:-26.61, Z:-7.52 [[ 9.80665251e-01 1.93528358e-01 2.90247999e-02 1.77697619e+02] [-1.93447261e-01 9.81094674e-01 -5.60330343e-03 -2.66132767e+01] [-2.95604747e-02 -1.19803076e-04 9.99562987e-01 -7.51618606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.73, Y:-26.62, Z:-7.52 [[ 9.80652820e-01 1.93577798e-01 2.91149829e-02 1.77726385e+02] [-1.93496259e-01 9.81084920e-01 -5.61929252e-03 -2.66162791e+01] [-2.96520409e-02 -1.23065221e-04 9.99560274e-01 -7.51684411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.76, Y:-26.62, Z:-7.52 [[ 9.80665486e-01 1.93437995e-01 2.96132995e-02 1.77755036e+02] [-1.93353622e-01 9.81112495e-01 -5.71397366e-03 -2.66197458e+01] [-3.01592777e-02 -1.22341969e-04 9.99545098e-01 -7.51750533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters Centerline goodness [0,1] 0.9998716577540107 Centerline is valid? [True, True] Translation: X:177.78, Y:-26.62, Z:-7.52 [[ 9.80823605e-01 1.92641185e-01 2.95707643e-02 1.77782872e+02] [-1.92556731e-01 9.81269262e-01 -5.70448535e-03 -2.66217761e+01] [-3.01158009e-02 -9.89558211e-05 9.99546412e-01 -7.51788692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93264000000002 meters Centerline goodness [0,1] 0.9998925886143931 Centerline is valid? [True, True] Translation: X:177.81, Y:-26.63, Z:-7.52 [[ 9.80940518e-01 1.92111960e-01 2.91323581e-02 1.77811051e+02] [-1.92029821e-01 9.81373012e-01 -5.61781835e-03 -2.66254390e+01] [-2.96689601e-02 -8.35358596e-05 9.99559776e-01 -7.51982247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.84, Y:-26.63, Z:-7.52 [[ 9.81295680e-01 1.90290377e-01 2.91266232e-02 1.77839687e+02] [-1.90207510e-01 9.81727850e-01 -5.61530877e-03 -2.66289953e+01] [-2.96629564e-02 -2.98242347e-05 9.99559957e-01 -7.52173625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.87, Y:-26.63, Z:-7.52 [[ 9.81559244e-01 1.88921099e-01 2.91593703e-02 1.77866398e+02] [-1.88837481e-01 9.81992270e-01 -5.62027136e-03 -2.66344363e+01] [-2.96960640e-02 1.02472774e-05 9.99558975e-01 -7.52411887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.89, Y:-26.64, Z:-7.53 [[ 9.81939616e-01 1.87011189e-01 2.86601799e-02 1.77893621e+02] [-1.86929647e-01 9.82357782e-01 -5.52232424e-03 -2.66412572e+01] [-2.91872872e-02 6.51516379e-05 9.99573958e-01 -7.52649540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.92, Y:-26.65, Z:-7.53 [[ 9.82779538e-01 1.82667334e-01 2.78751499e-02 1.77920405e+02] [-1.82588503e-01 9.83174761e-01 -5.36919539e-03 -2.66497831e+01] [-2.83869205e-02 1.87053458e-04 9.99596993e-01 -7.52950006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.95, Y:-26.66, Z:-7.53 [[ 9.83217812e-01 1.80360467e-01 2.74378648e-02 1.77948283e+02] [-1.80283236e-01 9.83600549e-01 -5.28341175e-03 -2.66552136e+01] [-2.79408175e-02 2.48157484e-04 9.99609548e-01 -7.52816921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:177.98, Y:-26.66, Z:-7.53 [[ 9.83534513e-01 1.78608910e-01 2.75448574e-02 1.77975056e+02] [-1.78530439e-01 9.83920103e-01 -5.30221669e-03 -2.66634414e+01] [-2.80489620e-02 2.97317641e-04 9.99606506e-01 -7.53137074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.00, Y:-26.67, Z:-7.53 [[ 9.84110061e-01 1.75369458e-01 2.78018345e-02 1.78003855e+02] [-1.75288288e-01 9.84502616e-01 -5.34937079e-03 -2.66724199e+01] [-2.83090950e-02 3.91033646e-04 9.99599141e-01 -7.53077801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.03, Y:-26.68, Z:-7.53 [[ 9.84267953e-01 1.74348365e-01 2.86224403e-02 1.78032086e+02] [-1.74261918e-01 9.84683939e-01 -5.50667320e-03 -2.66790029e+01] [-2.91441367e-02 4.32240634e-04 9.99575126e-01 -7.53160218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.06, Y:-26.68, Z:-7.53 [[ 9.84512939e-01 1.72765588e-01 2.97711844e-02 1.78061592e+02] [-1.72671376e-01 9.84962844e-01 -5.72638985e-03 -2.66848830e+01] [-3.03128336e-02 4.97073528e-04 9.99540337e-01 -7.53028721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23264000000003 meters Centerline goodness [0,1] 0.9999358714007823 Centerline is valid? [True, True] Translation: X:178.09, Y:-26.69, Z:-7.53 [[ 9.84633565e-01 1.72054279e-01 2.99009735e-02 1.78090168e+02] [-1.71958938e-01 9.85087333e-01 -5.75062841e-03 -2.66921109e+01] [-3.04444905e-02 5.20522105e-04 9.99536324e-01 -7.53043731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.12, Y:-26.70, Z:-7.53 [[ 9.84778220e-01 1.71177105e-01 3.01704604e-02 1.78119238e+02] [-1.71079648e-01 9.85240120e-01 -5.80172925e-03 -2.66993330e+01] [-3.07182713e-02 5.51864848e-04 9.99527930e-01 -7.53247476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29264000000003 meters Centerline goodness [0,1] 0.9998293988441772 Centerline is valid? [True, True] Translation: X:178.15, Y:-26.70, Z:-7.53 [[ 9.84991727e-01 1.70055384e-01 2.95374949e-02 1.78149779e+02] [-1.69961498e-01 9.85434339e-01 -5.67905374e-03 -2.67042056e+01] [-3.00730154e-02 5.73584065e-04 9.99547540e-01 -7.53157561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.18, Y:-26.71, Z:-7.53 [[ 9.85070648e-01 1.69595397e-01 2.95502877e-02 1.78178563e+02] [-1.69501215e-01 9.85513600e-01 -5.68178928e-03 -2.67095958e+01] [-3.00858158e-02 5.88154182e-04 9.99547146e-01 -7.53451356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.21, Y:-26.72, Z:-7.54 [[ 9.85165505e-01 1.69035408e-01 2.95965912e-02 1.78206407e+02] [-1.68940712e-01 9.85609793e-01 -5.68956998e-03 -2.67196576e+01] [-3.01324289e-02 6.05098913e-04 9.99545732e-01 -7.53682920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.24, Y:-26.73, Z:-7.54 [[ 9.85202046e-01 1.68828095e-01 2.95635548e-02 1.78236273e+02] [-1.68733505e-01 9.85645322e-01 -5.68362156e-03 -2.67260807e+01] [-3.00987345e-02 6.11153360e-04 9.99546744e-01 -7.53743167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.26, Y:-26.73, Z:-7.54 [[ 9.85286799e-01 1.68381858e-01 2.92826357e-02 1.78264985e+02] [-1.68288857e-01 9.85721648e-01 -5.62975190e-03 -2.67346999e+01] [-2.98124760e-02 6.18978942e-04 9.99555318e-01 -7.53948876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264000000004 meters Centerline goodness [0,1] 0.9998713495432909 Centerline is valid? [True, True] Translation: X:178.29, Y:-26.74, Z:-7.54 [[ 9.85281246e-01 1.68513450e-01 2.87068731e-02 1.78294743e+02] [-1.68424140e-01 9.85699170e-01 -5.51857655e-03 -2.67417258e+01] [-2.92262953e-02 6.02419566e-04 9.99572639e-01 -7.53957120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47264000000004 meters Centerline goodness [0,1] 0.9999355822292844 Centerline is valid? [True, True] Translation: X:178.32, Y:-26.75, Z:-7.54 [[ 9.85180511e-01 1.69067585e-01 2.89052301e-02 1.78323933e+02] [-1.68977271e-01 9.85604283e-01 -5.55684946e-03 -2.67483495e+01] [-2.94286017e-02 5.90172887e-04 9.99566711e-01 -7.54102677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.35, Y:-26.75, Z:-7.54 [[ 9.84901187e-01 1.70581731e-01 2.95215881e-02 1.78354045e+02] [-1.70488217e-01 9.85343374e-01 -5.67484167e-03 -2.67537902e+01] [-3.00569255e-02 5.56075372e-04 9.99548034e-01 -7.54233296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53264000000001 meters Centerline goodness [0,1] 0.9998711257168632 Centerline is valid? [True, True] Translation: X:178.38, Y:-26.76, Z:-7.54 [[ 9.84738278e-01 1.71627281e-01 2.88894615e-02 1.78382777e+02] [-1.71538176e-01 9.85161821e-01 -5.55347304e-03 -2.67601659e+01] [-2.94139219e-02 5.13071958e-04 9.99567185e-01 -7.54241613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.41, Y:-26.76, Z:-7.55 [[ 9.84516736e-01 1.72928988e-01 2.86768660e-02 1.78411766e+02] [-1.72841747e-01 9.84934183e-01 -5.51240237e-03 -2.67649495e+01] [-2.91980798e-02 4.70492761e-04 9.99573534e-01 -7.54593892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.44, Y:-26.77, Z:-7.55 [[ 9.83949236e-01 1.76328537e-01 2.74253287e-02 1.78441109e+02] [-1.76250083e-01 9.84331307e-01 -5.27120898e-03 -2.67675812e+01] [-2.79250742e-02 3.52885590e-04 9.99609957e-01 -7.54910326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters Centerline goodness [0,1] 0.9999786374997329 Centerline is valid? [True, True] Translation: X:178.47, Y:-26.77, Z:-7.55 [[ 9.83619401e-01 1.78190073e-01 2.72244892e-02 1.78469874e+02] [-1.78113490e-01 9.83996041e-01 -5.23211683e-03 -2.67722358e+01] [-2.77211009e-02 2.97362835e-04 9.99615652e-01 -7.55001854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.50, Y:-26.77, Z:-7.55 [[ 9.82922645e-01 1.81970342e-01 2.73837444e-02 1.78499320e+02] [-1.81894349e-01 9.83304001e-01 -5.26192181e-03 -2.67732297e+01] [-2.78840591e-02 1.91113755e-04 9.99611146e-01 -7.54936606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.53, Y:-26.78, Z:-7.55 [[ 9.82613461e-01 1.83595305e-01 2.76324268e-02 1.78526631e+02] [-1.83518602e-01 9.83001904e-01 -5.30847601e-03 -2.67770023e+01] [-2.81373394e-02 1.45115656e-04 9.99604056e-01 -7.55101553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.56, Y:-26.78, Z:-7.55 [[ 9.82372025e-01 1.84898268e-01 2.75288028e-02 1.78555629e+02] [-1.84822712e-01 9.82757661e-01 -5.28637045e-03 -2.67813974e+01] [-2.80315826e-02 1.05234452e-04 9.99607032e-01 -7.55211200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264000000002 meters Centerline goodness [0,1] 0.9998057791493127 Centerline is valid? [True, True] Translation: X:178.58, Y:-26.79, Z:-7.55 [[ 9.81990162e-01 1.87019306e-01 2.68160443e-02 1.78582957e+02] [-1.86948420e-01 9.82356237e-01 -5.14887258e-03 -2.67870747e+01] [-2.73058469e-02 4.29251110e-05 9.99627125e-01 -7.55308097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.61, Y:-26.79, Z:-7.55 [[ 9.81748482e-01 1.88251002e-01 2.70458425e-02 1.78611411e+02] [-1.88179415e-01 9.82120950e-01 -5.19113067e-03 -2.67921845e+01] [-2.75395241e-02 6.91385791e-06 9.99620715e-01 -7.55442564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264000000003 meters Centerline goodness [0,1] 0.999871443263627 Centerline is valid? [True, True] Translation: X:178.64, Y:-26.79, Z:-7.56 [[ 9.81139949e-01 1.91393077e-01 2.70756285e-02 1.78639562e+02] [-1.91322560e-01 9.81513466e-01 -5.19564136e-03 -2.67928645e+01] [-2.75695038e-02 -8.25272659e-05 9.99619886e-01 -7.55534205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.67, Y:-26.80, Z:-7.56 [[ 9.80811570e-01 1.93006858e-01 2.75139517e-02 1.78668308e+02] [-1.92934728e-01 9.81197399e-01 -5.27782012e-03 -2.67962278e+01] [-2.80152733e-02 -1.31849732e-04 9.99607487e-01 -7.55587224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.70, Y:-26.80, Z:-7.56 [[ 9.80163964e-01 1.96179877e-01 2.81435551e-02 1.78697760e+02] [-1.96105757e-01 9.80567898e-01 -5.39712736e-03 -2.67975332e+01] [-2.86554744e-02 -2.29043409e-04 9.99589321e-01 -7.55629332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.73, Y:-26.80, Z:-7.56 [[ 9.79932711e-01 1.97327991e-01 2.81699488e-02 1.78725449e+02] [-1.97254238e-01 9.80337490e-01 -5.40107398e-03 -2.68003902e+01] [-2.86818400e-02 -2.63952708e-04 9.99588557e-01 -7.55789671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.75, Y:-26.80, Z:-7.56 [[ 9.79813064e-01 1.97906318e-01 2.82745128e-02 1.78752964e+02] [-1.97832320e-01 9.80220898e-01 -5.41890188e-03 -2.68031318e+01] [-2.87877033e-02 -2.84101628e-04 9.99585508e-01 -7.55982310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.78, Y:-26.81, Z:-7.56 [[ 9.79883775e-01 1.97499592e-01 2.86652786e-02 1.78781231e+02] [-1.97423432e-01 9.80302930e-01 -5.49132195e-03 -2.68108786e+01] [-2.91851904e-02 -2.78340407e-04 9.99573983e-01 -7.55954844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.81, Y:-26.82, Z:-7.56 [[ 9.80034525e-01 1.96777852e-01 2.84746751e-02 1.78808218e+02] [-1.96702434e-01 9.80448067e-01 -5.45352688e-03 -2.68175919e+01] [-2.89910734e-02 -2.56393272e-04 9.99579638e-01 -7.56116939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.84, Y:-26.82, Z:-7.56 [[ 9.80244933e-01 1.95731396e-01 2.84445364e-02 1.78835673e+02] [-1.95655750e-01 9.80657519e-01 -5.44595711e-03 -2.68233105e+01] [-2.89602932e-02 -2.26965217e-04 9.99580537e-01 -7.56332008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.86, Y:-26.83, Z:-7.56 [[ 9.80331628e-01 1.95313758e-01 2.83272914e-02 1.78863300e+02] [-1.95238606e-01 9.80740786e-01 -5.42191638e-03 -2.68288888e+01] [-2.88407049e-02 -2.15304754e-04 9.99583997e-01 -7.56347880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.89, Y:-26.83, Z:-7.57 [[ 9.80334647e-01 1.95365248e-01 2.78639657e-02 1.78890790e+02] [-1.95292619e-01 9.80730530e-01 -5.33100157e-03 -2.68321115e+01] [-2.83685343e-02 -2.15461306e-04 9.99597509e-01 -7.56634520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.92, Y:-26.83, Z:-7.57 [[ 9.80137382e-01 1.96364091e-01 2.77822849e-02 1.78919242e+02] [-1.96292343e-01 9.80531021e-01 -5.31345607e-03 -2.68345885e+01] [-2.82847641e-02 -2.45532859e-04 9.99599876e-01 -7.56774776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.95, Y:-26.84, Z:-7.57 [[ 9.80068305e-01 1.96784914e-01 2.72363029e-02 1.78947003e+02] [-1.96716155e-01 9.80446650e-01 -5.20778594e-03 -2.68414175e+01] [-2.77285556e-02 -2.53834849e-04 9.99615457e-01 -7.56790591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:178.97, Y:-26.85, Z:-7.57 [[ 9.80072675e-01 1.96648556e-01 2.80516932e-02 1.78974317e+02] [-1.96575597e-01 9.80474007e-01 -5.36247702e-03 -2.68469886e+01] [-2.85584794e-02 -2.58661124e-04 9.99592090e-01 -7.56966796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.00, Y:-26.85, Z:-7.57 [[ 9.80134343e-01 1.96237337e-01 2.87676505e-02 1.79001451e+02] [-1.96160496e-01 9.80556394e-01 -5.49703476e-03 -2.68516886e+01] [-2.92870271e-02 -2.55244044e-04 9.99571010e-01 -7.56932848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.03, Y:-26.86, Z:-7.57 [[ 9.80296060e-01 1.95439279e-01 2.86901333e-02 1.79029692e+02] [-1.95362575e-01 9.80715776e-01 -5.48000211e-03 -2.68577540e+01] [-2.92078741e-02 -2.32953853e-04 9.99573332e-01 -7.56917169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25264000000004 meters Centerline goodness [0,1] 0.9999786013866302 Centerline is valid? [True, True] Translation: X:179.06, Y:-26.86, Z:-7.57 [[ 9.80625528e-01 1.93820994e-01 2.84076598e-02 1.79058092e+02] [-1.93745155e-01 9.81036894e-01 -5.42464207e-03 -2.68649733e+01] [-2.89203718e-02 -1.84303941e-04 9.99581702e-01 -7.57095404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.09, Y:-26.87, Z:-7.57 [[ 9.80751565e-01 1.93159835e-01 2.85595111e-02 1.79086606e+02] [-1.93082945e-01 9.81167290e-01 -5.45217793e-03 -2.68716526e+01] [-2.90747999e-02 -1.67122456e-04 9.99577225e-01 -7.57269208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.11, Y:-26.88, Z:-7.57 [[ 9.80860719e-01 1.92614643e-01 2.84929519e-02 1.79114726e+02] [-1.92537927e-01 9.81274465e-01 -5.43789892e-03 -2.68788271e+01] [-2.90068251e-02 -1.52152419e-04 9.99579202e-01 -7.57415153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters Centerline goodness [0,1] 0.999870870547724 Centerline is valid? [True, True] Translation: X:179.14, Y:-26.89, Z:-7.57 [[ 9.80994191e-01 1.92044180e-01 2.77386211e-02 1.79142931e+02] [-1.91971268e-01 9.81386272e-01 -5.29308972e-03 -2.68863281e+01] [-2.82388091e-02 -1.32528009e-04 9.99601197e-01 -7.57485759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.17, Y:-26.89, Z:-7.58 [[ 9.81023980e-01 1.91926113e-01 2.75012227e-02 1.79169862e+02] [-1.91854432e-01 9.81409369e-01 -5.24656790e-03 -2.68919792e+01] [-2.79969110e-02 -1.29222533e-04 9.99608001e-01 -7.57767598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.20, Y:-26.90, Z:-7.58 [[ 9.81047729e-01 1.91829610e-01 2.73268040e-02 1.79198424e+02] [-1.91758850e-01 9.81428237e-01 -5.21140516e-03 -2.68982868e+01] [-2.78189989e-02 -1.27519324e-04 9.99612969e-01 -7.57892067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43264000000002 meters Centerline goodness [0,1] 0.9999148664467383 Centerline is valid? [True, True] Translation: X:179.23, Y:-26.90, Z:-7.58 [[ 9.81059906e-01 1.91705262e-01 2.77588375e-02 1.79225744e+02] [-1.91632232e-01 9.81452534e-01 -5.29257071e-03 -2.69030664e+01] [-2.82585950e-02 -1.27159062e-04 9.99600638e-01 -7.58058630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264000000002 meters Centerline goodness [0,1] 0.9998071524995179 Centerline is valid? [True, True] Translation: X:179.25, Y:-26.91, Z:-7.58 [[ 9.81056947e-01 1.91696468e-01 2.79236806e-02 1.79253967e+02] [-1.91622624e-01 9.81454251e-01 -5.32189228e-03 -2.69087099e+01] [-2.84260030e-02 -1.29729561e-04 9.99595891e-01 -7.58108893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.28, Y:-26.92, Z:-7.58 [[ 9.81140860e-01 1.91208939e-01 2.83152734e-02 1.79281940e+02] [-1.91132847e-01 9.81549351e-01 -5.39511683e-03 -2.69157776e+01] [-2.88244327e-02 -1.18609244e-04 9.99584483e-01 -7.58291202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.31, Y:-26.93, Z:-7.58 [[ 9.81226048e-01 1.90799170e-01 2.81268510e-02 1.79309858e+02] [-1.90723957e-01 9.81629087e-01 -5.35786745e-03 -2.69251094e+01] [-2.86324118e-02 -1.07185239e-04 9.99590003e-01 -7.58417455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.34, Y:-26.93, Z:-7.59 [[ 9.81289699e-01 1.90603385e-01 2.72190553e-02 1.79337533e+02] [-1.90532910e-01 9.81667123e-01 -5.18369713e-03 -2.69320745e+01] [-2.77080819e-02 -9.94171991e-05 9.99616052e-01 -7.58557616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.37, Y:-26.94, Z:-7.59 [[ 9.81310146e-01 1.90494753e-01 2.72423553e-02 1.79365629e+02] [-1.90424152e-01 9.81688209e-01 -5.18678050e-03 -2.69383625e+01] [-2.77315534e-02 -9.77620787e-05 9.99615402e-01 -7.58691954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61264000000003 meters Centerline goodness [0,1] 0.999871211470765 Centerline is valid? [True, True] Translation: X:179.39, Y:-26.94, Z:-7.59 [[ 9.81273455e-01 1.90694631e-01 2.71655112e-02 1.79393454e+02] [-1.90624541e-01 9.81649401e-01 -5.17082592e-03 -2.69444541e+01] [-2.76530565e-02 -1.04418879e-04 9.99617576e-01 -7.58546638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.42, Y:-26.95, Z:-7.59 [[ 9.81196218e-01 1.91082880e-01 2.72270807e-02 1.79420543e+02] [-1.91012656e-01 9.81573899e-01 -5.18131623e-03 -2.69488513e+01] [-2.77154526e-02 -1.16829105e-04 9.99615846e-01 -7.58951910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67264000000003 meters Centerline goodness [0,1] 0.9998709344346928 Centerline is valid? [True, True] Translation: X:179.45, Y:-26.95, Z:-7.58 [[ 9.80859617e-01 1.92635067e-01 2.83926634e-02 1.79449342e+02] [-1.92559410e-01 9.81270453e-01 -5.40106406e-03 -2.69539072e+01] [-2.89013160e-02 -1.69588877e-04 9.99582255e-01 -7.58497067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.48, Y:-26.96, Z:-7.59 [[ 9.80462437e-01 1.94611317e-01 2.86329455e-02 1.79476571e+02] [-1.94535255e-01 9.80880412e-01 -5.44543070e-03 -2.69569993e+01] [-2.91452378e-02 -2.31077109e-04 9.99575161e-01 -7.58869618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.50, Y:-26.96, Z:-7.59 [[ 9.80471517e-01 1.94565512e-01 2.86333164e-02 1.79504397e+02] [-1.94489487e-01 9.80889498e-01 -5.44347975e-03 -2.69621965e+01] [-2.91452328e-02 -2.31702168e-04 9.99575161e-01 -7.58986871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.53, Y:-26.97, Z:-7.59 [[ 9.80205525e-01 1.95880523e-01 2.87741032e-02 1.79532699e+02] [-1.95804356e-01 9.80627731e-01 -5.46884840e-03 -2.69654674e+01] [-2.92879244e-02 -2.73499316e-04 9.99570979e-01 -7.59049425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.56, Y:-26.97, Z:-7.59 [[ 9.79962411e-01 1.97134925e-01 2.84867274e-02 1.79561488e+02] [-1.97060841e-01 9.80376318e-01 -5.41288628e-03 -2.69694136e+01] [-2.89947819e-02 -3.09193374e-04 9.99579515e-01 -7.59087683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264000000004 meters Centerline goodness [0,1] 0.9999569364597464 Centerline is valid? [True, True] Translation: X:179.59, Y:-26.97, Z:-7.59 [[ 9.79577239e-01 1.99077194e-01 2.82259331e-02 1.79589542e+02] [-1.99005303e-01 9.79983744e-01 -5.36206680e-03 -2.69707176e+01] [-2.87284208e-02 -3.64551780e-04 9.99587187e-01 -7.59229032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85264000000004 meters Centerline goodness [0,1] 0.999787007454739 Centerline is valid? [True, True] Translation: X:179.62, Y:-26.97, Z:-7.59 [[ 9.79425987e-01 1.99858019e-01 2.79554583e-02 1.79617142e+02] [-1.99787866e-01 9.79824792e-01 -5.30893197e-03 -2.69737827e+01] [-2.84524837e-02 -3.85455416e-04 9.99595072e-01 -7.59369636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264000000004 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:179.65, Y:-26.98, Z:-7.60 [[ 9.79291725e-01 2.00537717e-01 2.77910302e-02 1.79646326e+02] [-2.00468714e-01 9.79685899e-01 -5.27582714e-03 -2.69754316e+01] [-2.82844827e-02 -4.04658208e-04 9.99599832e-01 -7.59635885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.67, Y:-26.98, Z:-7.60 [[ 9.79285265e-01 2.00554908e-01 2.78944173e-02 1.79673681e+02] [-2.00485428e-01 9.79682379e-01 -5.29436234e-03 -2.69787825e+01] [-2.83894794e-02 -4.07733169e-04 9.99596854e-01 -7.59711767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.70, Y:-26.98, Z:-7.60 [[ 9.79273789e-01 2.00548188e-01 2.83420371e-02 1.79702467e+02] [-2.00476529e-01 9.79683750e-01 -5.37684284e-03 -2.69839614e+01] [-2.88445493e-02 -4.16511982e-04 9.99583823e-01 -7.59623171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.73, Y:-26.98, Z:-7.60 [[ 9.79265717e-01 2.00418176e-01 2.95162595e-02 1.79731048e+02] [-2.00340440e-01 9.79710350e-01 -5.59813797e-03 -2.69835160e+01] [-3.00393535e-02 -4.31235813e-04 9.99548624e-01 -7.59563496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.76, Y:-26.98, Z:-7.60 [[ 9.79271530e-01 2.00302888e-01 3.01002276e-02 1.79759170e+02] [-2.00222046e-01 9.79733924e-01 -5.70709186e-03 -2.69835164e+01] [-3.06333610e-02 -4.37936576e-04 9.99530593e-01 -7.59815739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.79, Y:-26.98, Z:-7.60 [[ 9.79203952e-01 2.00693797e-01 2.96920940e-02 1.79788631e+02] [-2.00615395e-01 9.79653919e-01 -5.62696472e-03 -2.69849969e+01] [-3.02172731e-02 -4.46745075e-04 9.99543254e-01 -7.59860932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.82, Y:-26.99, Z:-7.60 [[ 9.79160336e-01 2.00960582e-01 2.93237237e-02 1.79817914e+02] [-2.00884276e-01 9.79599225e-01 -5.55574774e-03 -2.69869186e+01] [-2.98419833e-02 -4.50707184e-04 9.99554527e-01 -7.60040260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.85, Y:-26.99, Z:-7.60 [[ 9.79173575e-01 2.00864100e-01 2.95418813e-02 1.79846326e+02] [-2.00786653e-01 9.79619012e-01 -5.59563944e-03 -2.69905024e+01] [-3.00637517e-02 -4.52513196e-04 9.99547881e-01 -7.60007700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.87, Y:-26.99, Z:-7.60 [[ 9.79507058e-01 1.99301524e-01 2.90659004e-02 1.79874832e+02] [-1.99225895e-01 9.79938132e-01 -5.50448267e-03 -2.69898015e+01] [-2.95798359e-02 -3.99000389e-04 9.99562341e-01 -7.60386942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.90, Y:-27.00, Z:-7.61 [[ 9.80469465e-01 1.94629625e-01 2.82654743e-02 1.79901844e+02] [-1.94556243e-01 9.80876773e-01 -5.35009771e-03 -2.69965498e+01] [-2.87662348e-02 -2.53617060e-04 9.99586134e-01 -7.60702474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.93, Y:-27.01, Z:-7.61 [[ 9.81161315e-01 1.91142063e-01 2.80568312e-02 1.79929195e+02] [-1.91068386e-01 9.81562371e-01 -5.30876980e-03 -2.70050745e+01] [-2.85542590e-02 -1.52013908e-04 9.99592232e-01 -7.60673492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:179.96, Y:-27.01, Z:-7.61 [[ 9.81902807e-01 1.87303667e-01 2.80038304e-02 1.79956365e+02] [-1.87228748e-01 9.82302059e-01 -5.29731330e-03 -2.70135761e+01] [-2.85004265e-02 -4.16752989e-05 9.99593779e-01 -7.60893143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264000000002 meters Centerline goodness [0,1] 0.9999566226386449 Centerline is valid? [True, True] Translation: X:179.98, Y:-27.03, Z:-7.61 [[ 9.83415183e-01 1.79308301e-01 2.72600772e-02 1.79983214e+02] [-1.79234270e-01 9.83792915e-01 -5.15529249e-03 -2.70279235e+01] [-2.77426576e-02 1.83852877e-04 9.99615081e-01 -7.60965979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.01, Y:-27.04, Z:-7.61 [[ 9.84083775e-01 1.75615772e-01 2.71702753e-02 1.80009655e+02] [-1.75540854e-01 9.84458744e-01 -5.13710309e-03 -2.70379033e+01] [-2.76501714e-02 2.85846476e-04 9.99617620e-01 -7.61153193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.04, Y:-27.05, Z:-7.61 [[ 9.85059877e-01 1.70084753e-01 2.69854537e-02 1.80037757e+02] [-1.70008834e-01 9.85429341e-01 -5.09996948e-03 -2.70501888e+01] [-2.74596849e-02 4.36009793e-04 9.99622817e-01 -7.61191516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.07, Y:-27.06, Z:-7.61 [[ 9.85339439e-01 1.68475843e-01 2.68715537e-02 1.80066123e+02] [-1.68399979e-01 9.85705667e-01 -5.07794945e-03 -2.70569332e+01] [-2.73429546e-02 4.78334775e-04 9.99625997e-01 -7.61281650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.09, Y:-27.06, Z:-7.61 [[ 9.85470268e-01 1.67765923e-01 2.65131467e-02 1.80094781e+02] [-1.67691844e-01 9.85826737e-01 -5.00905984e-03 -2.70633666e+01] [-2.69777184e-02 4.90241091e-04 9.99635915e-01 -7.61424178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.12, Y:-27.07, Z:-7.62 [[ 9.85505167e-01 1.67741375e-01 2.53455658e-02 1.80122052e+02] [-1.67673685e-01 9.85830924e-01 -4.78788187e-03 -2.70705151e+01] [-2.57895684e-02 4.68697900e-04 9.99667284e-01 -7.61841862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264000000003 meters Centerline goodness [0,1] 0.9999784073242356 Centerline is valid? [True, True] Translation: X:180.15, Y:-27.08, Z:-7.62 [[ 9.85403183e-01 1.68438525e-01 2.46785184e-02 1.80149741e+02] [-1.68374571e-01 9.85712063e-01 -4.66187398e-03 -2.70751343e+01] [-2.51111525e-02 4.38590516e-04 9.99684569e-01 -7.62083102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45264000000003 meters Centerline goodness [0,1] 0.9999784876841992 Centerline is valid? [True, True] Translation: X:180.18, Y:-27.08, Z:-7.62 [[ 9.85041579e-01 1.70505270e-01 2.49206946e-02 1.80179284e+02] [-1.70440758e-01 9.85356688e-01 -4.70589825e-03 -2.70752367e+01] [-2.53581535e-02 3.88003362e-04 9.99678355e-01 -7.61940641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264000000003 meters Centerline goodness [0,1] 0.999913781954563 Centerline is valid? [True, True] Translation: X:180.21, Y:-27.08, Z:-7.62 [[ 9.84837975e-01 1.71701746e-01 2.47522565e-02 1.80206755e+02] [-1.71638508e-01 9.85148915e-01 -4.67304716e-03 -2.70801641e+01] [-2.51870290e-02 3.53753919e-04 9.99682694e-01 -7.62125903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.23, Y:-27.09, Z:-7.62 [[ 9.84578685e-01 1.73175194e-01 2.48025036e-02 1.80234477e+02] [-1.73112211e-01 9.84890985e-01 -4.68075170e-03 -2.70850880e+01] [-2.52383523e-02 3.14952122e-04 9.99681412e-01 -7.62474518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.26, Y:-27.08, Z:-7.62 [[ 9.83816877e-01 1.77291028e-01 2.59276555e-02 1.80264693e+02] [-1.77223656e-01 9.84158444e-01 -4.89204381e-03 -2.70842641e+01] [-2.63842366e-02 2.17881363e-04 9.99651852e-01 -7.62171655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.29, Y:-27.09, Z:-7.62 [[ 9.83363108e-01 1.79785707e-01 2.59633870e-02 1.80292965e+02] [-1.79719068e-01 9.83705788e-01 -4.89685309e-03 -2.70862123e+01] [-2.64207182e-02 1.49268962e-04 9.99650901e-01 -7.62300444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.32, Y:-27.08, Z:-7.62 [[ 9.82186329e-01 1.86066470e-01 2.62542293e-02 1.80323570e+02] [-1.86000620e-01 9.82537159e-01 -4.94988294e-03 -2.70812044e+01] [-2.67167632e-02 -2.15955776e-05 9.99643043e-01 -7.62206912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.35, Y:-27.08, Z:-7.62 [[ 9.81521873e-01 1.89529277e-01 2.63337343e-02 1.80351780e+02] [-1.89464294e-01 9.81875063e-01 -4.96406514e-03 -2.70803915e+01] [-2.67972728e-02 -1.16963856e-04 9.99640882e-01 -7.62469929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.38, Y:-27.08, Z:-7.63 [[ 9.80182077e-01 1.96454468e-01 2.54703392e-02 1.80382749e+02] [-1.96396090e-01 9.80512903e-01 -4.79828932e-03 -2.70760262e+01] [-2.59166416e-02 -2.99077817e-04 9.99664063e-01 -7.62615461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.41, Y:-27.07, Z:-7.63 [[ 9.79584594e-01 1.99419391e-01 2.54151486e-02 1.80411144e+02] [-1.99362263e-01 9.79914162e-01 -4.78782483e-03 -2.70733441e+01] [-2.58594492e-02 -3.76742107e-04 9.99665518e-01 -7.63005230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264000000004 meters Centerline goodness [0,1] 0.9999569568492414 Centerline is valid? [True, True] Translation: X:180.44, Y:-27.07, Z:-7.63 [[ 9.78979495e-01 2.02355679e-01 2.55211097e-02 1.80439969e+02] [-2.02299114e-01 9.79311988e-01 -4.80613675e-03 -2.70728940e+01] [-2.59656777e-02 -4.57788555e-04 9.99662730e-01 -7.63043747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75264000000004 meters Centerline goodness [0,1] 0.9999356513159305 Centerline is valid? [True, True] Translation: X:180.47, Y:-27.07, Z:-7.63 [[ 9.77972944e-01 2.07177429e-01 2.54250700e-02 1.80470725e+02] [-2.07122970e-01 9.78303210e-01 -4.78596236e-03 -2.70712601e+01] [-2.58649710e-02 -5.85574312e-04 9.99665274e-01 -7.62958922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters Centerline goodness [0,1] 0.9999785149535922 Centerline is valid? [True, True] Translation: X:180.50, Y:-27.07, Z:-7.63 [[ 9.77661202e-01 2.08649753e-01 2.53742950e-02 1.80499335e+02] [-2.08596008e-01 9.77990231e-01 -4.77633594e-03 -2.70708246e+01] [-2.58123939e-02 -6.23338312e-04 9.99666610e-01 -7.63210664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81264000000002 meters Centerline goodness [0,1] 0.9998503666018256 Centerline is valid? [True, True] Translation: X:180.53, Y:-27.07, Z:-7.63 [[ 9.77452939e-01 2.09606815e-01 2.55095021e-02 1.80528000e+02] [-2.09552866e-01 9.77785537e-01 -4.80008727e-03 -2.70699631e+01] [-2.59489532e-02 -6.53729849e-04 9.99663055e-01 -7.63439619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters Centerline goodness [0,1] 0.9999563347378992 Centerline is valid? [True, True] Translation: X:180.56, Y:-27.08, Z:-7.63 [[ 9.77366768e-01 2.10111115e-01 2.46479071e-02 1.80556730e+02] [-2.10060897e-01 9.77677301e-01 -4.63844609e-03 -2.70750856e+01] [-2.50722884e-02 -6.44098415e-04 9.99685433e-01 -7.63398764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87264000000002 meters Centerline goodness [0,1] 0.9999784338674546 Centerline is valid? [True, True] Translation: X:180.58, Y:-27.08, Z:-7.64 [[ 9.77570838e-01 2.09207063e-01 2.42417114e-02 1.80583928e+02] [-2.09158350e-01 9.77871170e-01 -4.55625840e-03 -2.70781648e+01] [-2.46584721e-02 -6.16291028e-04 9.99695744e-01 -7.63807042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters Centerline goodness [0,1] 0.9999139136984827 Centerline is valid? [True, True] Translation: X:180.61, Y:-27.08, Z:-7.64 [[ 9.78203448e-01 2.06212299e-01 2.43824151e-02 1.80610826e+02] [-2.06162162e-01 9.78507122e-01 -4.57976695e-03 -2.70840489e+01] [-2.48027711e-02 -5.46787594e-04 9.99692214e-01 -7.63982315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93264000000002 meters Centerline goodness [0,1] 0.9999570437509396 Centerline is valid? [True, True] Translation: X:180.64, Y:-27.09, Z:-7.64 [[ 9.78673373e-01 2.03960554e-01 2.44646758e-02 1.80637914e+02] [-2.03909414e-01 9.78978983e-01 -4.59364861e-03 -2.70888813e+01] [-2.48873265e-02 -4.92896116e-04 9.99690141e-01 -7.64309815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.67, Y:-27.10, Z:-7.64 [[ 9.79176787e-01 2.01501996e-01 2.46934140e-02 1.80665593e+02] [-2.01449156e-01 9.79488007e-01 -4.63486506e-03 -2.70992685e+01] [-2.51208374e-02 -4.36115128e-04 9.99684327e-01 -7.64127102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.69, Y:-27.11, Z:-7.64 [[ 9.80157150e-01 1.96622161e-01 2.51333913e-02 1.80692788e+02] [-1.96565850e-01 9.80479283e-01 -4.71611102e-03 -2.71077618e+01] [-2.55700614e-02 -3.17836488e-04 9.99672982e-01 -7.64194413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.72, Y:-27.12, Z:-7.64 [[ 9.80605217e-01 1.94356803e-01 2.52752994e-02 1.80720812e+02] [-1.94299135e-01 9.80930866e-01 -4.74147429e-03 -2.71153695e+01] [-2.57148591e-02 -2.61454379e-04 9.99669284e-01 -7.64176413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.75, Y:-27.12, Z:-7.64 [[ 9.81202945e-01 1.91259513e-01 2.57017530e-02 1.80748228e+02] [-1.91198849e-01 9.81539487e-01 -4.82029996e-03 -2.71206483e+01] [-2.61492136e-02 -1.84453085e-04 9.99658034e-01 -7.64410867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264000000003 meters Centerline goodness [0,1] 0.9998924592420527 Centerline is valid? [True, True] Translation: X:180.78, Y:-27.13, Z:-7.64 [[ 9.81305035e-01 1.90778563e-01 2.53765479e-02 1.80777019e+02] [-1.90719310e-01 9.81633084e-01 -4.75751562e-03 -2.71256607e+01] [-2.58180909e-02 -1.71223673e-04 9.99666643e-01 -7.64420117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11264000000003 meters Centerline goodness [0,1] 0.9998268735527711 Centerline is valid? [True, True] Translation: X:180.80, Y:-27.13, Z:-7.65 [[ 9.81347625e-01 1.90633647e-01 2.48123370e-02 1.80804608e+02] [-1.90576979e-01 9.81661238e-01 -4.65072296e-03 -2.71293363e+01] [-2.52438937e-02 -1.64684297e-04 9.99681309e-01 -7.64672645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.83, Y:-27.13, Z:-7.65 [[ 9.81300047e-01 1.90925561e-01 2.44468605e-02 1.80832863e+02] [-1.90870679e-01 9.81604503e-01 -4.58070789e-03 -2.71298730e+01] [-2.48717226e-02 -1.71140000e-04 9.99690636e-01 -7.64941486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17264000000003 meters Centerline goodness [0,1] 0.9998697124989143 Centerline is valid? [True, True] Translation: X:180.86, Y:-27.13, Z:-7.65 [[ 9.81172931e-01 1.91585507e-01 2.43859333e-02 1.80862460e+02] [-1.91531145e-01 9.81475908e-01 -4.56757947e-03 -2.71303743e+01] [-2.48092880e-02 -1.89080397e-04 9.99692184e-01 -7.64848684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.89, Y:-27.13, Z:-7.65 [[ 9.81261158e-01 1.91129793e-01 2.44119292e-02 1.80890071e+02] [-1.91075199e-01 9.81564756e-01 -4.57140985e-03 -2.71330908e+01] [-2.48356220e-02 -1.78767312e-04 9.99691532e-01 -7.64984879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.92, Y:-27.14, Z:-7.65 [[ 9.81427290e-01 1.90176929e-01 2.51636831e-02 1.80917647e+02] [-1.90118639e-01 9.81749820e-01 -4.71096094e-03 -2.71364832e+01] [-2.56003575e-02 -1.60619566e-04 9.99672244e-01 -7.64987134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:180.95, Y:-27.14, Z:-7.65 [[ 9.82031477e-01 1.86761332e-01 2.70995187e-02 1.80945998e+02] [-1.86692519e-01 9.82405313e-01 -5.07001459e-03 -2.71423467e+01] [-2.75695938e-02 -8.03634924e-05 9.99619883e-01 -7.64648553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29264000000003 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:180.97, Y:-27.15, Z:-7.65 [[ 9.82431704e-01 1.84503425e-01 2.80434252e-02 1.80973371e+02] [-1.84428841e-01 9.82831871e-01 -5.24565154e-03 -2.71494034e+01] [-2.85298127e-02 -1.85220250e-05 9.99592942e-01 -7.64737971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.00, Y:-27.16, Z:-7.65 [[ 9.83464495e-01 1.78873027e-01 2.83200956e-02 1.80998812e+02] [-1.78794711e-01 9.83872156e-01 -5.29450820e-03 -2.71617268e+01] [-2.88103983e-02 1.43477517e-04 9.99584884e-01 -7.64890858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.03, Y:-27.17, Z:-7.65 [[ 9.83914428e-01 1.76431070e-01 2.80084889e-02 1.81026696e+02] [-1.76353546e-01 9.84312975e-01 -5.23388734e-03 -2.71691666e+01] [-2.84925394e-02 2.10300935e-04 9.99593983e-01 -7.64956812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.05, Y:-27.18, Z:-7.65 [[ 9.84300078e-01 1.74393630e-01 2.72069533e-02 1.81054276e+02] [-1.74319738e-01 9.84675984e-01 -5.08280279e-03 -2.71762560e+01] [-2.76764419e-02 2.60294221e-04 9.99616900e-01 -7.65173850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.08, Y:-27.18, Z:-7.66 [[ 9.84868378e-01 1.71323548e-01 2.61250792e-02 1.81082189e+02] [-1.71254369e-01 9.85214764e-01 -4.87944913e-03 -2.71848592e+01] [-2.65747783e-02 3.31581187e-04 9.99646773e-01 -7.65534694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.11, Y:-27.19, Z:-7.66 [[ 9.85225964e-01 1.69474628e-01 2.46607158e-02 1.81108485e+02] [-1.69412428e-01 9.85534485e-01 -4.60520731e-03 -2.71921343e+01] [-2.50844517e-02 3.59338061e-04 9.99685271e-01 -7.65900646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.14, Y:-27.20, Z:-7.66 [[ 9.85346824e-01 1.68830458e-01 2.42469121e-02 1.81135447e+02] [-1.68770182e-01 9.85645038e-01 -4.52594923e-03 -2.71990255e+01] [-2.46629667e-02 3.67473925e-04 9.99695755e-01 -7.66170943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264000000004 meters Centerline goodness [0,1] 0.999849095651799 Centerline is valid? [True, True] Translation: X:181.16, Y:-27.21, Z:-7.66 [[ 9.85415148e-01 1.68416433e-01 2.43493488e-02 1.81163760e+02] [-1.68355563e-01 9.85715863e-01 -4.54333272e-03 -2.72057574e+01] [-2.47667112e-02 3.77720559e-04 9.99693187e-01 -7.66243108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.19, Y:-27.22, Z:-7.66 [[ 9.85588039e-01 1.67370459e-01 2.45631365e-02 1.81190189e+02] [-1.67308217e-01 9.85893992e-01 -4.58219847e-03 -2.72153548e+01] [-2.49835734e-02 4.06545437e-04 9.99687779e-01 -7.66395676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.22, Y:-27.22, Z:-7.66 [[ 9.85631569e-01 1.67107862e-01 2.46043241e-02 1.81218196e+02] [-1.67045371e-01 9.85938534e-01 -4.58816926e-03 -2.72214347e+01] [-2.50250704e-02 4.12206008e-04 9.99686739e-01 -7.66437177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.25, Y:-27.22, Z:-7.66 [[ 9.85536491e-01 1.67616056e-01 2.49536250e-02 1.81247139e+02] [-1.67551971e-01 9.85852268e-01 -4.65212378e-03 -2.72237133e+01] [-2.53803585e-02 4.03808681e-04 9.99677785e-01 -7.66077130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.27, Y:-27.23, Z:-7.66 [[ 9.85548976e-01 1.67542606e-01 2.49537845e-02 1.81274169e+02] [-1.67478519e-01 9.85864753e-01 -4.65126808e-03 -2.72286234e+01] [-2.53803422e-02 4.04829604e-04 9.99677785e-01 -7.66190934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.30, Y:-27.24, Z:-7.67 [[ 9.85418983e-01 1.68215383e-01 2.55541184e-02 1.81300972e+02] [-1.68148460e-01 9.85750186e-01 -4.76092133e-03 -2.72368359e+01] [-2.59908371e-02 3.94616604e-04 9.99662103e-01 -7.66671249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.33, Y:-27.24, Z:-7.66 [[ 9.85159891e-01 1.69714808e-01 2.56295428e-02 1.81330010e+02] [-1.69648044e-01 9.85493155e-01 -4.77310905e-03 -2.72396215e+01] [-2.60678063e-02 3.54273779e-04 9.99660114e-01 -7.66447965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.36, Y:-27.25, Z:-7.67 [[ 9.85040404e-01 1.70304841e-01 2.62994986e-02 1.81357246e+02] [-1.70234788e-01 9.85391364e-01 -4.89652320e-03 -2.72474998e+01] [-2.67492004e-02 3.46183630e-04 9.99642116e-01 -7.66641980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.39, Y:-27.25, Z:-7.67 [[ 9.84931582e-01 1.70826312e-01 2.69842534e-02 1.81385579e+02] [-1.70752796e-01 9.85301099e-01 -5.02262798e-03 -2.72527078e+01] [-2.74456116e-02 3.39308209e-04 9.99623241e-01 -7.66534865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.41, Y:-27.26, Z:-7.67 [[ 9.84883244e-01 1.71129381e-01 2.68277925e-02 1.81412186e+02] [-1.71056852e-01 9.85248511e-01 -4.99258270e-03 -2.72607972e+01] [-2.72864202e-02 3.28033308e-04 9.99627602e-01 -7.66772788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.44, Y:-27.27, Z:-7.67 [[ 9.84928304e-01 1.70903900e-01 2.66100133e-02 1.81440426e+02] [-1.70832527e-01 9.85287648e-01 -4.94965977e-03 -2.72665230e+01] [-2.70644336e-02 3.29204183e-04 9.99633637e-01 -7.66787365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.47, Y:-27.28, Z:-7.67 [[ 9.85164791e-01 1.69542634e-01 2.65636841e-02 1.81466584e+02] [-1.69471046e-01 9.85522786e-01 -4.93990475e-03 -2.72783573e+01] [-2.70166404e-02 3.64844910e-04 9.99634917e-01 -7.66938805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.49, Y:-27.29, Z:-7.67 [[ 9.85329958e-01 1.68670893e-01 2.59808203e-02 1.81493995e+02] [-1.68602155e-01 9.85672353e-01 -4.82977659e-03 -2.72868649e+01] [-2.64232190e-02 3.78501275e-04 9.99650774e-01 -7.67142447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89264000000003 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:181.52, Y:-27.30, Z:-7.67 [[ 9.85463493e-01 1.67979852e-01 2.53864713e-02 1.81520598e+02] [-1.67914025e-01 9.85790353e-01 -4.71807876e-03 -2.72964771e+01] [-2.58182807e-02 3.86749794e-04 9.99666578e-01 -7.67482959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.55, Y:-27.31, Z:-7.68 [[ 9.85728195e-01 1.66510648e-01 2.47816414e-02 1.81545874e+02] [-1.66447479e-01 9.86039569e-01 -4.60483659e-03 -2.73122015e+01] [-2.52024334e-02 4.14275531e-04 9.99682282e-01 -7.67872960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.57, Y:-27.32, Z:-7.68 [[ 9.85810017e-01 1.66036954e-01 2.47050506e-02 1.81573574e+02] [-1.65974077e-01 9.86119441e-01 -4.58857209e-03 -2.73195000e+01] [-2.51240032e-02 4.23062377e-04 9.99684253e-01 -7.67719308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.60, Y:-27.33, Z:-7.68 [[ 9.85831995e-01 1.65846254e-01 2.51057499e-02 1.81599137e+02] [-1.65781286e-01 9.86151526e-01 -4.66190518e-03 -2.73326508e+01] [-2.55312331e-02 4.33791774e-04 9.99673931e-01 -7.67812089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.63, Y:-27.34, Z:-7.68 [[ 9.85729780e-01 1.66330802e-01 2.59010511e-02 1.81625555e+02] [-1.66261864e-01 9.86069915e-01 -4.80788791e-03 -2.73409049e+01] [-2.63399471e-02 4.32921262e-04 9.99652950e-01 -7.67838579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.65, Y:-27.35, Z:-7.68 [[ 9.85570016e-01 1.67202953e-01 2.63612718e-02 1.81653645e+02] [-1.67131903e-01 9.85922411e-01 -4.89150616e-03 -2.73477403e+01] [-2.68080430e-02 4.15112279e-04 9.99640514e-01 -7.67873780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.68, Y:-27.36, Z:-7.68 [[ 9.85183127e-01 1.69546958e-01 2.58463783e-02 1.81680597e+02] [-1.69479490e-01 9.85522050e-01 -4.79493608e-03 -2.73556243e+01] [-2.62851426e-02 3.43459096e-04 9.99654427e-01 -7.68065919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.71, Y:-27.36, Z:-7.68 [[ 9.84950034e-01 1.70878543e-01 2.59606099e-02 1.81709150e+02] [-1.70810985e-01 9.85292053e-01 -4.81440101e-03 -2.73607546e+01] [-2.64014604e-02 3.07587084e-04 9.99651373e-01 -7.68083572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.74, Y:-27.37, Z:-7.68 [[ 9.84702407e-01 1.72299902e-01 2.59598415e-02 1.81738053e+02] [-1.72232865e-01 9.85044502e-01 -4.81339166e-03 -2.73658479e+01] [-2.64009461e-02 2.68620479e-04 9.99651398e-01 -7.68080735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264000000004 meters Centerline goodness [0,1] 0.9998713881505616 Centerline is valid? [True, True] Translation: X:181.77, Y:-27.37, Z:-7.68 [[ 9.84113181e-01 1.75582504e-01 2.63064925e-02 1.81766406e+02] [-1.75514900e-01 9.84464703e-01 -4.87527357e-03 -2.73724712e+01] [-2.67538261e-02 1.80639585e-04 9.99642036e-01 -7.68161689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.79, Y:-27.38, Z:-7.68 [[ 9.83826317e-01 1.77182015e-01 2.63117980e-02 1.81793289e+02] [-1.77114986e-01 9.84178091e-01 -4.87511041e-03 -2.73773736e+01] [-2.67592770e-02 1.36048196e-04 9.99641897e-01 -7.68277935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264000000004 meters Centerline goodness [0,1] 0.9997199724280544 Centerline is valid? [True, True] Translation: X:181.82, Y:-27.38, Z:-7.69 [[ 9.83199984e-01 1.80737154e-01 2.55317963e-02 1.81821687e+02] [-1.80675283e-01 9.83531433e-01 -4.72886945e-03 -2.73813666e+01] [-2.59660066e-02 3.64598419e-05 9.99662826e-01 -7.68523406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.85, Y:-27.39, Z:-7.69 [[ 9.82868027e-01 1.82602939e-01 2.50321349e-02 1.81849289e+02] [-1.82544098e-01 9.83186740e-01 -4.63529081e-03 -2.73855012e+01] [-2.54576808e-02 -1.35893559e-05 9.99675901e-01 -7.69072207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.88, Y:-27.39, Z:-7.69 [[ 9.82513754e-01 1.84455853e-01 2.53527496e-02 1.81878042e+02] [-1.84396159e-01 9.82840798e-01 -4.69282213e-03 -2.73897493e+01] [-2.57833351e-02 -6.41873407e-05 9.99667552e-01 -7.68939302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31264000000002 meters Centerline goodness [0,1] 0.9999785237205506 Centerline is valid? [True, True] Translation: X:181.91, Y:-27.39, Z:-7.69 [[ 9.81840568e-01 1.87861190e-01 2.64059133e-02 1.81906582e+02] [-1.87797690e-01 9.82195575e-01 -4.88675793e-03 -2.73922760e+01] [-2.68538034e-02 -1.60952329e-04 9.99639359e-01 -7.68854980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.93, Y:-27.40, Z:-7.69 [[ 9.81614214e-01 1.89029886e-01 2.64808886e-02 1.81934269e+02] [-1.88966502e-01 9.81971315e-01 -4.89867187e-03 -2.73958709e+01] [-2.69294684e-02 -1.95394960e-04 9.99637317e-01 -7.68979574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:181.96, Y:-27.40, Z:-7.69 [[ 9.81330455e-01 1.90464774e-01 2.67153206e-02 1.81963145e+02] [-1.90400856e-01 9.81694002e-01 -4.93975889e-03 -2.73993824e+01] [-2.71671201e-02 -2.39084090e-04 9.99630877e-01 -7.68851169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters Centerline goodness [0,1] 0.9999786406937503 Centerline is valid? [True, True] Translation: X:181.99, Y:-27.40, Z:-7.69 [[ 9.81243498e-01 1.90912374e-01 2.67144784e-02 1.81990476e+02] [-1.90848659e-01 9.81607050e-01 -4.93841764e-03 -2.74026508e+01] [-2.71659254e-02 -2.52632159e-04 9.99630906e-01 -7.69201725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.02, Y:-27.41, Z:-7.69 [[ 9.81381783e-01 1.90352625e-01 2.56061465e-02 1.82017979e+02] [-1.90293941e-01 9.81715756e-01 -4.73183733e-03 -2.74097666e+01] [-2.60386751e-02 -2.28955571e-04 9.99660910e-01 -7.69414284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.04, Y:-27.42, Z:-7.70 [[ 9.81588698e-01 1.89314445e-01 2.53706224e-02 1.82044848e+02] [-1.89256517e-01 9.81916494e-01 -4.68723366e-03 -2.74157615e+01] [-2.57991936e-02 -2.00620040e-04 9.99667125e-01 -7.69595196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.07, Y:-27.42, Z:-7.70 [[ 9.81837420e-01 1.87969800e-01 2.57417081e-02 1.82071978e+02] [-1.87909746e-01 9.82174794e-01 -4.75413122e-03 -2.74221809e+01] [-2.61764899e-02 -1.69333903e-04 9.99657323e-01 -7.69816828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.10, Y:-27.43, Z:-7.70 [[ 9.82523824e-01 1.84241892e-01 2.64926418e-02 1.82099368e+02] [-1.84176978e-01 9.82880929e-01 -4.89092381e-03 -2.74325851e+01] [-2.69402254e-02 -7.38855315e-05 9.99637044e-01 -7.69678884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.13, Y:-27.44, Z:-7.70 [[ 9.82824439e-01 1.82594486e-01 2.67465032e-02 1.82127189e+02] [-1.82527747e-01 9.83188310e-01 -4.93644820e-03 -2.74391340e+01] [-2.71982175e-02 -3.03170500e-05 9.99630060e-01 -7.69707306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.15, Y:-27.45, Z:-7.70 [[ 9.83389525e-01 1.79492865e-01 2.69694835e-02 1.82154960e+02] [-1.79423879e-01 9.83759274e-01 -4.97626737e-03 -2.74469824e+01] [-2.74246840e-02 5.46398617e-05 9.99623871e-01 -7.69748086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61264000000003 meters Centerline goodness [0,1] 0.9999570492859444 Centerline is valid? [True, True] Translation: X:182.18, Y:-27.45, Z:-7.70 [[ 9.83652067e-01 1.78062259e-01 2.68782962e-02 1.82183293e+02] [-1.77993240e-01 9.84019219e-01 -4.95815038e-03 -2.74535494e+01] [-2.73316195e-02 9.29398432e-05 9.99626417e-01 -7.69749131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.21, Y:-27.46, Z:-7.70 [[ 9.84270803e-01 1.74671233e-01 2.64754038e-02 1.82211061e+02] [-1.74603081e-01 9.84626796e-01 -4.88232831e-03 -2.74621882e+01] [-2.69211943e-02 1.82846128e-04 9.99637542e-01 -7.69985289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.24, Y:-27.47, Z:-7.70 [[ 9.84553212e-01 1.73014415e-01 2.68511756e-02 1.82239500e+02] [-1.72943727e-01 9.84919265e-01 -4.95057715e-03 -2.74688155e+01] [-2.73027614e-02 2.30364247e-04 9.99627184e-01 -7.70067035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.27, Y:-27.48, Z:-7.70 [[ 9.84811020e-01 1.71484547e-01 2.72085471e-02 1.82268596e+02] [-1.71411414e-01 9.85186771e-01 -5.01526336e-03 -2.74750782e+01] [-2.76655408e-02 2.75231105e-04 9.99617198e-01 -7.70059205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73264000000003 meters Centerline goodness [0,1] 0.9998938654213543 Centerline is valid? [True, True] Translation: X:182.30, Y:-27.49, Z:-7.70 [[ 9.85247514e-01 1.68838337e-01 2.79455245e-02 1.82296112e+02] [-1.68760144e-01 9.85643692e-01 -5.15037224e-03 -2.74856695e+01] [-2.84139102e-02 3.58300709e-04 9.99596179e-01 -7.70294554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.33, Y:-27.49, Z:-7.70 [[ 9.85489981e-01 1.67471567e-01 2.76183341e-02 1.82326028e+02] [-1.67394687e-01 9.85876828e-01 -5.08906123e-03 -2.74913353e+01] [-2.80805487e-02 3.92056475e-04 9.99605587e-01 -7.70282367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.36, Y:-27.50, Z:-7.71 [[ 9.85844234e-01 1.65458128e-01 2.71063585e-02 1.82355101e+02] [-1.65383316e-01 9.86216717e-01 -4.99455217e-03 -2.75005258e+01] [-2.75591331e-02 4.40911012e-04 9.99620078e-01 -7.70604346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.38, Y:-27.51, Z:-7.71 [[ 9.85977624e-01 1.64767830e-01 2.64516121e-02 1.82384049e+02] [-1.64696331e-01 9.86332277e-01 -4.87423360e-03 -2.75080520e+01] [-2.68931957e-02 4.49401791e-04 9.99638212e-01 -7.70907331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.41, Y:-27.51, Z:-7.71 [[ 9.86070770e-01 1.64244380e-01 2.62339349e-02 1.82413762e+02] [-1.64173856e-01 9.86419572e-01 -4.83461735e-03 -2.75134377e+01] [-2.66717256e-02 4.60348603e-04 9.99644140e-01 -7.70967908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.44, Y:-27.52, Z:-7.71 [[ 9.86232691e-01 1.63252878e-01 2.63358519e-02 1.82443204e+02] [-1.63181456e-01 9.86584137e-01 -4.85322254e-03 -2.75219038e+01] [-2.67748363e-02 4.88884080e-04 9.99641370e-01 -7.71162167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91264000000004 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:182.47, Y:-27.53, Z:-7.71 [[ 9.86290848e-01 1.62953512e-01 2.60099414e-02 1.82473055e+02] [-1.62883729e-01 9.86633626e-01 -4.79365841e-03 -2.75272644e+01] [-2.64434263e-02 4.91345153e-04 9.99650191e-01 -7.71248437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264000000004 meters Centerline goodness [0,1] 0.9999782783413341 Centerline is valid? [True, True] Translation: X:182.50, Y:-27.53, Z:-7.71 [[ 9.86244741e-01 1.63197873e-01 2.62252809e-02 1.82504083e+02] [-1.63127026e-01 9.86593237e-01 -4.83298208e-03 -2.75303024e+01] [-2.66624171e-02 4.88451073e-04 9.99644375e-01 -7.71218912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97264000000004 meters Centerline goodness [0,1] 0.9999569883223295 Centerline is valid? [True, True] Translation: X:182.53, Y:-27.53, Z:-7.71 [[ 9.86163867e-01 1.63704211e-01 2.61105186e-02 1.82534120e+02] [-1.63634133e-01 9.86509355e-01 -4.81285102e-03 -2.75348249e+01] [-2.65461548e-02 4.73687693e-04 9.99647477e-01 -7.71299953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.56, Y:-27.54, Z:-7.72 [[ 9.85869943e-01 1.65430386e-01 2.63294907e-02 1.82563496e+02] [-1.65359747e-01 9.86221376e-01 -4.85303532e-03 -2.75421149e+01] [-2.67695460e-02 4.30623738e-04 9.99641539e-01 -7.71782686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.59, Y:-27.54, Z:-7.72 [[ 9.85629358e-01 1.66769162e-01 2.68852262e-02 1.82593854e+02] [-1.66695988e-01 9.85995884e-01 -4.95614800e-03 -2.75442598e+01] [-2.73352550e-02 4.03265614e-04 9.99626241e-01 -7.71689533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.62, Y:-27.55, Z:-7.72 [[ 9.85213189e-01 1.69145051e-01 2.72933096e-02 1.82624061e+02] [-1.69070554e-01 9.85591109e-01 -5.03120660e-03 -2.75450623e+01] [-2.77510469e-02 3.42316116e-04 9.99614807e-01 -7.71706424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.65, Y:-27.55, Z:-7.72 [[ 9.85101842e-01 1.69797681e-01 2.72600277e-02 1.82653170e+02] [-1.69723634e-01 9.85478890e-01 -5.02441452e-03 -2.75487956e+01] [-2.77173158e-02 3.22889030e-04 9.99615749e-01 -7.71846185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.68, Y:-27.55, Z:-7.72 [[ 9.85068055e-01 1.69984088e-01 2.73191554e-02 1.82682602e+02] [-1.69909809e-01 9.85446756e-01 -5.03465953e-03 -2.75526891e+01] [-2.77773851e-02 3.17689789e-04 9.99614084e-01 -7.71828719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.71, Y:-27.56, Z:-7.72 [[ 9.85166156e-01 1.69481659e-01 2.69000280e-02 1.82710996e+02] [-1.69409487e-01 9.85533288e-01 -4.95627184e-03 -2.75608269e+01] [-2.73508702e-02 3.25631339e-04 9.99625842e-01 -7.72152843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters Centerline goodness [0,1] 0.999956979995698 Centerline is valid? [True, True] Translation: X:182.74, Y:-27.57, Z:-7.72 [[ 9.85312783e-01 1.68651972e-01 2.67438068e-02 1.82740863e+02] [-1.68580319e-01 9.85675602e-01 -4.92788431e-03 -2.75667436e+01] [-2.71918153e-02 3.47027915e-04 9.99630174e-01 -7.72231631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.77, Y:-27.58, Z:-7.73 [[ 9.85633487e-01 1.66785107e-01 2.66337504e-02 1.82768888e+02] [-1.66713361e-01 9.85993190e-01 -4.90760503e-03 -2.75789118e+01] [-2.70792120e-02 3.96897809e-04 9.99633212e-01 -7.72513277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264000000002 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:182.80, Y:-27.59, Z:-7.73 [[ 9.85840538e-01 1.65595497e-01 2.63925309e-02 1.82796475e+02] [-1.65524614e-01 9.86193668e-01 -4.86332949e-03 -2.75905301e+01] [-2.68334923e-02 4.25853857e-04 9.99639826e-01 -7.72920139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.83, Y:-27.60, Z:-7.73 [[ 9.85975531e-01 1.64788311e-01 2.64019696e-02 1.82826955e+02] [-1.64717111e-01 9.86328856e-01 -4.86422937e-03 -2.75964168e+01] [-2.68425927e-02 4.47154972e-04 9.99639573e-01 -7.72769769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.86, Y:-27.61, Z:-7.73 [[ 9.86040794e-01 1.64378365e-01 2.65199119e-02 1.82856362e+02] [-1.64306357e-01 9.86397253e-01 -4.88678498e-03 -2.76052974e+01] [-2.69624500e-02 4.61179239e-04 9.99636341e-01 -7.72890657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33264000000003 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:182.89, Y:-27.61, Z:-7.73 [[ 9.85924723e-01 1.65049080e-01 2.66691265e-02 1.82887578e+02] [-1.64976504e-01 9.86285254e-01 -4.91426988e-03 -2.76115670e+01] [-2.71144619e-02 4.45320902e-04 9.99632236e-01 -7.72981400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.92, Y:-27.62, Z:-7.73 [[ 9.85342249e-01 1.68476146e-01 2.67664156e-02 1.82916264e+02] [-1.68404263e-01 9.85705668e-01 -4.93367913e-03 -2.76165892e+01] [-2.72150148e-02 3.53783995e-04 9.99629540e-01 -7.73187635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.95, Y:-27.62, Z:-7.73 [[ 9.84917257e-01 1.70929550e-01 2.68530319e-02 1.82947304e+02] [-1.70858117e-01 9.85283211e-01 -4.94946845e-03 -2.76189782e+01] [-2.73038519e-02 2.86758437e-04 9.99627139e-01 -7.73139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:182.98, Y:-27.62, Z:-7.73 [[ 9.84399347e-01 1.73934124e-01 2.65489528e-02 1.82977783e+02] [-1.73865378e-01 9.84757270e-01 -4.89393337e-03 -2.76215509e+01] [-2.69954963e-02 2.01641118e-04 9.99635535e-01 -7.73310467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45264000000003 meters Centerline goodness [0,1] 0.999935170178282 Centerline is valid? [True, True] Translation: X:183.01, Y:-27.62, Z:-7.74 [[ 9.83208250e-01 1.80717196e-01 2.53541342e-02 1.83008111e+02] [-1.80656741e-01 9.83535101e-01 -4.67407338e-03 -2.76174917e+01] [-2.57813663e-02 1.51922542e-05 9.99667605e-01 -7.73600452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.04, Y:-27.62, Z:-7.74 [[ 9.82605774e-01 1.83976036e-01 2.52727486e-02 1.83035777e+02] [-1.83917047e-01 9.82930727e-01 -4.65901535e-03 -2.76180455e+01] [-2.56985083e-02 -7.01139132e-05 9.99669736e-01 -7.73930213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.06, Y:-27.62, Z:-7.74 [[ 9.81707396e-01 1.88745852e-01 2.50118275e-02 1.83064228e+02] [-1.88689658e-01 9.82025950e-01 -4.60949192e-03 -2.76176160e+01] [-2.54322861e-02 -1.94300852e-04 9.99676528e-01 -7.74216650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.09, Y:-27.62, Z:-7.74 [[ 9.81716394e-01 1.88698998e-01 2.50122061e-02 1.83092085e+02] [-1.88642841e-01 9.82034954e-01 -4.60743656e-03 -2.76226551e+01] [-2.54322793e-02 -1.95177598e-04 9.99676528e-01 -7.74333909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.12, Y:-27.63, Z:-7.74 [[ 9.81439239e-01 1.90127426e-01 2.50715378e-02 1.83120451e+02] [-1.90071499e-01 9.81759394e-01 -4.61714649e-03 -2.76268123e+01] [-2.54920639e-02 -2.33936027e-04 9.99674997e-01 -7.74316242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.15, Y:-27.63, Z:-7.75 [[ 9.81234079e-01 1.91146447e-01 2.53518995e-02 1.83148520e+02] [-1.91089631e-01 9.81561494e-01 -4.66765861e-03 -2.76292218e+01] [-2.57766547e-02 -2.64419428e-04 9.99667692e-01 -7.74538906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.18, Y:-27.63, Z:-7.75 [[ 9.80849345e-01 1.92997048e-01 2.62050085e-02 1.83177240e+02] [-1.92937055e-01 9.81199283e-01 -4.82278963e-03 -2.76305136e+01] [-2.66431197e-02 -3.25487130e-04 9.99644956e-01 -7.74537851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264000000004 meters Centerline goodness [0,1] 0.9999351211072665 Centerline is valid? [True, True] Translation: X:183.21, Y:-27.63, Z:-7.75 [[ 9.80699221e-01 1.93733279e-01 2.63904398e-02 1.83206069e+02] [-1.93672735e-01 9.81054175e-01 -4.85561261e-03 -2.76343799e+01] [-2.68311449e-02 -3.49213147e-04 9.99639919e-01 -7.74577625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69264000000004 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:183.23, Y:-27.64, Z:-7.75 [[ 9.80347188e-01 1.95387024e-01 2.72635546e-02 1.83234476e+02] [-1.95323084e-01 9.80726131e-01 -5.01487225e-03 -2.76382994e+01] [-2.77179213e-02 -4.08885661e-04 9.99615701e-01 -7.74563435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.26, Y:-27.64, Z:-7.75 [[ 9.80245307e-01 1.95838857e-01 2.76817815e-02 1.83262634e+02] [-1.95773159e-01 9.80635997e-01 -5.09042374e-03 -2.76427235e+01] [-2.81426541e-02 -4.29485831e-04 9.99603825e-01 -7.74527236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.29, Y:-27.65, Z:-7.75 [[ 9.80198767e-01 1.95995600e-01 2.82152894e-02 1.83291083e+02] [-1.95927451e-01 9.80604675e-01 -5.18711128e-03 -2.76469761e+01] [-2.86846957e-02 -4.43749665e-04 9.99588411e-01 -7.74522041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters Centerline goodness [0,1] 0.9998704942801641 Centerline is valid? [True, True] Translation: X:183.32, Y:-27.65, Z:-7.75 [[ 9.80210607e-01 1.95959146e-01 2.80567126e-02 1.83319911e+02] [-1.95891786e-01 9.80611961e-01 -5.15657203e-03 -2.76505333e+01] [-2.85232254e-02 -4.41552935e-04 9.99593033e-01 -7.74612736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.35, Y:-27.65, Z:-7.75 [[ 9.80289900e-01 1.95608500e-01 2.77313213e-02 1.83347831e+02] [-1.95542586e-01 9.80681973e-01 -5.09560204e-03 -2.76543165e+01] [-2.81923499e-02 -4.27487059e-04 9.99602425e-01 -7.74839636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters Centerline goodness [0,1] 0.999700361706226 Centerline is valid? [True, True] Translation: X:183.38, Y:-27.66, Z:-7.75 [[ 9.80437666e-01 1.94878364e-01 2.76478870e-02 1.83375941e+02] [-1.94812611e-01 9.80827333e-01 -5.07831223e-03 -2.76564055e+01] [-2.81074564e-02 -4.07188457e-04 9.99604824e-01 -7.75119577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.40, Y:-27.67, Z:-7.75 [[ 9.80826236e-01 1.92867632e-01 2.79637435e-02 1.83403375e+02] [-1.92799606e-01 9.81224719e-01 -5.13437876e-03 -2.76651507e+01] [-2.84289718e-02 -3.55465330e-04 9.99595752e-01 -7.75053599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.43, Y:-27.67, Z:-7.75 [[ 9.81137122e-01 1.91263761e-01 2.80734992e-02 1.83430097e+02] [-1.91194578e-01 9.81538627e-01 -5.15329608e-03 -2.76715601e+01] [-2.85408626e-02 -3.11410752e-04 9.99592578e-01 -7.75246284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.46, Y:-27.68, Z:-7.75 [[ 9.81851981e-01 1.87537718e-01 2.82186277e-02 1.83458042e+02] [-1.87466343e-01 9.82257381e-01 -5.17768548e-03 -2.76815030e+01] [-2.86889666e-02 -2.06322192e-04 9.99588366e-01 -7.75229028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.49, Y:-27.69, Z:-7.75 [[ 9.82225919e-01 1.85576597e-01 2.81704006e-02 1.83486185e+02] [-1.85504685e-01 9.82629790e-01 -5.16794475e-03 -2.76882760e+01] [-2.86401245e-02 -1.49652028e-04 9.99589776e-01 -7.75353777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99264000000002 meters Centerline goodness [0,1] 0.9998501776465049 Centerline is valid? [True, True] Translation: X:183.51, Y:-27.70, Z:-7.76 [[ 9.82972588e-01 1.81621267e-01 2.79035299e-02 1.83512943e+02] [-1.81549152e-01 9.83368555e-01 -5.11775222e-03 -2.76985646e+01] [-2.83689465e-02 -3.52520241e-05 9.99597520e-01 -7.75552849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.54, Y:-27.71, Z:-7.76 [[ 9.83334024e-01 1.79668776e-01 2.78087829e-02 1.83540831e+02] [-1.79596428e-01 9.83727163e-01 -5.09830287e-03 -2.77070997e+01] [-2.82722609e-02 1.89766146e-05 9.99600260e-01 -7.75830681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.57, Y:-27.72, Z:-7.76 [[ 9.83916594e-01 1.76490545e-01 2.75540248e-02 1.83569513e+02] [-1.76418302e-01 9.84302329e-01 -5.05044015e-03 -2.77178018e+01] [-2.80128457e-02 1.08177592e-04 9.99607557e-01 -7.75856728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264000000003 meters Centerline goodness [0,1] 0.9999138116785176 Centerline is valid? [True, True] Translation: X:183.60, Y:-27.73, Z:-7.76 [[ 9.84130177e-01 1.75300273e-01 2.75247145e-02 1.83598499e+02] [-1.75227737e-01 9.84515005e-01 -5.04437903e-03 -2.77257691e+01] [-2.79827754e-02 1.41232190e-04 9.99608395e-01 -7.75858540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.63, Y:-27.73, Z:-7.76 [[ 9.84246728e-01 1.74573864e-01 2.79704054e-02 1.83627084e+02] [-1.74498701e-01 9.84644067e-01 -5.12484295e-03 -2.77340090e+01] [-2.84355574e-02 1.63310491e-04 9.99595614e-01 -7.76135946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.66, Y:-27.74, Z:-7.76 [[ 9.84181587e-01 1.74892115e-01 2.82728019e-02 1.83656335e+02] [-1.74815425e-01 9.84587591e-01 -5.18109165e-03 -2.77385536e+01] [-2.87431820e-02 1.56613124e-04 9.99586817e-01 -7.76049135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.69, Y:-27.74, Z:-7.76 [[ 9.84021188e-01 1.75704211e-01 2.88154700e-02 1.83685664e+02] [-1.75624917e-01 9.84442996e-01 -5.27980946e-03 -2.77433944e+01] [-2.92948724e-02 1.34729842e-04 9.99570804e-01 -7.76110781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264000000003 meters Centerline goodness [0,1] 0.999956492418804 Centerline is valid? [True, True] Translation: X:183.72, Y:-27.75, Z:-7.76 [[ 9.83678089e-01 1.77554986e-01 2.91829455e-02 1.83715393e+02] [-1.77474492e-01 9.84110878e-01 -5.34641786e-03 -2.77478122e+01] [-2.96685373e-02 7.99256901e-05 9.99559789e-01 -7.75959736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.74, Y:-27.75, Z:-7.76 [[ 9.83452118e-01 1.78714728e-01 2.97149328e-02 1.83743569e+02] [-1.78631821e-01 9.83900932e-01 -5.44323908e-03 -2.77515735e+01] [-3.02093371e-02 4.51324502e-05 9.99543593e-01 -7.76172284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.77, Y:-27.75, Z:-7.76 [[ 9.83033182e-01 1.80993577e-01 2.97840365e-02 1.83772604e+02] [-1.80911364e-01 9.83484278e-01 -5.45474413e-03 -2.77542135e+01] [-3.02794052e-02 -2.60761756e-05 9.99541473e-01 -7.76363932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.80, Y:-27.76, Z:-7.77 [[ 9.82865811e-01 1.81874420e-01 2.99414892e-02 1.83801264e+02] [-1.81791778e-01 9.83321764e-01 -5.48244555e-03 -2.77589964e+01] [-3.04392346e-02 -5.46082474e-05 9.99536618e-01 -7.76537387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.83, Y:-27.76, Z:-7.77 [[ 9.82662400e-01 1.82936191e-01 3.01489417e-02 1.83829460e+02] [-1.82852928e-01 9.83124785e-01 -5.51945857e-03 -2.77634238e+01] [-3.06498805e-02 -8.90578781e-05 9.99530178e-01 -7.76585663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.86, Y:-27.77, Z:-7.77 [[ 9.82247769e-01 1.85169111e-01 3.00286682e-02 1.83859300e+02] [-1.85087606e-01 9.82706658e-01 -5.49574553e-03 -2.77668425e+01] [-3.05270144e-02 -1.59750522e-04 9.99533929e-01 -7.76605032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.89, Y:-27.77, Z:-7.77 [[ 9.82077112e-01 1.86106647e-01 2.98137853e-02 1.83887161e+02] [-1.86026755e-01 9.82529532e-01 -5.45580341e-03 -2.77709105e+01] [-3.03082858e-02 -1.88142086e-04 9.99540581e-01 -7.76804369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.92, Y:-27.77, Z:-7.77 [[ 9.81789319e-01 1.87611433e-01 2.98610800e-02 1.83915041e+02] [-1.87532010e-01 9.82243297e-01 -5.46358547e-03 -2.77742134e+01] [-3.03558767e-02 -2.35818487e-04 9.99539126e-01 -7.77014752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.94, Y:-27.78, Z:-7.77 [[ 9.81655411e-01 1.88307513e-01 2.98820118e-02 1.83942220e+02] [-1.88228358e-01 9.82110082e-01 -5.46553440e-03 -2.77775155e+01] [-3.03766262e-02 -2.59370588e-04 9.99538490e-01 -7.77219059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:183.97, Y:-27.78, Z:-7.77 [[ 9.81500750e-01 1.89158035e-01 2.95890971e-02 1.83970414e+02] [-1.89080869e-01 9.81946616e-01 -5.41001887e-03 -2.77817232e+01] [-3.00782623e-02 -2.84794604e-04 9.99547506e-01 -7.77391963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.00, Y:-27.78, Z:-7.78 [[ 9.81032405e-01 1.91591340e-01 2.94648748e-02 1.83998876e+02] [-1.91515959e-01 9.81474722e-01 -5.38588628e-03 -2.77842192e+01] [-2.99509189e-02 -3.59264788e-04 9.99551306e-01 -7.77526186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53264000000001 meters Centerline goodness [0,1] 0.9999141225471253 Centerline is valid? [True, True] Translation: X:184.03, Y:-27.79, Z:-7.78 [[ 9.80761927e-01 1.93005725e-01 2.92375218e-02 1.84027500e+02] [-1.92932175e-01 9.81197549e-01 -5.34289929e-03 -2.77880528e+01] [-2.97189949e-02 -4.00746465e-04 9.99558213e-01 -7.77521580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.06, Y:-27.79, Z:-7.78 [[ 9.80003870e-01 1.96756552e-01 2.96525648e-02 1.84056333e+02] [-1.96682653e-01 9.80452235e-01 -5.41738521e-03 -2.77879433e+01] [-3.01388295e-02 -5.23086655e-04 9.99545585e-01 -7.77678418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.08, Y:-27.79, Z:-7.78 [[ 9.79616322e-01 1.98731537e-01 2.92854605e-02 1.84084620e+02] [-1.98660387e-01 9.80053795e-01 -5.34869046e-03 -2.77858143e+01] [-2.97642802e-02 -5.78196461e-04 9.99556778e-01 -7.77994936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters Centerline goodness [0,1] 0.9999355116079106 Centerline is valid? [True, True] Translation: X:184.11, Y:-27.78, Z:-7.78 [[ 9.78945748e-01 2.02061779e-01 2.89181468e-02 1.84114718e+02] [-2.01993936e-01 9.79372546e-01 -5.27883256e-03 -2.77837727e+01] [-2.93882894e-02 -6.73599599e-04 9.99567844e-01 -7.77938582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65264000000002 meters Centerline goodness [0,1] 0.9999785803024461 Centerline is valid? [True, True] Translation: X:184.14, Y:-27.78, Z:-7.78 [[ 9.78613187e-01 2.03573812e-01 2.95623748e-02 1.84143789e+02] [-2.03503631e-01 9.79059325e-01 -5.39541846e-03 -2.77848803e+01] [-3.00416846e-02 -7.36022982e-04 9.99548376e-01 -7.78141550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:184.17, Y:-27.78, Z:-7.78 [[ 9.78244096e-01 2.05373602e-01 2.93286804e-02 1.84173174e+02] [-2.05305375e-01 9.78683333e-01 -5.35143577e-03 -2.77796006e+01] [-2.98025343e-02 -7.86325267e-04 9.99555497e-01 -7.78445116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71264000000002 meters Centerline goodness [0,1] 0.9998927521932176 Centerline is valid? [True, True] Translation: X:184.20, Y:-27.79, Z:-7.78 [[ 9.78132988e-01 2.05900848e-01 2.93376501e-02 1.84201130e+02] [-2.05832875e-01 9.78572528e-01 -5.35108964e-03 -2.77851244e+01] [-2.98108123e-02 -8.04575553e-04 9.99555235e-01 -7.78443576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264000000002 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:184.23, Y:-27.79, Z:-7.79 [[ 9.78069397e-01 2.06216387e-01 2.92413441e-02 1.84229548e+02] [-2.06149044e-01 9.78506076e-01 -5.33206319e-03 -2.77877018e+01] [-2.97123917e-02 -8.12947302e-04 9.99558159e-01 -7.78568996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77264000000002 meters Centerline goodness [0,1] 0.9998718715298539 Centerline is valid? [True, True] Translation: X:184.26, Y:-27.78, Z:-7.79 [[ 9.78058913e-01 2.06396068e-01 2.83094688e-02 1.84258431e+02] [-2.06333059e-01 9.78468208e-01 -5.16093341e-03 -2.77839258e+01] [-2.87651116e-02 -7.93482363e-04 9.99585884e-01 -7.78842140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264000000003 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:184.29, Y:-27.79, Z:-7.79 [[ 9.78081906e-01 2.06227347e-01 2.87413647e-02 1.84287261e+02] [-2.06162386e-01 9.78503775e-01 -5.23768864e-03 -2.77884089e+01] [-2.92036885e-02 -8.02499822e-04 9.99573159e-01 -7.79016720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83264000000003 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:184.32, Y:-27.79, Z:-7.79 [[ 9.78469841e-01 2.04373955e-01 2.87759843e-02 1.84315863e+02] [-2.04308077e-01 9.78892601e-01 -5.24257761e-03 -2.77910520e+01] [-2.92400444e-02 -7.49461930e-04 9.99572138e-01 -7.79145970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264000000003 meters Centerline goodness [0,1] 0.9999574531452763 Centerline is valid? [True, True] Translation: X:184.34, Y:-27.79, Z:-7.79 [[ 9.78809050e-01 2.02610701e-01 2.96942217e-02 1.84343963e+02] [-2.02539787e-01 9.79259100e-01 -5.40831781e-03 -2.77947017e+01] [-3.01741198e-02 -7.20550915e-04 9.99544398e-01 -7.79273883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89264000000003 meters Centerline goodness [0,1] 0.9999784496692025 Centerline is valid? [True, True] Translation: X:184.37, Y:-27.80, Z:-7.79 [[ 9.79272718e-01 2.00273798e-01 3.02547527e-02 1.84371972e+02] [-2.00199114e-01 9.79739745e-01 -5.50884940e-03 -2.78014000e+01] [-3.07450619e-02 -6.62308771e-04 9.99527039e-01 -7.79273458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264000000003 meters Centerline goodness [0,1] 0.999913511643495 Centerline is valid? [True, True] Translation: X:184.40, Y:-27.81, Z:-7.79 [[ 9.80546676e-01 1.94137294e-01 2.89642499e-02 1.84400000e+02] [-1.94066202e-01 9.80974265e-01 -5.27271654e-03 -2.78148564e+01] [-2.94368146e-02 -4.50837281e-04 9.99566541e-01 -7.79249612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.43, Y:-27.82, Z:-7.80 [[ 9.81192058e-01 1.90826192e-01 2.91120340e-02 1.84427144e+02] [-1.90752969e-01 9.81623776e-01 -5.29778924e-03 -2.78198788e+01] [-2.95880217e-02 -3.55058204e-04 9.99562116e-01 -7.79797571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264000000003 meters Centerline goodness [0,1] 0.9999137577887497 Centerline is valid? [True, True] Translation: X:184.45, Y:-27.83, Z:-7.80 [[ 9.82387026e-01 1.84833862e-01 2.74258152e-02 1.84453815e+02] [-1.84766590e-01 9.82769767e-01 -4.98911573e-03 -2.78323552e+01] [-2.78754195e-02 -1.66131792e-04 9.99611391e-01 -7.79802235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.48, Y:-27.84, Z:-7.80 [[ 9.82770057e-01 1.82758264e-01 2.76121582e-02 1.84481871e+02] [-1.82689295e-01 9.83157874e-01 -5.02159313e-03 -2.78397122e+01] [-2.80648484e-02 -1.09374356e-04 9.99606099e-01 -7.80078267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.51, Y:-27.85, Z:-7.80 [[ 9.83074358e-01 1.81133664e-01 2.74845784e-02 1.84508592e+02] [-1.81064735e-01 9.83458485e-01 -4.99699565e-03 -2.78459635e+01] [-2.79350660e-02 -6.40696075e-05 9.99609738e-01 -7.80384972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07264000000004 meters Centerline goodness [0,1] 0.9998930915777545 Centerline is valid? [True, True] Translation: X:184.54, Y:-27.85, Z:-7.80 [[ 9.83324284e-01 1.79912516e-01 2.65488062e-02 1.84537117e+02] [-1.79847791e-01 9.83682614e-01 -4.82560270e-03 -2.78523072e+01] [-2.69837854e-02 -2.96118286e-05 9.99635871e-01 -7.80330993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.56, Y:-27.86, Z:-7.81 [[ 9.83517213e-01 1.78789088e-01 2.69880397e-02 1.84564854e+02] [-1.78721819e-01 9.83887423e-01 -4.90403555e-03 -2.78585794e+01] [-2.74299809e-02 -1.48173389e-07 9.99623727e-01 -7.80602733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.59, Y:-27.86, Z:-7.81 [[ 9.83546135e-01 1.78592107e-01 2.72371162e-02 1.84592420e+02] [-1.78523549e-01 9.83923198e-01 -4.94806029e-03 -2.78631355e+01] [-2.76829149e-02 4.17894040e-06 9.99616755e-01 -7.80694325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.62, Y:-27.86, Z:-7.81 [[ 9.83405347e-01 1.79278962e-01 2.78024881e-02 1.84620318e+02] [-1.79207853e-01 9.83798279e-01 -5.04894633e-03 -2.78646408e+01] [-2.82572098e-02 -1.72633762e-05 9.99600685e-01 -7.80732065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.65, Y:-27.87, Z:-7.81 [[ 9.83308582e-01 1.79818863e-01 2.77382294e-02 1.84649088e+02] [-1.79748351e-01 9.83699738e-01 -5.03538675e-03 -2.78679412e+01] [-2.81915466e-02 -3.45619910e-05 9.99602539e-01 -7.80872165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264000000004 meters Centerline goodness [0,1] 0.9998489295580111 Centerline is valid? [True, True] Translation: X:184.68, Y:-27.87, Z:-7.81 [[ 9.83066873e-01 1.81294764e-01 2.66783085e-02 1.84677678e+02] [-1.81230114e-01 9.83428799e-01 -4.84175933e-03 -2.78708632e+01] [-2.71140025e-02 -7.51396921e-05 9.99632345e-01 -7.80894573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.71, Y:-27.87, Z:-7.81 [[ 9.82868837e-01 1.82224931e-01 2.76210680e-02 1.84705075e+02] [-1.82156035e-01 9.83256865e-01 -5.01155524e-03 -2.78736077e+01] [-2.80718351e-02 -1.05642751e-04 9.99605903e-01 -7.81158844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.73, Y:-27.87, Z:-7.81 [[ 9.82411022e-01 1.84538086e-01 2.85355628e-02 1.84734010e+02] [-1.84465575e-01 9.82825347e-01 -5.17577419e-03 -2.78730476e+01] [-2.90006019e-02 -1.79091401e-04 9.99579378e-01 -7.80934686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31264000000002 meters Centerline goodness [0,1] 0.9998500042855918 Centerline is valid? [True, True] Translation: X:184.76, Y:-27.87, Z:-7.81 [[ 9.82241597e-01 1.85447536e-01 2.84720193e-02 1.84761944e+02] [-1.85375796e-01 9.82654145e-01 -5.16195113e-03 -2.78748151e+01] [-2.89354189e-02 -2.07740141e-04 9.99581262e-01 -7.80885349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters Centerline goodness [0,1] 0.9998087222647284 Centerline is valid? [True, True] Translation: X:184.79, Y:-27.88, Z:-7.81 [[ 9.82082650e-01 1.86234609e-01 2.88155936e-02 1.84790273e+02] [-1.86161520e-01 9.82505275e-01 -5.22239848e-03 -2.78767180e+01] [-2.92840641e-02 -2.35527775e-04 9.99571102e-01 -7.81047388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37264000000002 meters Centerline goodness [0,1] 0.9997870890819281 Centerline is valid? [True, True] Translation: X:184.82, Y:-27.88, Z:-7.81 [[ 9.81968934e-01 1.86769764e-01 2.92244336e-02 1.84817892e+02] [-1.86694874e-01 9.82403679e-01 -5.29477838e-03 -2.78805151e+01] [-2.96990957e-02 -2.56744073e-04 9.99558852e-01 -7.81002519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.85, Y:-27.89, Z:-7.81 [[ 9.81975805e-01 1.86563470e-01 3.02917428e-02 1.84845424e+02] [-1.86482987e-01 9.82442875e-01 -5.48568861e-03 -2.78854428e+01] [-3.07833360e-02 -2.62081184e-04 9.99526046e-01 -7.81213739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.87, Y:-27.89, Z:-7.81 [[ 9.81988873e-01 1.86494628e-01 3.02920424e-02 1.84872477e+02] [-1.86414163e-01 9.82455946e-01 -5.48403382e-03 -2.78902031e+01] [-3.07833400e-02 -2.61605526e-04 9.99526046e-01 -7.81327529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.90, Y:-27.90, Z:-7.81 [[ 9.82375078e-01 1.84445741e-01 3.03145789e-02 1.84901056e+02] [-1.84364255e-01 9.82842677e-01 -5.48568552e-03 -2.78967873e+01] [-3.08062732e-02 -1.99924029e-04 9.99525354e-01 -7.81219348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.93, Y:-27.90, Z:-7.81 [[ 9.82648032e-01 1.83072450e-01 2.97879804e-02 1.84928132e+02] [-1.82993176e-01 9.83099412e-01 -5.38923028e-03 -2.79025352e+01] [-3.02711656e-02 -1.55280614e-04 9.99541711e-01 -7.81306206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:184.95, Y:-27.91, Z:-7.82 [[ 9.82903186e-01 1.81787139e-01 2.92363393e-02 1.84954314e+02] [-1.81710267e-01 9.83337899e-01 -5.28737376e-03 -2.79072390e+01] [-2.97103770e-02 -1.15566495e-04 9.99558543e-01 -7.81736989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55264000000003 meters Centerline goodness [0,1] 0.9997866803191262 Centerline is valid? [True, True] Translation: X:184.98, Y:-27.92, Z:-7.82 [[ 9.83373490e-01 1.79388675e-01 2.82184776e-02 1.84981378e+02] [-1.79316154e-01 9.83778279e-01 -5.10052734e-03 -2.79151751e+01] [-2.86757022e-02 -4.43055120e-05 9.99588767e-01 -7.81925818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.01, Y:-27.92, Z:-7.82 [[ 9.83610809e-01 1.78103560e-01 2.80873392e-02 1.85008298e+02] [-1.78031232e-01 9.84011749e-01 -5.07529612e-03 -2.79218030e+01] [-2.85422001e-02 -8.30747711e-06 9.99592588e-01 -7.82160928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61264000000003 meters Centerline goodness [0,1] 0.9999357285172569 Centerline is valid? [True, True] Translation: X:185.04, Y:-27.93, Z:-7.82 [[ 9.84036675e-01 1.75744864e-01 2.80279351e-02 1.85035929e+02] [-1.75671949e-01 9.84435747e-01 -5.06227989e-03 -2.79300127e+01] [-2.84813709e-02 5.77470833e-05 9.99594322e-01 -7.82040076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.06, Y:-27.94, Z:-7.82 [[ 9.84187665e-01 1.74791293e-01 2.86817755e-02 1.85064336e+02] [-1.74714572e-01 9.84605503e-01 -5.17897552e-03 -2.79366060e+01] [-2.91454738e-02 8.59596909e-05 9.99575177e-01 -7.82152033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.09, Y:-27.94, Z:-7.82 [[ 9.84507694e-01 1.72999200e-01 2.85635606e-02 1.85092079e+02] [-1.72922395e-01 9.84921955e-01 -5.15627598e-03 -2.79426180e+01] [-2.90249096e-02 1.37114052e-04 9.99578679e-01 -7.82194708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264000000003 meters Centerline goodness [0,1] 0.9998291766313632 Centerline is valid? [True, True] Translation: X:185.12, Y:-27.95, Z:-7.82 [[ 9.84610024e-01 1.72485709e-01 2.81386136e-02 1.85119257e+02] [-1.72410998e-01 9.85012009e-01 -5.07835767e-03 -2.79490371e+01] [-2.85928164e-02 1.48795414e-04 9.99591131e-01 -7.82272499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73264000000003 meters Centerline goodness [0,1] 0.9998076142023471 Centerline is valid? [True, True] Translation: X:185.15, Y:-27.96, Z:-7.82 [[ 9.84695914e-01 1.72024061e-01 2.79585369e-02 1.85147494e+02] [-1.71950170e-01 9.85092735e-01 -5.04398460e-03 -2.79556680e+01] [-2.84094383e-02 1.59315837e-04 9.99596358e-01 -7.82400344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.18, Y:-27.96, Z:-7.83 [[ 9.84578480e-01 1.72780248e-01 2.74263024e-02 1.85175486e+02] [-1.72709473e-01 9.84960389e-01 -4.94669969e-03 -2.79614202e+01] [-2.78685134e-02 1.33631846e-04 9.99611589e-01 -7.82631190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.20, Y:-27.96, Z:-7.83 [[ 9.84377825e-01 1.73973780e-01 2.70817744e-02 1.85203077e+02] [-1.73905256e-01 9.84750280e-01 -4.88339988e-03 -2.79642224e+01] [-2.75183685e-02 9.74476405e-05 9.99621293e-01 -7.82771717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.23, Y:-27.96, Z:-7.83 [[ 9.83815014e-01 1.76995119e-01 2.79418272e-02 1.85231479e+02] [-1.76923443e-01 9.84211729e-01 -5.03664980e-03 -2.79636565e+01] [-2.83921365e-02 1.15674251e-05 9.99596862e-01 -7.82759042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.26, Y:-27.97, Z:-7.83 [[ 9.83511348e-01 1.78544299e-01 2.87639106e-02 1.85260853e+02] [-1.78469062e-01 9.83931874e-01 -5.18285558e-03 -2.79657613e+01] [-2.92270978e-02 -3.60708666e-05 9.99572796e-01 -7.82716088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.29, Y:-27.97, Z:-7.83 [[ 9.82905531e-01 1.81815585e-01 2.89794915e-02 1.85289950e+02] [-1.81740678e-01 9.83332637e-01 -5.22028949e-03 -2.79653940e+01] [-2.94456098e-02 -1.35701016e-04 9.99566375e-01 -7.82687444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.32, Y:-27.97, Z:-7.83 [[ 9.82642075e-01 1.83241042e-01 2.89356579e-02 1.85318081e+02] [-1.83167018e-01 9.83067998e-01 -5.21106550e-03 -2.79676366e+01] [-2.94006004e-02 -1.79445948e-04 9.99567693e-01 -7.83070278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.35, Y:-27.97, Z:-7.83 [[ 9.82222852e-01 1.85598821e-01 2.81308821e-02 1.85347277e+02] [-1.85529879e-01 9.82625574e-01 -5.06422522e-03 -2.79696150e+01] [-2.85820383e-02 -2.44921400e-04 9.99591420e-01 -7.83275415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.38, Y:-27.97, Z:-7.83 [[ 9.81967700e-01 1.87022729e-01 2.76031607e-02 1.85376211e+02] [-1.86956947e-01 9.82355546e-01 -4.96795441e-03 -2.79724864e+01] [-2.80452384e-02 -2.82231898e-04 9.99606615e-01 -7.83319471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.41, Y:-27.97, Z:-7.84 [[ 9.81667722e-01 1.88638808e-01 2.72742430e-02 1.85405246e+02] [-1.88575246e-01 9.82046483e-01 -4.90742029e-03 -2.79737858e+01] [-2.77103043e-02 -3.25790992e-04 9.99615943e-01 -7.83501624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.43, Y:-27.97, Z:-7.84 [[ 9.80999586e-01 1.92075379e-01 2.73287595e-02 1.85433601e+02] [-1.92012911e-01 9.81380084e-01 -4.91665572e-03 -2.79700470e+01] [-2.77642688e-02 -4.24237440e-04 9.99614408e-01 -7.83653161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters Centerline goodness [0,1] 0.9999788444858152 Centerline is valid? [True, True] Translation: X:185.46, Y:-27.97, Z:-7.84 [[ 9.80669310e-01 1.93689716e-01 2.77848729e-02 1.85462709e+02] [-1.93625899e-01 9.81062721e-01 -4.99492264e-03 -2.79658368e+01] [-2.82261682e-02 -4.81503655e-04 9.99601446e-01 -7.84141946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09264000000002 meters Centerline goodness [0,1] 0.9999786984769411 Centerline is valid? [True, True] Translation: X:185.49, Y:-27.97, Z:-7.84 [[ 9.80187599e-01 1.96169721e-01 2.73808627e-02 1.85491191e+02] [-1.96108763e-01 9.80569805e-01 -4.92050012e-03 -2.79716709e+01] [-2.78141004e-02 -5.46613917e-04 9.99612964e-01 -7.83809240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters Centerline goodness [0,1] 0.9999572421165153 Centerline is valid? [True, True] Translation: X:185.52, Y:-27.97, Z:-7.84 [[ 9.80124042e-01 1.96574979e-01 2.67420903e-02 1.85519623e+02] [-1.96517002e-01 9.80488643e-01 -4.80500791e-03 -2.79688888e+01] [-2.71648602e-02 -5.45771633e-04 9.99630818e-01 -7.84391255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15264000000002 meters Centerline goodness [0,1] 0.9999786634804131 Centerline is valid? [True, True] Translation: X:185.55, Y:-27.97, Z:-7.84 [[ 9.80005603e-01 1.97235399e-01 2.62147950e-02 1.85547873e+02] [-1.97179956e-01 9.80356002e-01 -4.70898370e-03 -2.79745389e+01] [-2.66286099e-02 -5.54201706e-04 9.99645242e-01 -7.84341764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters Centerline goodness [0,1] 0.9999571917808219 Centerline is valid? [True, True] Translation: X:185.58, Y:-27.97, Z:-7.85 [[ 9.79984798e-01 1.97337052e-01 2.62275212e-02 1.85576495e+02] [-1.97281756e-01 9.80335540e-01 -4.70511407e-03 -2.79737358e+01] [-2.66402645e-02 -5.63271184e-04 9.99644926e-01 -7.84684201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.60, Y:-27.98, Z:-7.84 [[ 9.80041194e-01 1.97050856e-01 2.62720058e-02 1.85603312e+02] [-1.96995258e-01 9.80393110e-01 -4.71351482e-03 -2.79811360e+01] [-2.66856956e-02 -5.56021875e-04 9.99643719e-01 -7.84444083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264000000002 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:185.63, Y:-27.98, Z:-7.85 [[ 9.80206329e-01 1.96283655e-01 2.58511189e-02 1.85632058e+02] [-1.96229751e-01 9.80547012e-01 -4.63065994e-03 -2.79843754e+01] [-2.62571602e-02 -5.33756431e-04 9.99655079e-01 -7.84604639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27264000000002 meters Centerline goodness [0,1] 0.9998077498184303 Centerline is valid? [True, True] Translation: X:185.66, Y:-27.99, Z:-7.85 [[ 9.80242697e-01 1.96091716e-01 2.59286323e-02 1.85659251e+02] [-1.96037441e-01 9.80585415e-01 -4.64377907e-03 -2.79855322e+01] [-2.63358453e-02 -5.30952213e-04 9.99653010e-01 -7.84700972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.69, Y:-27.99, Z:-7.85 [[ 9.80211660e-01 1.96354385e-01 2.51009383e-02 1.85688328e+02] [-1.96303626e-01 9.80532857e-01 -4.49479129e-03 -2.79881352e+01] [-2.54948667e-02 -5.21558362e-04 9.99674817e-01 -7.84999733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.72, Y:-27.99, Z:-7.85 [[ 9.80181686e-01 1.96527361e-01 2.49170423e-02 1.85715948e+02] [-1.96477552e-01 9.80498199e-01 -4.45578173e-03 -2.79900945e+01] [-2.53067981e-02 -5.28163842e-04 9.99679592e-01 -7.85185228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.74, Y:-27.99, Z:-7.85 [[ 9.80133509e-01 1.96775281e-01 2.48554508e-02 1.85743534e+02] [-1.96725837e-01 9.80448470e-01 -4.44322306e-03 -2.79919881e+01] [-2.52438052e-02 -5.34757556e-04 9.99681181e-01 -7.85375425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39264000000003 meters Centerline goodness [0,1] 0.9999786265415607 Centerline is valid? [True, True] Translation: X:185.77, Y:-27.99, Z:-7.85 [[ 9.80055231e-01 1.97112338e-01 2.52679708e-02 1.85772486e+02] [-1.97061338e-01 9.80380753e-01 -4.51745219e-03 -2.79916923e+01] [-2.56626778e-02 -5.51987489e-04 9.99670507e-01 -7.85369684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264000000003 meters Centerline goodness [0,1] 0.9999570723331187 Centerline is valid? [True, True] Translation: X:185.80, Y:-27.99, Z:-7.85 [[ 9.80161536e-01 1.96585316e-01 2.52502732e-02 1.85800224e+02] [-1.96534339e-01 9.80486573e-01 -4.50936313e-03 -2.79949521e+01] [-2.56440284e-02 -5.42641464e-04 9.99670991e-01 -7.85351170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45264000000003 meters Centerline goodness [0,1] 0.9999786452549757 Centerline is valid? [True, True] Translation: X:185.83, Y:-28.00, Z:-7.85 [[ 9.80431661e-01 1.95207870e-01 2.54488779e-02 1.85828259e+02] [-1.95155799e-01 9.80761755e-01 -4.53806841e-03 -2.79966564e+01] [-2.58451528e-02 -5.17230157e-04 9.99665824e-01 -7.85359573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264000000003 meters Centerline goodness [0,1] 0.9999785605557104 Centerline is valid? [True, True] Translation: X:185.86, Y:-28.00, Z:-7.85 [[ 9.80674383e-01 1.93962665e-01 2.56171715e-02 1.85856730e+02] [-1.93909508e-01 9.81008790e-01 -4.56695278e-03 -2.80009791e+01] [-2.60164888e-02 -4.88719527e-04 9.99661394e-01 -7.85488331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.89, Y:-28.01, Z:-7.86 [[ 9.80973021e-01 1.92501428e-01 2.52018398e-02 1.85885488e+02] [-1.92449637e-01 9.81296591e-01 -4.48747947e-03 -2.80061059e+01] [-2.55943257e-02 -4.47988632e-04 9.99672311e-01 -7.85658655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.91, Y:-28.02, Z:-7.86 [[ 9.81665043e-01 1.88948169e-01 2.51462212e-02 1.85912868e+02] [-1.88895517e-01 9.81986997e-01 -4.47460309e-03 -2.80164692e+01] [-2.55387303e-02 -3.57447031e-04 9.99673770e-01 -7.85707577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.94, Y:-28.02, Z:-7.86 [[ 9.82024051e-01 1.87015182e-01 2.55750810e-02 1.85940923e+02] [-1.86960048e-01 9.82356974e-01 -4.55148362e-03 -2.80233463e+01] [-2.59750558e-02 -3.11852013e-04 9.99662543e-01 -7.85745159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:185.97, Y:-28.03, Z:-7.86 [[ 9.82663239e-01 1.83785705e-01 2.44084859e-02 1.85968724e+02] [-1.83734637e-01 9.82966309e-01 -4.33794636e-03 -2.80309844e+01] [-2.47899718e-02 -2.21943873e-04 9.99692657e-01 -7.85924045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63264000000004 meters Centerline goodness [0,1] 0.9997222756307548 Centerline is valid? [True, True] Translation: X:186.00, Y:-28.03, Z:-7.86 [[ 9.82920196e-01 1.82429022e-01 2.42392449e-02 1.85996173e+02] [-1.82378260e-01 9.83219008e-01 -4.30737548e-03 -2.80346379e+01] [-2.46182766e-02 -1.86904956e-04 9.99696907e-01 -7.86162208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.02, Y:-28.04, Z:-7.86 [[ 9.83115464e-01 1.81471196e-01 2.34987240e-02 1.86024085e+02] [-1.81423283e-01 9.83396247e-01 -4.17288404e-03 -2.80396123e+01] [-2.38658152e-02 -1.60788831e-04 9.99715158e-01 -7.86487350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.05, Y:-28.04, Z:-7.87 [[ 9.83156975e-01 1.81296330e-01 2.31084991e-02 1.86051690e+02] [-1.81249969e-01 9.83428501e-01 -4.10271287e-03 -2.80440629e+01] [-2.34693634e-02 -1.54803956e-04 9.99724545e-01 -7.86894766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.08, Y:-28.05, Z:-7.87 [[ 9.83127686e-01 1.81551071e-01 2.23419287e-02 1.86079687e+02] [-1.81507833e-01 9.83381505e-01 -3.96515863e-03 -2.80499511e+01] [-2.26905183e-02 -1.56977844e-04 9.99742525e-01 -7.86784101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75264000000004 meters Centerline goodness [0,1] 0.9998070077625767 Centerline is valid? [True, True] Translation: X:186.11, Y:-28.05, Z:-7.87 [[ 9.82834158e-01 1.83097885e-01 2.26314707e-02 1.86108670e+02] [-1.83053955e-01 9.83094668e-01 -4.01540532e-03 -2.80513463e+01] [-2.29840904e-02 -1.96302710e-04 9.99735812e-01 -7.86725348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters Centerline goodness [0,1] 0.9999352317623438 Centerline is valid? [True, True] Translation: X:186.14, Y:-28.05, Z:-7.87 [[ 9.82591300e-01 1.84433647e-01 2.23286257e-02 1.86136491e+02] [-1.84391249e-01 9.82844942e-01 -3.96081329e-03 -2.80534502e+01] [-2.26760840e-02 -2.25342501e-04 9.99742839e-01 -7.86899228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.16, Y:-28.05, Z:-7.87 [[ 9.82133145e-01 1.86766946e-01 2.30779764e-02 1.86164180e+02] [-1.86722329e-01 9.82404206e-01 -4.09242652e-03 -2.80535571e+01] [-2.34362311e-02 -2.89865767e-04 9.99725292e-01 -7.87009682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters Centerline goodness [0,1] 0.99995720002568 Centerline is valid? [True, True] Translation: X:186.19, Y:-28.06, Z:-7.87 [[ 9.82032214e-01 1.87164435e-01 2.41289143e-02 1.86192038e+02] [-1.87115834e-01 9.82328547e-01 -4.27665710e-03 -2.80564798e+01] [-2.45029595e-02 -3.15086884e-04 9.99699708e-01 -7.86944030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87264000000002 meters Centerline goodness [0,1] 0.999957163357536 Centerline is valid? [True, True] Translation: X:186.22, Y:-28.06, Z:-7.87 [[ 9.82010350e-01 1.87157145e-01 2.50574537e-02 1.86220048e+02] [-1.87104770e-01 9.82329932e-01 -4.43957363e-03 -2.80603845e+01] [-2.54455847e-02 -3.28661865e-04 9.99676155e-01 -7.86842348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters Centerline goodness [0,1] 0.9998296059637912 Centerline is valid? [True, True] Translation: X:186.25, Y:-28.07, Z:-7.87 [[ 9.82103249e-01 1.86520561e-01 2.61397816e-02 1.86247213e+02] [-1.86463383e-01 9.82451003e-01 -4.62963570e-03 -2.80661256e+01] [-2.65445769e-02 -3.27331859e-04 9.99647577e-01 -7.86757451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93264000000002 meters Centerline goodness [0,1] 0.9999788855809633 Centerline is valid? [True, True] Translation: X:186.27, Y:-28.07, Z:-7.87 [[ 9.82152265e-01 1.86220409e-01 2.64364687e-02 1.86274676e+02] [-1.86161861e-01 9.82507941e-01 -4.68054988e-03 -2.80697821e+01] [-2.68456543e-02 -3.24449540e-04 9.99639538e-01 -7.87073231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.30, Y:-28.08, Z:-7.87 [[ 9.82139786e-01 1.86403002e-01 2.56000270e-02 1.86303151e+02] [-1.86348156e-01 9.82473317e-01 -4.53271572e-03 -2.80757327e+01] [-2.59962552e-02 -3.18757356e-04 9.99661989e-01 -7.87029062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.33, Y:-28.08, Z:-7.87 [[ 9.81883110e-01 1.87735459e-01 2.57090490e-02 1.86331978e+02] [-1.87680718e-01 9.82219562e-01 -4.54753715e-03 -2.80776776e+01] [-2.61056648e-02 -3.59942850e-04 9.99659124e-01 -7.87197131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264000000002 meters Centerline goodness [0,1] 0.9998930687140444 Centerline is valid? [True, True] Translation: X:186.36, Y:-28.08, Z:-7.87 [[ 9.81805455e-01 1.88085136e-01 2.61157125e-02 1.86359330e+02] [-1.88028887e-01 9.82152655e-01 -4.61519901e-03 -2.80789529e+01] [-2.65176667e-02 -3.79280774e-04 9.99648273e-01 -7.87237589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.39, Y:-28.08, Z:-7.87 [[ 9.81630952e-01 1.88941666e-01 2.64900130e-02 1.86387398e+02] [-1.88884255e-01 9.81988226e-01 -4.67575501e-03 -2.80838439e+01] [-2.68963258e-02 -4.13680515e-04 9.99638143e-01 -7.87312072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.42, Y:-28.09, Z:-7.87 [[ 9.81582560e-01 1.89285103e-01 2.58230080e-02 1.86416206e+02] [-1.89230778e-01 9.81922083e-01 -4.55373815e-03 -2.80869890e+01] [-2.62181366e-02 -4.16637927e-04 9.99656159e-01 -7.87497173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.44, Y:-28.09, Z:-7.88 [[ 9.81562542e-01 1.89410689e-01 2.56625611e-02 1.86444147e+02] [-1.89357242e-01 9.81897862e-01 -4.51923728e-03 -2.80892574e+01] [-2.60540057e-02 -4.23477761e-04 9.99660447e-01 -7.87805946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264000000003 meters Centerline goodness [0,1] 0.9997651329134194 Centerline is valid? [True, True] Translation: X:186.47, Y:-28.09, Z:-7.88 [[ 9.81743276e-01 1.88479744e-01 2.56032364e-02 1.86473238e+02] [-1.88426226e-01 9.82076997e-01 -4.50883095e-03 -2.80922278e+01] [-2.59941728e-02 -3.97806735e-04 9.99662015e-01 -7.87722667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17264000000003 meters Centerline goodness [0,1] 0.9997861785836469 Centerline is valid? [True, True] Translation: X:186.50, Y:-28.10, Z:-7.88 [[ 9.81794794e-01 1.88261374e-01 2.52316641e-02 1.86501104e+02] [-1.88209422e-01 9.82118884e-01 -4.43963745e-03 -2.80970324e+01] [-2.56163061e-02 -3.90023985e-04 9.99671773e-01 -7.87783590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.53, Y:-28.10, Z:-7.88 [[ 9.81642595e-01 1.89025426e-01 2.54401957e-02 1.86529146e+02] [-1.88973056e-01 9.81972103e-01 -4.46906885e-03 -2.80965754e+01] [-2.58263301e-02 -4.20483173e-04 9.99666356e-01 -7.88355462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23264000000003 meters Centerline goodness [0,1] 0.9998715835883826 Centerline is valid? [True, True] Translation: X:186.56, Y:-28.10, Z:-7.88 [[ 9.81702906e-01 1.88704392e-01 2.54962208e-02 1.86556508e+02] [-1.88651668e-01 9.82033850e-01 -4.47949203e-03 -2.81036123e+01] [-2.58834516e-02 -4.12374237e-04 9.99664882e-01 -7.87900744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264000000003 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:186.58, Y:-28.10, Z:-7.88 [[ 9.81525327e-01 1.89581915e-01 2.58211194e-02 1.86584169e+02] [-1.89528339e-01 9.81864805e-01 -4.52908582e-03 -2.81047555e+01] [-2.62114812e-02 -4.48421428e-04 9.99656320e-01 -7.88269845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29264000000003 meters Centerline goodness [0,1] 0.9999573296921337 Centerline is valid? [True, True] Translation: X:186.61, Y:-28.11, Z:-7.88 [[ 9.81505273e-01 1.89634788e-01 2.61925031e-02 1.86611501e+02] [-1.89579714e-01 9.81854591e-01 -4.59285151e-03 -2.81071445e+01] [-2.65881939e-02 -4.57659277e-04 9.99646367e-01 -7.88382351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.64, Y:-28.11, Z:-7.88 [[ 9.81626103e-01 1.89043322e-01 2.59386942e-02 1.86639446e+02] [-1.88989118e-01 9.81968651e-01 -4.54784316e-03 -2.81117039e+01] [-2.63307239e-02 -4.37849373e-04 9.99653190e-01 -7.88466063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.67, Y:-28.12, Z:-7.89 [[ 9.81662986e-01 1.88851585e-01 2.59395773e-02 1.86666504e+02] [-1.88797447e-01 9.82005543e-01 -4.54279910e-03 -2.81162485e+01] [-2.63307235e-02 -4.37828235e-04 9.99653191e-01 -7.88579829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264000000004 meters Centerline goodness [0,1] 0.9999571192727429 Centerline is valid? [True, True] Translation: X:186.69, Y:-28.12, Z:-7.89 [[ 9.81780087e-01 1.88274819e-01 2.56992765e-02 1.86694535e+02] [-1.88221669e-01 9.82116292e-01 -4.49352963e-03 -2.81195299e+01] [-2.60856966e-02 -4.25502789e-04 9.99659620e-01 -7.88664720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.72, Y:-28.12, Z:-7.89 [[ 9.81776215e-01 1.88293298e-01 2.57118016e-02 1.86721948e+02] [-1.88240136e-01 9.82112749e-01 -4.49446292e-03 -2.81207711e+01] [-2.60981654e-02 -4.27436232e-04 9.99659293e-01 -7.89198518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264000000004 meters Centerline goodness [0,1] 0.9999361090405707 Centerline is valid? [True, True] Translation: X:186.75, Y:-28.12, Z:-7.89 [[ 9.81741255e-01 1.88481509e-01 2.56676805e-02 1.86750966e+02] [-1.88428618e-01 9.82076643e-01 -4.48579694e-03 -2.81247593e+01] [-2.60531193e-02 -4.32633639e-04 9.99660466e-01 -7.89139787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.78, Y:-28.13, Z:-7.89 [[ 9.81708080e-01 1.88742040e-01 2.50137411e-02 1.86778891e+02] [-1.88691993e-01 9.82026606e-01 -4.36765558e-03 -2.81306465e+01] [-2.53885195e-02 -4.32129878e-04 9.99677566e-01 -7.89122575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.81, Y:-28.13, Z:-7.89 [[ 9.81604008e-01 1.89419889e-01 2.39515514e-02 1.86806673e+02] [-1.89374347e-01 9.81896082e-01 -4.17628356e-03 -2.81313269e+01] [-2.43090057e-02 -4.36352741e-04 9.99704397e-01 -7.89449602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53264000000001 meters Centerline goodness [0,1] 0.9999784719381714 Centerline is valid? [True, True] Translation: X:186.83, Y:-28.14, Z:-7.90 [[ 9.81594504e-01 1.89465656e-01 2.39790670e-02 1.86833966e+02] [-1.89420003e-01 9.81887251e-01 -4.18191382e-03 -2.81357872e+01] [-2.43370693e-02 -4.37171341e-04 9.99703714e-01 -7.89509598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters Centerline goodness [0,1] 0.9999787306448868 Centerline is valid? [True, True] Translation: X:186.86, Y:-28.14, Z:-7.90 [[ 9.81591810e-01 1.89426632e-01 2.43940680e-02 1.86861040e+02] [-1.89379525e-01 9.81894775e-01 -4.24811399e-03 -2.81363859e+01] [-2.47571138e-02 -4.49823126e-04 9.99693394e-01 -7.89774073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59264000000002 meters Centerline goodness [0,1] 0.9999571963616908 Centerline is valid? [True, True] Translation: X:186.89, Y:-28.14, Z:-7.90 [[ 9.81656594e-01 1.89048673e-01 2.47170178e-02 1.86889950e+02] [-1.89000265e-01 9.81967615e-01 -4.30142861e-03 -2.81394732e+01] [-2.50844904e-02 -4.48997144e-04 9.99685234e-01 -7.89568965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters Centerline goodness [0,1] 0.9999357188772231 Centerline is valid? [True, True] Translation: X:186.92, Y:-28.14, Z:-7.90 [[ 9.81730574e-01 1.88596887e-01 2.52248781e-02 1.86918345e+02] [-1.88546438e-01 9.82054485e-01 -4.38520942e-03 -2.81398871e+01] [-2.55992415e-02 -4.50966757e-04 9.99672184e-01 -7.89865292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.95, Y:-28.14, Z:-7.90 [[ 9.81785412e-01 1.88302004e-01 2.52934780e-02 1.86946091e+02] [-1.88251341e-01 9.82111069e-01 -4.39092173e-03 -2.81424399e+01] [-2.56678240e-02 -4.50588249e-04 9.99670426e-01 -7.90016139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:186.97, Y:-28.15, Z:-7.90 [[ 9.81878520e-01 1.87867981e-01 2.49036944e-02 1.86974087e+02] [-1.87818711e-01 9.82194194e-01 -4.32395971e-03 -2.81472857e+01] [-2.52725977e-02 -4.31776626e-04 9.99680504e-01 -7.90028540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71264000000002 meters Centerline goodness [0,1] 0.9999785426143679 Centerline is valid? [True, True] Translation: X:187.00, Y:-28.15, Z:-7.90 [[ 9.81998561e-01 1.87269003e-01 2.46809188e-02 1.87001155e+02] [-1.87220541e-01 9.82308580e-01 -4.28047752e-03 -2.81517416e+01] [-2.50458790e-02 -4.17352207e-04 9.99686216e-01 -7.90156416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264000000002 meters Centerline goodness [0,1] 0.9999787717324389 Centerline is valid? [True, True] Translation: X:187.03, Y:-28.15, Z:-7.90 [[ 9.82348270e-01 1.85364163e-01 2.51396870e-02 1.87028655e+02] [-1.85313446e-01 9.82669823e-01 -4.35271875e-03 -2.81536897e+01] [-2.55108498e-02 -3.82836299e-04 9.99674472e-01 -7.90487272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.06, Y:-28.16, Z:-7.90 [[ 9.82982353e-01 1.81962674e-01 2.52047282e-02 1.87056681e+02] [-1.81910573e-01 9.83305394e-01 -4.36409580e-03 -2.81608132e+01] [-2.55780478e-02 -2.95177403e-04 9.99672785e-01 -7.90439288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264000000003 meters Centerline goodness [0,1] 0.9998924291646049 Centerline is valid? [True, True] Translation: X:187.08, Y:-28.17, Z:-7.90 [[ 9.83450225e-01 1.79383698e-01 2.54390146e-02 1.87084722e+02] [-1.79329872e-01 9.83779159e-01 -4.40035130e-03 -2.81681742e+01] [-2.58157237e-02 -2.34448765e-04 9.99666691e-01 -7.90191387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.11, Y:-28.18, Z:-7.90 [[ 9.83789372e-01 1.77375885e-01 2.63868903e-02 1.87111883e+02] [-1.77317414e-01 9.84143159e-01 -4.55818639e-03 -2.81751988e+01] [-2.67769899e-02 -1.94559819e-04 9.99641413e-01 -7.90385312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.14, Y:-28.19, Z:-7.90 [[ 9.84697664e-01 1.72040357e-01 2.77961637e-02 1.87138618e+02] [-1.71973395e-01 9.85089901e-01 -4.79987468e-03 -2.81860503e+01] [-2.82074923e-02 -5.37752454e-05 9.99602088e-01 -7.90433865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.17, Y:-28.20, Z:-7.90 [[ 9.85182791e-01 1.69219069e-01 2.79244513e-02 1.87165909e+02] [-1.69150533e-01 9.85578463e-01 -4.81569628e-03 -2.81954539e+01] [-2.83366454e-02 2.09052708e-05 9.99598436e-01 -7.90377973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264000000003 meters Centerline goodness [0,1] 0.9999147648575508 Centerline is valid? [True, True] Translation: X:187.19, Y:-28.21, Z:-7.90 [[ 9.86187951e-01 1.63252478e-01 2.79634312e-02 1.87193010e+02] [-1.63181389e-01 9.86584305e-01 -4.82106578e-03 -2.82092842e+01] [-2.83753332e-02 1.91365450e-04 9.99597321e-01 -7.90321971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95264000000003 meters Centerline goodness [0,1] 0.9998939262150752 Centerline is valid? [True, True] Translation: X:187.22, Y:-28.22, Z:-7.91 [[ 9.86637021e-01 1.60628754e-01 2.73091824e-02 1.87219291e+02] [-1.60559968e-01 9.87014861e-01 -4.70754450e-03 -2.82197019e+01] [-2.77107359e-02 2.59876232e-04 9.99615950e-01 -7.90641444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.25, Y:-28.24, Z:-7.91 [[ 9.87317411e-01 1.56611710e-01 2.60211702e-02 1.87245040e+02] [-1.56547945e-01 9.87660189e-01 -4.48248096e-03 -2.82370178e+01] [-2.64020828e-02 3.52070791e-04 9.99651342e-01 -7.91274757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01264000000003 meters Centerline goodness [0,1] 0.9998723567204186 Centerline is valid? [True, True] Translation: X:187.27, Y:-28.24, Z:-7.91 [[ 9.87605283e-01 1.54807474e-01 2.58930538e-02 1.87273143e+02] [-1.54743734e-01 9.87944577e-01 -4.45969753e-03 -2.82437274e+01] [-2.62712966e-02 3.97633007e-04 9.99654771e-01 -7.91014507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.30, Y:-28.25, Z:-7.91 [[ 9.87689185e-01 1.54318360e-01 2.56108753e-02 1.87301106e+02] [-1.54255869e-01 9.88021093e-01 -4.40989640e-03 -2.82520570e+01] [-2.59846130e-02 4.04979165e-04 9.99662261e-01 -7.91345410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.33, Y:-28.26, Z:-7.91 [[ 9.87639665e-01 1.54713099e-01 2.51346220e-02 1.87328384e+02] [-1.54653059e-01 9.87959365e-01 -4.32710126e-03 -2.82600810e+01] [-2.55014444e-02 3.86470655e-04 9.99674711e-01 -7.91476320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.36, Y:-28.27, Z:-7.92 [[ 9.87148925e-01 1.57832632e-01 2.50171997e-02 1.87356317e+02] [-1.57774207e-01 9.87465832e-01 -4.30473041e-03 -2.82653705e+01] [-2.53830569e-02 3.02341144e-04 9.99677753e-01 -7.91652802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.39, Y:-28.27, Z:-7.92 [[ 9.86736929e-01 1.60456106e-01 2.45778397e-02 1.87385341e+02] [-1.60400556e-01 9.87042950e-01 -4.22803548e-03 -2.82672359e+01] [-2.49377975e-02 2.29659594e-04 9.99688978e-01 -7.91617919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264000000004 meters Centerline goodness [0,1] 0.9998287011262901 Centerline is valid? [True, True] Translation: X:187.41, Y:-28.27, Z:-7.92 [[ 9.86375054e-01 1.62713086e-01 2.42632277e-02 1.87412844e+02] [-1.62659645e-01 9.86673412e-01 -4.17339833e-03 -2.82703513e+01] [-2.46189482e-02 1.69888003e-04 9.99696893e-01 -7.91850066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.44, Y:-28.27, Z:-7.92 [[ 9.85436198e-01 1.68296729e-01 2.43251157e-02 1.87441800e+02] [-1.68244785e-01 9.85736380e-01 -4.18117079e-03 -2.82727734e+01] [-2.46818289e-02 2.77031809e-05 9.99695357e-01 -7.92056238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.47, Y:-28.28, Z:-7.92 [[ 9.84805846e-01 1.71926767e-01 2.44669613e-02 1.87469130e+02] [-1.71875355e-01 9.85109731e-01 -4.20473283e-03 -2.82760538e+01] [-2.48255478e-02 -6.44221961e-05 9.99691797e-01 -7.92214349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.50, Y:-28.28, Z:-7.92 [[ 9.84644216e-01 1.72840816e-01 2.45320346e-02 1.87495436e+02] [-1.72789454e-01 9.84949767e-01 -4.21429180e-03 -2.82801636e+01] [-2.48912234e-02 -8.92988201e-05 9.99690162e-01 -7.92371430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.52, Y:-28.28, Z:-7.93 [[ 9.84471422e-01 1.73800948e-01 2.46829855e-02 1.87522318e+02] [-1.73749308e-01 9.84780796e-01 -4.23805939e-03 -2.82845049e+01] [-2.50439088e-02 -1.16403288e-04 9.99686345e-01 -7.92516891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.55, Y:-28.29, Z:-7.93 [[ 9.84260090e-01 1.75084423e-01 2.40316469e-02 1.87550489e+02] [-1.75035917e-01 9.84553413e-01 -4.12368771e-03 -2.82922681e+01] [-2.43824335e-02 -1.47620107e-04 9.99702693e-01 -7.92749674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.58, Y:-28.30, Z:-7.93 [[ 9.84206084e-01 1.75409177e-01 2.38747909e-02 1.87578449e+02] [-1.75361425e-01 9.84495605e-01 -4.09563074e-03 -2.82991313e+01] [-2.42230379e-02 -1.55772652e-04 9.99706567e-01 -7.92867152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.61, Y:-28.31, Z:-7.93 [[ 9.84104114e-01 1.75867592e-01 2.46917761e-02 1.87605275e+02] [-1.75816687e-01 9.84413815e-01 -4.23470144e-03 -2.83064940e+01] [-2.50516723e-02 -1.73839154e-04 9.99686142e-01 -7.92904145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.63, Y:-28.31, Z:-7.93 [[ 9.84081745e-01 1.75949569e-01 2.49973737e-02 1.87632381e+02] [-1.75897461e-01 9.84399166e-01 -4.28556949e-03 -2.83126529e+01] [-2.53614379e-02 -1.79623869e-04 9.99678331e-01 -7.93023512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.66, Y:-28.32, Z:-7.93 [[ 9.84089425e-01 1.75857668e-01 2.53394003e-02 1.87659815e+02] [-1.75804138e-01 9.84415587e-01 -4.34250320e-03 -2.83230618e+01] [-2.57081631e-02 -1.81359943e-04 9.99669474e-01 -7.92863811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264000000002 meters Centerline goodness [0,1] 0.9998278940687993 Centerline is valid? [True, True] Translation: X:187.69, Y:-28.33, Z:-7.93 [[ 9.84128572e-01 1.75605422e-01 2.55673425e-02 1.87687589e+02] [-1.75550873e-01 9.84460616e-01 -4.38028110e-03 -2.83292979e+01] [-2.59392429e-02 -1.77609523e-04 9.99663505e-01 -7.92775191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.71, Y:-28.34, Z:-7.93 [[ 9.84067394e-01 1.75936066e-01 2.56488665e-02 1.87713168e+02] [-1.75881300e-01 9.84401577e-01 -4.39350777e-03 -2.83371908e+01] [-2.60217611e-02 -1.87648230e-04 9.99661359e-01 -7.93165832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.74, Y:-28.34, Z:-7.93 [[ 9.84041565e-01 1.76094188e-01 2.55545504e-02 1.87741466e+02] [-1.76039950e-01 9.84373303e-01 -4.37454199e-03 -2.83443643e+01] [-2.59255486e-02 -1.93890618e-04 9.99663858e-01 -7.93263479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.77, Y:-28.35, Z:-7.94 [[ 9.83876461e-01 1.77050813e-01 2.53005802e-02 1.87768973e+02] [-1.76997979e-01 9.84201688e-01 -4.33049294e-03 -2.83507124e+01] [-2.56675910e-02 -2.17481501e-04 9.99670509e-01 -7.93546777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.80, Y:-28.36, Z:-7.94 [[ 9.83733272e-01 1.77833564e-01 2.53786104e-02 1.87797776e+02] [-1.77780741e-01 9.84060550e-01 -4.34083284e-03 -2.83560637e+01] [-2.57460351e-02 -2.41606476e-04 9.99668487e-01 -7.93634901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.83, Y:-28.36, Z:-7.94 [[ 9.83341747e-01 1.79999905e-01 2.52792851e-02 1.87825780e+02] [-1.79948237e-01 9.83666582e-01 -4.32280270e-03 -2.83600511e+01] [-2.56444921e-02 -2.98170439e-04 9.99671081e-01 -7.93827712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.85, Y:-28.36, Z:-7.94 [[ 9.83131172e-01 1.81121420e-01 2.54584107e-02 1.87853441e+02] [-1.81069422e-01 9.83460687e-01 -4.35231874e-03 -2.83624941e+01] [-2.58256442e-02 -3.30839474e-04 9.99666408e-01 -7.94036582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.88, Y:-28.37, Z:-7.94 [[ 9.82920907e-01 1.82217929e-01 2.57510423e-02 1.87881255e+02] [-1.82165183e-01 9.83258100e-01 -4.39934573e-03 -2.83686596e+01] [-2.61215606e-02 -3.66734442e-04 9.99658707e-01 -7.93873795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264000000003 meters Centerline goodness [0,1] 0.9999787645197596 Centerline is valid? [True, True] Translation: X:187.91, Y:-28.37, Z:-7.94 [[ 9.82691848e-01 1.83333031e-01 2.65655959e-02 1.87908921e+02] [-1.83277335e-01 9.83050778e-01 -4.53727409e-03 -2.83726062e+01] [-2.69471619e-02 -4.10129364e-04 9.99636775e-01 -7.93989715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73264000000003 meters Centerline goodness [0,1] 0.9997632983301773 Centerline is valid? [True, True] Translation: X:187.94, Y:-28.38, Z:-7.94 [[ 9.82658918e-01 1.83431957e-01 2.70955481e-02 1.87937146e+02] [-1.83374107e-01 9.83032318e-01 -4.62588572e-03 -2.83795557e+01] [-2.74843347e-02 -4.22954073e-04 9.99622145e-01 -7.93641768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:187.96, Y:-28.38, Z:-7.94 [[ 9.82592373e-01 1.83793636e-01 2.70578569e-02 1.87964548e+02] [-1.83736116e-01 9.82964756e-01 -4.61824164e-03 -2.83838986e+01] [-2.74457232e-02 -4.33656540e-04 9.99623201e-01 -7.94114763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79264000000003 meters Centerline goodness [0,1] 0.9999573833368848 Centerline is valid? [True, True] Translation: X:187.99, Y:-28.39, Z:-7.94 [[ 9.82567440e-01 1.83863182e-01 2.74873944e-02 1.87992611e+02] [-1.83803905e-01 9.82951745e-01 -4.68956860e-03 -2.83911393e+01] [-2.78810213e-02 -4.44473003e-04 9.99611150e-01 -7.94153652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.02, Y:-28.40, Z:-7.94 [[ 9.82522203e-01 1.84128607e-01 2.73271990e-02 1.88020676e+02] [-1.84070156e-01 9.82902057e-01 -4.66095249e-03 -2.83986512e+01] [-2.77181747e-02 -4.50632470e-04 9.99615676e-01 -7.94148275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.05, Y:-28.40, Z:-7.94 [[ 9.82483544e-01 1.84377147e-01 2.70398378e-02 1.88048264e+02] [-1.84320046e-01 9.82855463e-01 -4.61076275e-03 -2.84031562e+01] [-2.74263716e-02 -4.53985618e-04 9.99623723e-01 -7.94372297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264000000004 meters Centerline goodness [0,1] 0.9999573424336141 Centerline is valid? [True, True] Translation: X:188.08, Y:-28.41, Z:-7.94 [[ 9.82053841e-01 1.86599187e-01 2.74043150e-02 1.88076880e+02] [-1.86541454e-01 9.82435987e-01 -4.67098272e-03 -2.84050534e+01] [-2.77945868e-02 -5.24884224e-04 9.99613518e-01 -7.94351005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91264000000004 meters Centerline goodness [0,1] 0.9999144421629022 Centerline is valid? [True, True] Translation: X:188.11, Y:-28.41, Z:-7.94 [[ 9.81376623e-01 1.90092386e-01 2.76551683e-02 1.88106371e+02] [-1.90035014e-01 9.81766004e-01 -4.71238947e-03 -2.84051875e+01] [-2.80466935e-02 -6.30821428e-04 9.99606415e-01 -7.94294514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264000000004 meters Centerline goodness [0,1] 0.9999576755406949 Centerline is valid? [True, True] Translation: X:188.13, Y:-28.40, Z:-7.95 [[ 9.80967395e-01 1.92125681e-01 2.81192619e-02 1.88134704e+02] [-1.92067225e-01 9.81370078e-01 -4.79063807e-03 -2.84007624e+01] [-2.85158068e-02 -7.01328866e-04 9.99593096e-01 -7.94555562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97264000000004 meters Centerline goodness [0,1] 0.9999571431632631 Centerline is valid? [True, True] Translation: X:188.16, Y:-28.40, Z:-7.94 [[ 9.80563624e-01 1.94150214e-01 2.82961673e-02 1.88163337e+02] [-1.94091970e-01 9.80971510e-01 -4.81702056e-03 -2.84025740e+01] [-2.86929596e-02 -7.68663720e-04 9.99587977e-01 -7.94458664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264000000004 meters Centerline goodness [0,1] 0.9999572521694524 Centerline is valid? [True, True] Translation: X:188.19, Y:-28.40, Z:-7.95 [[ 9.79937621e-01 1.97378025e-01 2.76437190e-02 1.88192482e+02] [-1.97323765e-01 9.80327089e-01 -4.70427502e-03 -2.83993485e+01] [-2.80284071e-02 -8.44866657e-04 9.99606770e-01 -7.94789021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03264000000001 meters Centerline goodness [0,1] 0.9999147666737694 Centerline is valid? [True, True] Translation: X:188.22, Y:-28.40, Z:-7.95 [[ 9.79745671e-01 1.98291099e-01 2.79116650e-02 1.88221091e+02] [-1.98236159e-01 9.80142779e-01 -4.74963412e-03 -2.84013017e+01] [-2.82992270e-02 -8.79667787e-04 9.99599110e-01 -7.94892813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters Centerline goodness [0,1] 0.9997227553849435 Centerline is valid? [True, True] Translation: X:188.25, Y:-28.40, Z:-7.95 [[ 9.79657868e-01 1.98700343e-01 2.80826376e-02 1.88249085e+02] [-1.98645071e-01 9.80059875e-01 -4.77255980e-03 -2.84001192e+01] [-2.84709755e-02 -9.03001779e-04 9.99594212e-01 -7.95104580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09264000000002 meters Centerline goodness [0,1] 0.9998087466530664 Centerline is valid? [True, True] Translation: X:188.28, Y:-28.41, Z:-7.95 [[ 9.79758106e-01 1.98223039e-01 2.79585637e-02 1.88277408e+02] [-1.98168068e-01 9.80156540e-01 -4.75119590e-03 -2.84062073e+01] [-2.83455656e-02 -8.85471865e-04 9.99597792e-01 -7.95156192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters Centerline goodness [0,1] 0.9999359426045737 Centerline is valid? [True, True] Translation: X:188.31, Y:-28.41, Z:-7.95 [[ 9.79905825e-01 1.97459527e-01 2.81834913e-02 1.88305791e+02] [-1.97403490e-01 9.80310649e-01 -4.78464563e-03 -2.84116383e+01] [-2.85733506e-02 -8.75017418e-04 9.99591315e-01 -7.95223678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15264000000002 meters Centerline goodness [0,1] 0.9998511176808389 Centerline is valid? [True, True] Translation: X:188.33, Y:-28.41, Z:-7.95 [[ 9.80241386e-01 1.95741710e-01 2.84957419e-02 1.88333843e+02] [-1.95683880e-01 9.80655126e-01 -4.83136903e-03 -2.84135702e+01] [-2.88901958e-02 -8.40249462e-04 9.99582238e-01 -7.95337136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters Centerline goodness [0,1] 0.9999574051199046 Centerline is valid? [True, True] Translation: X:188.36, Y:-28.42, Z:-7.95 [[ 9.80421000e-01 1.94840859e-01 2.84904081e-02 1.88362644e+02] [-1.94782681e-01 9.80834531e-01 -4.83008656e-03 -2.84178713e+01] [-2.88854743e-02 -8.13919787e-04 9.99582396e-01 -7.95435242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21264000000002 meters Centerline goodness [0,1] 0.9998081350729087 Centerline is valid? [True, True] Translation: X:188.39, Y:-28.42, Z:-7.96 [[ 9.80729459e-01 1.93331628e-01 2.81533254e-02 1.88390681e+02] [-1.93274372e-01 9.81133168e-01 -4.76685290e-03 -2.84180459e+01] [-2.85437448e-02 -7.66323229e-04 9.99592251e-01 -7.95751597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264000000002 meters Centerline goodness [0,1] 0.9998081350729087 Centerline is valid? [True, True] Translation: X:188.42, Y:-28.42, Z:-7.96 [[ 9.80764927e-01 1.93151619e-01 2.81533377e-02 1.88417777e+02] [-1.93094290e-01 9.81168626e-01 -4.76678141e-03 -2.84224196e+01] [-2.85438833e-02 -7.61156754e-04 9.99592251e-01 -7.95865311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27264000000002 meters Centerline goodness [0,1] 0.999914693964598 Centerline is valid? [True, True] Translation: X:188.44, Y:-28.43, Z:-7.96 [[ 9.81004561e-01 1.92101353e-01 2.69651722e-02 1.88444774e+02] [-1.92048546e-01 9.81374837e-01 -4.55903549e-03 -2.84274057e+01] [-2.73387384e-02 -7.06187484e-04 9.99625977e-01 -7.96265765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264000000003 meters Centerline goodness [0,1] 0.9998932080307561 Centerline is valid? [True, True] Translation: X:188.47, Y:-28.43, Z:-7.96 [[ 9.81304165e-01 1.90578037e-01 2.68728034e-02 1.88473461e+02] [-1.90525019e-01 9.81671826e-01 -4.54345575e-03 -2.84329867e+01] [-2.72461569e-02 -6.61429323e-04 9.99628536e-01 -7.96225934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33264000000003 meters Centerline goodness [0,1] 0.9998512410744644 Centerline is valid? [True, True] Translation: X:188.50, Y:-28.43, Z:-7.97 [[ 9.81451834e-01 1.89826449e-01 2.67995613e-02 1.88501145e+02] [-1.89773597e-01 9.81817449e-01 -4.52528703e-03 -2.84329866e+01] [-2.71712961e-02 -6.44497873e-04 9.99630584e-01 -7.96544106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264000000003 meters Centerline goodness [0,1] 0.9999573751625072 Centerline is valid? [True, True] Translation: X:188.53, Y:-28.44, Z:-7.96 [[ 9.81793248e-01 1.88021074e-01 2.70202564e-02 1.88529784e+02] [-1.87966707e-01 9.82164810e-01 -4.56099267e-03 -2.84401343e+01] [-2.73959077e-02 -6.00956801e-04 9.99624481e-01 -7.96430491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39264000000003 meters Centerline goodness [0,1] 0.9999788270167267 Centerline is valid? [True, True] Translation: X:188.56, Y:-28.44, Z:-7.97 [[ 9.82035025e-01 1.86702475e-01 2.73750794e-02 1.88557275e+02] [-1.86646321e-01 9.82416334e-01 -4.61501218e-03 -2.84430356e+01] [-2.77553593e-02 -5.77354263e-04 9.99614579e-01 -7.96551663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264000000003 meters Centerline goodness [0,1] 0.9998930366884159 Centerline is valid? [True, True] Translation: X:188.59, Y:-28.45, Z:-7.97 [[ 9.82297727e-01 1.85240113e-01 2.78796732e-02 1.88585663e+02] [-1.85181291e-01 9.82693137e-01 -4.69974438e-03 -2.84470538e+01] [-2.82677447e-02 -5.46245652e-04 9.99600238e-01 -7.96511258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.61, Y:-28.45, Z:-7.97 [[ 9.82934365e-01 1.81793684e-01 2.81263457e-02 1.88613597e+02] [-1.81732589e-01 9.83336589e-01 -4.73484778e-03 -2.84540536e+01] [-2.85184303e-02 -4.57429038e-04 9.99593162e-01 -7.96675929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.64, Y:-28.46, Z:-7.97 [[ 9.83253182e-01 1.80043662e-01 2.82393246e-02 1.88640464e+02] [-1.79981390e-01 9.83658534e-01 -4.75261525e-03 -2.84598267e+01] [-2.86335309e-02 -4.09528818e-04 9.99589893e-01 -7.96866956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.67, Y:-28.46, Z:-7.97 [[ 9.83727544e-01 1.77545289e-01 2.75279818e-02 1.88667849e+02] [-1.77485182e-01 9.84112576e-01 -4.63124119e-03 -2.84625879e+01] [-2.79128881e-02 -3.29929339e-04 9.99610305e-01 -7.97156633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264000000003 meters Centerline goodness [0,1] 0.9998929244474901 Centerline is valid? [True, True] Translation: X:188.70, Y:-28.47, Z:-7.97 [[ 9.83848924e-01 1.76773125e-01 2.81523743e-02 1.88696618e+02] [-1.76709999e-01 9.84251574e-01 -4.73438885e-03 -2.84664636e+01] [-2.85459315e-02 -3.16882652e-04 9.99592432e-01 -7.97076060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.73, Y:-28.47, Z:-7.97 [[ 9.84152332e-01 1.75092712e-01 2.80487100e-02 1.88725229e+02] [-1.75029406e-01 9.84551913e-01 -4.71557862e-03 -2.84718410e+01] [-2.84410745e-02 -2.68501359e-04 9.99595435e-01 -7.97320653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.75, Y:-28.48, Z:-7.97 [[ 9.84302862e-01 1.74251463e-01 2.80054184e-02 1.88753572e+02] [-1.74188051e-01 9.84701157e-01 -4.70694755e-03 -2.84767420e+01] [-2.83971603e-02 -2.45147284e-04 9.99596689e-01 -7.97345321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.78, Y:-28.48, Z:-7.97 [[ 9.84620186e-01 1.72341511e-01 2.86617044e-02 1.88781134e+02] [-1.72274310e-01 9.85037241e-01 -4.81629197e-03 -2.84809748e+01] [-2.90628933e-02 -1.95457064e-04 9.99577566e-01 -7.97458239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.81, Y:-28.48, Z:-7.98 [[ 9.84730955e-01 1.71629216e-01 2.91266025e-02 1.88808442e+02] [-1.71559597e-01 9.85161601e-01 -4.89133373e-03 -2.84846199e+01] [-2.95339061e-02 -1.80300439e-04 9.99563763e-01 -7.97552652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.84, Y:-28.49, Z:-7.98 [[ 9.84938079e-01 1.70357527e-01 2.95853488e-02 1.88836733e+02] [-1.70285183e-01 9.85382307e-01 -4.96639920e-03 -2.84881975e+01] [-2.99989428e-02 -1.46350838e-04 9.99549920e-01 -7.97505060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.87, Y:-28.49, Z:-7.98 [[ 9.85033777e-01 1.69798543e-01 2.96127080e-02 1.88865653e+02] [-1.69725855e-01 9.85478786e-01 -4.96955562e-03 -2.84927592e+01] [-3.00265189e-02 -1.30862042e-04 9.99549094e-01 -7.97574452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.89, Y:-28.50, Z:-7.98 [[ 9.85281320e-01 1.68376034e-01 2.94997057e-02 1.88894200e+02] [-1.68303305e-01 9.85722833e-01 -4.94914290e-03 -2.84973301e+01] [-2.99118505e-02 -8.85999288e-05 9.99552537e-01 -7.97727973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.92, Y:-28.50, Z:-7.98 [[ 9.85386064e-01 1.67860503e-01 2.89336439e-02 1.88921719e+02] [-1.67790354e-01 9.85810756e-01 -4.85289857e-03 -2.85005322e+01] [-2.93377074e-02 -7.28077485e-05 9.99569554e-01 -7.98218181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.95, Y:-28.50, Z:-7.98 [[ 9.85446102e-01 1.67418601e-01 2.94447350e-02 1.88950251e+02] [-1.67345816e-01 9.85885900e-01 -4.93656641e-03 -2.85039112e+01] [-2.98556221e-02 -6.27330980e-05 9.99554220e-01 -7.98156749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:188.98, Y:-28.51, Z:-7.98 [[ 9.85401154e-01 1.67647776e-01 2.96443727e-02 1.88976678e+02] [-1.67574136e-01 9.85846955e-01 -4.96899124e-03 -2.85063979e+01] [-3.00578549e-02 -7.11804371e-05 9.99548158e-01 -7.98346731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87264000000002 meters Centerline goodness [0,1] 0.9998923017274803 Centerline is valid? [True, True] Translation: X:189.00, Y:-28.51, Z:-7.98 [[ 9.85325100e-01 1.68084581e-01 2.96988524e-02 1.89004994e+02] [-1.68010946e-01 9.85772573e-01 -4.97552798e-03 -2.85084005e+01] [-3.01126237e-02 -8.72196950e-05 9.99546508e-01 -7.98178947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters Centerline goodness [0,1] 0.9999785121835919 Centerline is valid? [True, True] Translation: X:189.03, Y:-28.51, Z:-7.98 [[ 9.85165255e-01 1.69133931e-01 2.90367800e-02 1.89033621e+02] [-1.69064069e-01 9.85593070e-01 -4.86223472e-03 -2.85087519e+01] [-2.94408180e-02 -1.18971464e-04 9.99566518e-01 -7.98465675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.06, Y:-28.51, Z:-7.99 [[ 9.85154261e-01 1.69173481e-01 2.91790369e-02 1.89060018e+02] [-1.69102964e-01 9.85586282e-01 -4.88559797e-03 -2.85108905e+01] [-2.95849721e-02 -1.21193973e-04 9.99562262e-01 -7.98787400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.09, Y:-28.51, Z:-7.99 [[ 9.85167811e-01 1.68930619e-01 3.01136346e-02 1.89089443e+02] [-1.68855555e-01 9.85627937e-01 -5.03693436e-03 -2.85124631e+01] [-3.05317320e-02 -1.22628888e-04 9.99533790e-01 -7.98698457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99264000000002 meters Centerline goodness [0,1] 0.9998075524954027 Centerline is valid? [True, True] Translation: X:189.12, Y:-28.52, Z:-7.99 [[ 9.85214280e-01 1.68604325e-01 3.04204492e-02 1.89118050e+02] [-1.68527614e-01 9.85683807e-01 -5.08676195e-03 -2.85157121e+01] [-3.08425942e-02 -1.15135201e-04 9.99524247e-01 -7.98648345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.14, Y:-28.52, Z:-7.99 [[ 9.85575083e-01 1.66489720e-01 3.03797469e-02 1.89144927e+02] [-1.66412251e-01 9.86043189e-01 -5.07860024e-03 -2.85217277e+01] [-3.08012773e-02 -5.02202211e-05 9.99525527e-01 -7.98891406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.17, Y:-28.53, Z:-7.99 [[ 9.85761410e-01 1.65250564e-01 3.10916845e-02 1.89172272e+02] [-1.65168866e-01 9.86251616e-01 -5.19566289e-03 -2.85273141e+01] [-3.15228104e-02 -1.36943024e-05 9.99503033e-01 -7.98980757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.20, Y:-28.54, Z:-7.99 [[ 9.86239309e-01 1.62218084e-01 3.18954438e-02 1.89199606e+02] [-1.62130587e-01 9.86754927e-01 -5.32789523e-03 -2.85369260e+01] [-3.23372673e-02 8.33526946e-05 9.99477010e-01 -7.98940143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.23, Y:-28.54, Z:-7.99 [[ 9.86504637e-01 1.60527510e-01 3.22415805e-02 1.89227552e+02] [-1.60437252e-01 9.87031357e-01 -5.38413815e-03 -2.85448316e+01] [-3.26877532e-02 1.38726671e-04 9.99465603e-01 -7.99032037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264000000003 meters Centerline goodness [0,1] 0.9998932673013704 Centerline is valid? [True, True] Translation: X:189.25, Y:-28.55, Z:-7.99 [[ 9.86988918e-01 1.57545399e-01 3.21297756e-02 1.89254772e+02] [-1.57454233e-01 9.87511717e-01 -5.36402149e-03 -2.85532531e+01] [-3.25736068e-02 2.35260595e-04 9.99469312e-01 -7.99131864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.28, Y:-28.56, Z:-7.99 [[ 9.87287563e-01 1.55840644e-01 3.12563881e-02 1.89282696e+02] [-1.55753574e-01 9.87782169e-01 -5.21629547e-03 -2.85601971e+01] [-3.16874137e-02 2.81689465e-04 9.99497788e-01 -7.99421413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.31, Y:-28.57, Z:-8.00 [[ 9.87567977e-01 1.54121070e-01 3.09222666e-02 1.89308625e+02] [-1.54035052e-01 9.88051914e-01 -5.15917836e-03 -2.85709573e+01] [-3.13479428e-02 3.31926393e-04 9.99508477e-01 -7.99723788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.34, Y:-28.58, Z:-8.00 [[ 9.87647892e-01 1.53638345e-01 3.07717607e-02 1.89337224e+02] [-1.53552989e-01 9.88127087e-01 -5.13212179e-03 -2.85762094e+01] [-3.11949009e-02 3.43633436e-04 9.99513262e-01 -7.99754089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.36, Y:-28.58, Z:-8.00 [[ 9.87665533e-01 1.53724953e-01 2.97562543e-02 1.89363658e+02] [-1.53645217e-01 9.88113623e-01 -4.96149182e-03 -2.85836694e+01] [-3.01652653e-02 3.28388321e-04 9.99544871e-01 -8.00137722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.39, Y:-28.59, Z:-8.00 [[ 9.87589744e-01 1.54240309e-01 2.96044800e-02 1.89392814e+02] [-1.54161673e-01 9.88033315e-01 -4.93428742e-03 -2.85869957e+01] [-3.00112786e-02 3.09175485e-04 9.99549512e-01 -8.00109827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.42, Y:-28.59, Z:-8.00 [[ 9.87470677e-01 1.54988332e-01 2.96694888e-02 1.89419683e+02] [-1.54909728e-01 9.87916259e-01 -4.94376056e-03 -2.85920755e+01] [-3.00771956e-02 2.85726138e-04 9.99547538e-01 -8.00401820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.45, Y:-28.60, Z:-8.00 [[ 9.87194461e-01 1.56776935e-01 2.94633357e-02 1.89447939e+02] [-1.56700275e-01 9.87634012e-01 -4.90744633e-03 -2.85950524e+01] [-2.98683668e-02 2.27691034e-04 9.99553815e-01 -8.00498129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.47, Y:-28.60, Z:-8.01 [[ 9.87063719e-01 1.57559372e-01 2.96691635e-02 1.89474945e+02] [-1.57482031e-01 9.87509495e-01 -4.94036612e-03 -2.85998102e+01] [-3.00769816e-02 2.04096023e-04 9.99547564e-01 -8.00672029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.50, Y:-28.60, Z:-8.01 [[ 9.86785073e-01 1.59116286e-01 3.06141707e-02 1.89501967e+02] [-1.59034749e-01 9.87259835e-01 -5.09573535e-03 -2.86048418e+01] [-3.10349556e-02 1.59678609e-04 9.99518287e-01 -8.00753758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.53, Y:-28.61, Z:-8.01 [[ 9.86686939e-01 1.59581781e-01 3.13454752e-02 1.89529042e+02] [-1.59496599e-01 9.87184701e-01 -5.21547518e-03 -2.86088224e+01] [-3.17760684e-02 1.46544570e-04 9.99495002e-01 -8.00775237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.56, Y:-28.61, Z:-8.01 [[ 9.86575248e-01 1.60168732e-01 3.18631143e-02 1.89556283e+02] [-1.60081083e-01 9.87089642e-01 -5.29962606e-03 -2.86140019e+01] [-3.23005844e-02 1.27798061e-04 9.99478192e-01 -8.00998174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.58, Y:-28.62, Z:-8.01 [[ 9.86665640e-01 1.59558064e-01 3.21269367e-02 1.89582272e+02] [-1.59468690e-01 9.87188534e-01 -5.34174431e-03 -2.86208828e+01] [-3.25676619e-02 1.47275047e-04 9.99469522e-01 -8.01161654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53264000000004 meters Centerline goodness [0,1] 0.9998931738062173 Centerline is valid? [True, True] Translation: X:189.61, Y:-28.63, Z:-8.01 [[ 9.86812848e-01 1.58474639e-01 3.29574317e-02 1.89609808e+02] [-1.58380074e-01 9.87363031e-01 -5.47701259e-03 -2.86271783e+01] [-3.34089173e-02 1.84985924e-04 9.99441749e-01 -8.01020441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.64, Y:-28.64, Z:-8.01 [[ 9.87504924e-01 1.54035413e-01 3.32733700e-02 1.89636918e+02] [-1.53936592e-01 9.88065271e-01 -5.52690496e-03 -2.86423354e+01] [-3.37276004e-02 3.35856679e-04 9.99431006e-01 -8.01122108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.66, Y:-28.66, Z:-8.01 [[ 9.88336125e-01 1.48552765e-01 3.35228432e-02 1.89663093e+02] [-1.48449360e-01 9.88904343e-01 -5.56663582e-03 -2.86598110e+01] [-3.39778244e-02 5.25262661e-04 9.99422449e-01 -8.01221582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters Centerline goodness [0,1] 0.9999139192562624 Centerline is valid? [True, True] Translation: X:189.69, Y:-28.67, Z:-8.01 [[ 9.88733639e-01 1.45790267e-01 3.39262280e-02 1.89690831e+02] [-1.45682771e-01 9.89315322e-01 -5.63247068e-03 -2.86707925e+01] [-3.43848966e-02 6.26546326e-04 9.99408468e-01 -8.01267167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.72, Y:-28.68, Z:-8.01 [[ 9.89160654e-01 1.42927805e-01 3.36577249e-02 1.89717439e+02] [-1.42820404e-01 9.89732856e-01 -5.58624126e-03 -2.86838838e+01] [-3.41105854e-02 7.18680182e-04 9.99417806e-01 -8.01499016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters Centerline goodness [0,1] 0.9999785181843569 Centerline is valid? [True, True] Translation: X:189.75, Y:-28.70, Z:-8.01 [[ 9.89667264e-01 1.39149346e-01 3.45856334e-02 1.89746130e+02] [-1.39033684e-01 9.90271024e-01 -5.73877809e-03 -2.86972591e+01] [-3.50476979e-02 8.70912766e-04 9.99385261e-01 -8.01322918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71264000000002 meters Centerline goodness [0,1] 0.9999789185200801 Centerline is valid? [True, True] Translation: X:189.77, Y:-28.71, Z:-8.02 [[ 9.89853144e-01 1.37933414e-01 3.41339551e-02 1.89772977e+02] [-1.37820027e-01 9.90441093e-01 -5.66399353e-03 -2.87121235e+01] [-3.45889257e-02 9.02179190e-04 9.99401217e-01 -8.01560432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.80, Y:-28.72, Z:-8.02 [[ 9.89938567e-01 1.36948181e-01 3.55925536e-02 1.89801838e+02] [-1.36824293e-01 9.90577732e-01 -5.90499295e-03 -2.87248538e+01] [-3.60658691e-02 9.75654267e-04 9.99348939e-01 -8.01500321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.83, Y:-28.73, Z:-8.02 [[ 9.89888564e-01 1.37190300e-01 3.60479060e-02 1.89832297e+02] [-1.37063385e-01 9.90544226e-01 -5.98042386e-03 -2.87319719e+01] [-3.65275013e-02 9.79105155e-04 9.99332169e-01 -8.01505854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.86, Y:-28.74, Z:-8.02 [[ 9.89666531e-01 1.38959059e-01 3.53629361e-02 1.89861816e+02] [-1.38838021e-01 9.90297720e-01 -5.86761498e-03 -2.87423434e+01] [-3.58351932e-02 8.97262090e-04 9.99357310e-01 -8.01775912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83264000000003 meters Centerline goodness [0,1] 0.9999573342435362 Centerline is valid? [True, True] Translation: X:189.89, Y:-28.75, Z:-8.02 [[ 9.89456847e-01 1.40448535e-01 3.53462489e-02 1.89892847e+02] [-1.40328531e-01 9.90087621e-01 -5.86568979e-03 -2.87482786e+01] [-3.58197110e-02 8.43759755e-04 9.99357912e-01 -8.01857286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.92, Y:-28.75, Z:-8.02 [[ 9.89270499e-01 1.41757395e-01 3.53372354e-02 1.89924209e+02] [-1.41638260e-01 9.89901109e-01 -5.86493337e-03 -2.87535550e+01] [-3.58117662e-02 7.96901019e-04 9.99358235e-01 -8.02032791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:189.95, Y:-28.76, Z:-8.02 [[ 9.88840339e-01 1.44760356e-01 3.52026037e-02 1.89952936e+02] [-1.44643969e-01 9.89466506e-01 -5.84424753e-03 -2.87638713e+01] [-3.56778126e-02 6.87183405e-04 9.99363108e-01 -8.02255740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264000000003 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:189.98, Y:-28.77, Z:-8.02 [[ 9.88397481e-01 1.47565986e-01 3.59819267e-02 1.89982836e+02] [-1.47446224e-01 9.89052031e-01 -5.97414733e-03 -2.87712449e+01] [-3.64695786e-02 5.99432955e-04 9.99334584e-01 -8.02264558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.01, Y:-28.78, Z:-8.03 [[ 9.88252542e-01 1.48553244e-01 3.59005134e-02 1.90011485e+02] [-1.48434677e-01 9.88904251e-01 -5.96057174e-03 -2.87817940e+01] [-3.63876326e-02 5.61669061e-04 9.99337593e-01 -8.02501546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.04, Y:-28.79, Z:-8.03 [[ 9.88089929e-01 1.49654592e-01 3.58021595e-02 1.90042269e+02] [-1.49537384e-01 9.88738202e-01 -5.94460233e-03 -2.87850362e+01] [-3.62885998e-02 5.20040442e-04 9.99341217e-01 -8.02538883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.07, Y:-28.79, Z:-8.03 [[ 9.87774054e-01 1.51963154e-01 3.47795506e-02 1.90072208e+02] [-1.51853949e-01 9.88386068e-01 -5.77562633e-03 -2.87929526e+01] [-3.52533056e-02 4.23601742e-04 9.99378319e-01 -8.02808236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.10, Y:-28.80, Z:-8.03 [[ 9.87569699e-01 1.53455710e-01 3.40210879e-02 1.90101586e+02] [-1.53352072e-01 9.88155460e-01 -5.65057106e-03 -2.88001826e+01] [-3.44852362e-02 3.63128435e-04 9.99405141e-01 -8.03153904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.13, Y:-28.80, Z:-8.03 [[ 9.87033868e-01 1.56950132e-01 3.36273563e-02 1.90131995e+02] [-1.56850889e-01 9.87606500e-01 -5.58566996e-03 -2.88044408e+01] [-3.40872673e-02 2.38764695e-04 9.99418832e-01 -8.03240372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.16, Y:-28.81, Z:-8.03 [[ 9.86246594e-01 1.61683649e-01 3.42936359e-02 1.90160935e+02] [-1.61583283e-01 9.86842638e-01 -5.69658290e-03 -2.88070398e+01] [-3.47634664e-02 7.69572266e-05 9.99395565e-01 -8.03234443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.19, Y:-28.81, Z:-8.03 [[ 9.85766765e-01 1.64417149e-01 3.50839800e-02 1.90189219e+02] [-1.64313879e-01 9.86390896e-01 -5.82653871e-03 -2.88100633e+01] [-3.55645013e-02 -2.11766303e-05 9.99367383e-01 -8.03267934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.22, Y:-28.81, Z:-8.03 [[ 9.85770567e-01 1.64394306e-01 3.50841982e-02 1.90217972e+02] [-1.64291068e-01 9.86394704e-01 -5.82522441e-03 -2.88147918e+01] [-3.55645010e-02 -2.16856290e-05 9.99367383e-01 -8.03388633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.25, Y:-28.82, Z:-8.03 [[ 9.85271016e-01 1.67204359e-01 3.58291445e-02 1.90246790e+02] [-1.67098573e-01 9.85922252e-01 -5.94816267e-03 -2.88171654e+01] [-3.63193096e-02 -1.26446647e-04 9.99340228e-01 -8.03322888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.28, Y:-28.82, Z:-8.03 [[ 9.84250247e-01 1.73084012e-01 3.59635276e-02 1.90277345e+02] [-1.72981418e-01 9.84907003e-01 -5.96860762e-03 -2.88165896e+01] [-3.64538007e-02 -3.46418468e-04 9.99335279e-01 -8.03406038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.31, Y:-28.82, Z:-8.04 [[ 9.83815385e-01 1.75589174e-01 3.57173795e-02 1.90306463e+02] [-1.75489656e-01 9.84463433e-01 -5.92701546e-03 -2.88189302e+01] [-3.62031738e-02 -4.36941639e-04 9.99344355e-01 -8.03565704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.33, Y:-28.82, Z:-8.04 [[ 9.83194363e-01 1.79182829e-01 3.49622373e-02 1.90334910e+02] [-1.79089804e-01 9.83815634e-01 -5.80006618e-03 -2.88165439e+01] [-3.54356680e-02 -5.58787853e-04 9.99371803e-01 -8.03875548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31264000000002 meters Centerline goodness [0,1] 0.9999359562794868 Centerline is valid? [True, True] Translation: X:190.36, Y:-28.82, Z:-8.04 [[ 9.82996256e-01 1.80357938e-01 3.44873071e-02 1.90363779e+02] [-1.80268222e-01 9.83600864e-01 -5.71908592e-03 -2.88198961e+01] [-3.49532276e-02 -5.95125498e-04 9.99388772e-01 -8.04032898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters Centerline goodness [0,1] 0.999957152344838 Centerline is valid? [True, True] Translation: X:190.39, Y:-28.83, Z:-8.04 [[ 9.82879277e-01 1.80998493e-01 3.44655295e-02 1.90391961e+02] [-1.80909342e-01 9.83483178e-01 -5.71381815e-03 -2.88255209e+01] [-3.49304609e-02 -6.19142817e-04 9.99389553e-01 -8.04102355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37264000000002 meters Centerline goodness [0,1] 0.9999785043313772 Centerline is valid? [True, True] Translation: X:190.42, Y:-28.83, Z:-8.04 [[ 9.82903469e-01 1.80843666e-01 3.45881485e-02 1.90420790e+02] [-1.80753847e-01 9.83511661e-01 -5.73232798e-03 -2.88309947e+01] [-3.50545025e-02 -6.17615842e-04 9.99385211e-01 -8.04138576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.45, Y:-28.84, Z:-8.04 [[ 9.83065004e-01 1.79943605e-01 3.46914440e-02 1.90448612e+02] [-1.79852733e-01 9.83676752e-01 -5.74820296e-03 -2.88361338e+01] [-3.51595193e-02 -5.88493841e-04 9.99381540e-01 -8.04343887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.48, Y:-28.84, Z:-8.04 [[ 9.83513920e-01 1.77394950e-01 3.50913094e-02 1.90476431e+02] [-1.77300412e-01 9.84139612e-01 -5.81266739e-03 -2.88447012e+01] [-3.55658855e-02 -5.04864337e-04 9.99367206e-01 -8.04334669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.50, Y:-28.85, Z:-8.05 [[ 9.84031032e-01 1.74479425e-01 3.52116111e-02 1.90502989e+02] [-1.74382432e-01 9.84660738e-01 -5.83088552e-03 -2.88536311e+01] [-3.56888605e-02 -4.02514093e-04 9.99362869e-01 -8.04515513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.53, Y:-28.86, Z:-8.05 [[ 9.84306399e-01 1.72896530e-01 3.53228264e-02 1.90529539e+02] [-1.72797984e-01 9.84939931e-01 -5.84707990e-03 -2.88612863e+01] [-3.58018020e-02 -3.48395014e-04 9.99358849e-01 -8.04651325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264000000002 meters Centerline goodness [0,1] 0.9998081800549884 Centerline is valid? [True, True] Translation: X:190.56, Y:-28.87, Z:-8.05 [[ 9.84511124e-01 1.71743087e-01 3.52442627e-02 1.90558034e+02] [-1.71644317e-01 9.85141725e-01 -5.83189472e-03 -2.88679575e+01] [-3.57221813e-02 -3.07912173e-04 9.99361712e-01 -8.04627410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.59, Y:-28.88, Z:-8.05 [[ 9.84982347e-01 1.69212814e-01 3.43045086e-02 1.90586216e+02] [-1.69117769e-01 9.85579514e-01 -5.67463147e-03 -2.88791072e+01] [-3.47700413e-02 -2.12090146e-04 9.99395317e-01 -8.04999264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.62, Y:-28.89, Z:-8.05 [[ 9.85172910e-01 1.68168920e-01 3.39639708e-02 1.90615061e+02] [-1.68075162e-01 9.85758177e-01 -5.61746678e-03 -2.88857079e+01] [-3.44249453e-02 -1.74323789e-04 9.99407271e-01 -8.05147832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61264000000003 meters Centerline goodness [0,1] 0.9999786347612435 Centerline is valid? [True, True] Translation: X:190.64, Y:-28.89, Z:-8.05 [[ 9.85336785e-01 1.67018913e-01 3.48726677e-02 1.90643109e+02] [-1.66919378e-01 9.85953682e-01 -5.76694693e-03 -2.88917746e+01] [-3.53460243e-02 -1.38539043e-04 9.99375124e-01 -8.05068841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.67, Y:-28.90, Z:-8.05 [[ 9.85405690e-01 1.66560114e-01 3.51191514e-02 1.90672397e+02] [-1.66458925e-01 9.86031294e-01 -5.80633815e-03 -2.88980715e+01] [-3.55956867e-02 -1.24297542e-04 9.99366265e-01 -8.05174407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.70, Y:-28.90, Z:-8.05 [[ 9.85437277e-01 1.66330776e-01 3.53191905e-02 1.90701116e+02] [-1.66228313e-01 9.86070007e-01 -5.83855742e-03 -2.89043349e+01] [-3.57983262e-02 -1.17517328e-04 9.99359028e-01 -8.05251224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264000000003 meters Centerline goodness [0,1] 0.9998930595658219 Centerline is valid? [True, True] Translation: X:190.73, Y:-28.91, Z:-8.05 [[ 9.85417582e-01 1.66562836e-01 3.47708389e-02 1.90730259e+02] [-1.66463704e-01 9.86030834e-01 -5.74709292e-03 -2.89091957e+01] [-3.52423713e-02 -1.24796237e-04 9.99378787e-01 -8.05302494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.76, Y:-28.92, Z:-8.06 [[ 9.85365681e-01 1.67052141e-01 3.38829840e-02 1.90758654e+02] [-1.66958323e-01 9.85948053e-01 -5.59963137e-03 -2.89152362e+01] [-3.43422925e-02 -1.39361590e-04 9.99410120e-01 -8.05660097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.79, Y:-28.92, Z:-8.06 [[ 9.85270568e-01 1.67684499e-01 3.35233915e-02 1.90787448e+02] [-1.67593071e-01 9.85840699e-01 -5.53891572e-03 -2.89198826e+01] [-3.39775140e-02 -1.60957486e-04 9.99422585e-01 -8.05814524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79264000000003 meters Centerline goodness [0,1] 0.9998926600974646 Centerline is valid? [True, True] Translation: X:190.82, Y:-28.92, Z:-8.06 [[ 9.84969572e-01 1.69619656e-01 3.26207568e-02 1.90817131e+02] [-1.69534173e-01 9.85509575e-01 -5.38902626e-03 -2.89216956e+01] [-3.30621529e-02 -2.22306124e-04 9.99453273e-01 -8.05879407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264000000004 meters Centerline goodness [0,1] 0.9998715808398613 Centerline is valid? [True, True] Translation: X:190.85, Y:-28.92, Z:-8.06 [[ 9.84842257e-01 1.70484559e-01 3.19490759e-02 1.90845660e+02] [-1.70403032e-01 9.85360317e-01 -5.27752366e-03 -2.89242913e+01] [-3.23810879e-02 -2.46691095e-04 9.99475565e-01 -8.06144423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.87, Y:-28.93, Z:-8.06 [[ 9.84769971e-01 1.71003806e-01 3.13974825e-02 1.90873653e+02] [-1.70925382e-01 9.85270334e-01 -5.18492900e-03 -2.89281543e+01] [-3.18216507e-02 -2.60664312e-04 9.99493529e-01 -8.06473400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.90, Y:-28.93, Z:-8.07 [[ 9.84677754e-01 1.71507271e-01 3.15432684e-02 1.90900607e+02] [-1.71428419e-01 9.85182814e-01 -5.20763128e-03 -2.89328969e+01] [-3.19690325e-02 -2.79573944e-04 9.99488821e-01 -8.06598310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.93, Y:-28.94, Z:-8.07 [[ 9.84639315e-01 1.71718845e-01 3.15920586e-02 1.90928571e+02] [-1.71639929e-01 9.85145956e-01 -5.21345252e-03 -2.89374295e+01] [-3.20180369e-02 -2.89088377e-04 9.99487249e-01 -8.06728747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264000000004 meters Centerline goodness [0,1] 0.9999573251397602 Centerline is valid? [True, True] Translation: X:190.96, Y:-28.94, Z:-8.07 [[ 9.84676199e-01 1.71652516e-01 3.07927975e-02 1.90956713e+02] [-1.71577555e-01 9.85157518e-01 -5.08013894e-03 -2.89411101e+01] [-3.12077746e-02 -2.81061017e-04 9.99512879e-01 -8.06882074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:190.99, Y:-28.95, Z:-8.07 [[ 9.84767334e-01 1.71180569e-01 3.05042760e-02 1.90985064e+02] [-1.71106824e-01 9.85239637e-01 -5.03113298e-03 -2.89478632e+01] [-3.09152540e-02 -2.64994385e-04 9.99521974e-01 -8.07011860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264000000004 meters Centerline goodness [0,1] 0.9998276753403412 Centerline is valid? [True, True] Translation: X:191.01, Y:-28.95, Z:-8.07 [[ 9.84936523e-01 1.70327188e-01 2.98109685e-02 1.91013072e+02] [-1.70256406e-01 9.85387535e-01 -4.91547080e-03 -2.89513189e+01] [-3.02125951e-02 -2.34081645e-04 9.99543468e-01 -8.07226429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.04, Y:-28.96, Z:-8.07 [[ 9.85085915e-01 1.69458821e-01 2.98236014e-02 1.91040797e+02] [-1.69387642e-01 9.85537246e-01 -4.91556921e-03 -2.89573101e+01] [-3.02252565e-02 -2.09491513e-04 9.99543091e-01 -8.07352054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.07, Y:-28.96, Z:-8.08 [[ 9.85265534e-01 1.68497294e-01 2.93341162e-02 1.91068034e+02] [-1.68428044e-01 9.85702100e-01 -4.83359420e-03 -2.89623490e+01] [-2.97291475e-02 -1.78314064e-04 9.99557975e-01 -8.07735243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.10, Y:-28.97, Z:-8.08 [[ 9.85288004e-01 1.68393892e-01 2.91727126e-02 1.91096301e+02] [-1.68325415e-01 9.85719771e-01 -4.80505126e-03 -2.89682477e+01] [-2.95652609e-02 -1.76149608e-04 9.99562837e-01 -8.07685151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.12, Y:-28.97, Z:-8.08 [[ 9.85292083e-01 1.68348195e-01 2.92983981e-02 1.91124051e+02] [-1.68279146e-01 9.85727576e-01 -4.82443285e-03 -2.89715283e+01] [-2.96924235e-02 -1.76833902e-04 9.99559067e-01 -8.07833095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.15, Y:-28.97, Z:-8.08 [[ 9.85207709e-01 1.68965481e-01 2.85733443e-02 1.91152515e+02] [-1.68900120e-01 9.85621950e-01 -4.70321489e-03 -2.89741087e+01] [-2.89571963e-02 -1.92397736e-04 9.99580634e-01 -8.07878490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.18, Y:-28.98, Z:-8.08 [[ 9.85181172e-01 1.69114817e-01 2.86048492e-02 1.91180241e+02] [-1.69049412e-01 9.85596337e-01 -4.70710391e-03 -2.89763072e+01] [-2.89888756e-02 -1.98282793e-04 9.99579715e-01 -8.08294388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.21, Y:-28.98, Z:-8.08 [[ 9.85057483e-01 1.69913457e-01 2.81277698e-02 1.91208813e+02] [-1.69850595e-01 9.85458963e-01 -4.62672087e-03 -2.89810263e+01] [-2.85049050e-02 -2.19932425e-04 9.99593628e-01 -8.08180722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.24, Y:-28.98, Z:-8.08 [[ 9.84996399e-01 1.70242774e-01 2.82752979e-02 1.91236490e+02] [-1.70179424e-01 9.85402123e-01 -4.64970032e-03 -2.89834503e+01] [-2.86541165e-02 -2.31935837e-04 9.99589360e-01 -8.08466419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.26, Y:-28.99, Z:-8.08 [[ 9.84866278e-01 1.70937543e-01 2.86141590e-02 1.91264801e+02] [-1.70873017e-01 9.85281833e-01 -4.70340798e-03 -2.89865219e+01] [-2.89970001e-02 -2.57159761e-04 9.99579466e-01 -8.08493150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264000000003 meters Centerline goodness [0,1] 0.9999148193104623 Centerline is valid? [True, True] Translation: X:191.29, Y:-28.99, Z:-8.08 [[ 9.84760472e-01 1.71376801e-01 2.96109006e-02 1.91293331e+02] [-1.71307943e-01 9.85205518e-01 -4.86574490e-03 -2.89906325e+01] [-3.00066985e-02 -2.80989242e-04 9.99549658e-01 -8.08407378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.32, Y:-28.99, Z:-8.08 [[ 9.84578180e-01 1.72242359e-01 3.06329258e-02 1.91321133e+02] [-1.72169129e-01 9.85054551e-01 -5.03224961e-03 -2.89938551e+01] [-3.10418695e-02 -3.19400989e-04 9.99518034e-01 -8.08467578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.35, Y:-29.00, Z:-8.09 [[ 9.84526219e-01 1.72659775e-01 2.99453997e-02 1.91349899e+02] [-1.72590046e-01 9.84981469e-01 -4.91742982e-03 -2.89974702e+01] [-3.03447062e-02 -3.26939319e-04 9.99539440e-01 -8.08600736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.38, Y:-29.00, Z:-8.09 [[ 9.84455538e-01 1.73137747e-01 2.95061686e-02 1.91378413e+02] [-1.73070305e-01 9.84897561e-01 -4.84391200e-03 -2.90012272e+01] [-2.98992175e-02 -3.38025588e-04 9.99552861e-01 -8.08695562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.41, Y:-29.00, Z:-8.09 [[ 9.84318187e-01 1.73920591e-01 2.94844951e-02 1.91406101e+02] [-1.73853638e-01 9.84759614e-01 -4.83901341e-03 -2.90020525e+01] [-2.98767441e-02 -3.62857833e-04 9.99553525e-01 -8.08965591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.43, Y:-29.00, Z:-8.09 [[ 9.84219841e-01 1.74633331e-01 2.85395256e-02 1.91434675e+02] [-1.74570955e-01 9.84633465e-01 -4.68205945e-03 -2.90044958e+01] [-2.89186157e-02 -3.73996445e-04 9.99581699e-01 -8.09144784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.46, Y:-29.01, Z:-8.09 [[ 9.84198536e-01 1.74947188e-01 2.73262214e-02 1.91462623e+02] [-1.74890155e-01 9.84577750e-01 -4.48195053e-03 -2.90086875e+01] [-2.76888942e-02 -3.67957928e-04 9.99616521e-01 -8.09305228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51264000000003 meters Centerline goodness [0,1] 0.9999786520931623 Centerline is valid? [True, True] Translation: X:191.49, Y:-29.01, Z:-8.10 [[ 9.84179365e-01 1.75172143e-01 2.65649683e-02 1.91490310e+02] [-1.75118365e-01 9.84537753e-01 -4.35560784e-03 -2.90100434e+01] [-2.69171954e-02 -3.65314465e-04 9.99637600e-01 -8.09740978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264000000003 meters Centerline goodness [0,1] 0.9999361348831268 Centerline is valid? [True, True] Translation: X:191.52, Y:-29.01, Z:-8.10 [[ 9.84195330e-01 1.75206282e-01 2.57354156e-02 1.91518928e+02] [-1.75155879e-01 9.84531681e-01 -4.21744201e-03 -2.90119189e+01] [-2.60762544e-02 -3.56922610e-04 9.99659893e-01 -8.09955729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.55, Y:-29.01, Z:-8.10 [[ 9.84361984e-01 1.74280854e-01 2.56450490e-02 1.91546430e+02] [-1.74230517e-01 9.84695930e-01 -4.20158069e-03 -2.90136156e+01] [-2.59848305e-02 -3.32273850e-04 9.99662282e-01 -8.10017053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264000000004 meters Centerline goodness [0,1] 0.9999357972906456 Centerline is valid? [True, True] Translation: X:191.58, Y:-29.02, Z:-8.10 [[ 9.84444683e-01 1.73723099e-01 2.62478705e-02 1.91575467e+02] [-1.73670223e-01 9.84794485e-01 -4.29835173e-03 -2.90184052e+01] [-2.65954811e-02 -3.26984007e-04 9.99646224e-01 -8.09887417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.60, Y:-29.03, Z:-8.10 [[ 9.84770898e-01 1.71594470e-01 2.79573902e-02 1.91602513e+02] [-1.71533645e-01 9.85167628e-01 -4.57749819e-03 -2.90257081e+01] [-2.83281892e-02 -2.87846046e-04 9.99598635e-01 -8.09704419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.63, Y:-29.03, Z:-8.09 [[ 9.84937102e-01 1.70484204e-01 2.88797640e-02 1.91630343e+02] [-1.70418879e-01 9.85360373e-01 -4.72657461e-03 -2.90323977e+01] [-2.92627813e-02 -2.66278306e-04 9.99571718e-01 -8.09483385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.66, Y:-29.04, Z:-8.09 [[ 9.85192748e-01 1.68807454e-01 2.99882094e-02 1.91657555e+02] [-1.68736285e-01 9.85649021e-01 -4.90653231e-03 -2.90385289e+01] [-3.03861085e-02 -2.26218993e-04 9.99538210e-01 -8.09305597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264000000004 meters Centerline goodness [0,1] 0.9999360709186609 Centerline is valid? [True, True] Translation: X:191.68, Y:-29.04, Z:-8.09 [[ 9.85320454e-01 1.67998040e-01 3.03358149e-02 1.91684658e+02] [-1.67924887e-01 9.85787308e-01 -4.96147295e-03 -2.90432184e+01] [-3.07381790e-02 -2.05497499e-04 9.99527449e-01 -8.09450750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.71, Y:-29.05, Z:-8.10 [[ 9.85527274e-01 1.66880173e-01 2.97825460e-02 1.91712959e+02] [-1.66809212e-01 9.85977170e-01 -4.86903955e-03 -2.90500300e+01] [-3.01774566e-02 -1.69431770e-04 9.99544542e-01 -8.09650821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.74, Y:-29.06, Z:-8.10 [[ 9.85794688e-01 1.65496050e-01 2.86337428e-02 1.91740538e+02] [-1.65429906e-01 9.86210445e-01 -4.68014294e-03 -2.90565295e+01] [-2.90134414e-02 -1.23217343e-04 9.99579014e-01 -8.09829075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.77, Y:-29.06, Z:-8.10 [[ 9.85890104e-01 1.64904982e-01 2.87584899e-02 1.91767715e+02] [-1.64838068e-01 9.86309452e-01 -4.69852000e-03 -2.90609020e+01] [-2.91395798e-02 -1.08269546e-04 9.99575346e-01 -8.10167322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.80, Y:-29.07, Z:-8.10 [[ 9.86035040e-01 1.64243969e-01 2.75466566e-02 1.91795945e+02] [-1.64182373e-01 9.86419744e-01 -4.49858835e-03 -2.90677036e+01] [-2.79114319e-02 -8.69097035e-05 9.99610396e-01 -8.10150738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87264000000002 meters Centerline goodness [0,1] 0.9997851356868138 Centerline is valid? [True, True] Translation: X:191.82, Y:-29.07, Z:-8.10 [[ 9.86050059e-01 1.64107770e-01 2.78194277e-02 1.91823222e+02] [-1.64044927e-01 9.86442412e-01 -4.54193433e-03 -2.90719017e+01] [-2.81876301e-02 -8.50613769e-05 9.99602646e-01 -8.10337852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.85, Y:-29.08, Z:-8.11 [[ 9.86067194e-01 1.64083026e-01 2.73541420e-02 1.91850820e+02] [-1.64022312e-01 9.86446528e-01 -4.46408969e-03 -2.90766304e+01] [-2.77158797e-02 -8.47971997e-05 9.99615838e-01 -8.10571846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93264000000002 meters Centerline goodness [0,1] 0.9998938113239604 Centerline is valid? [True, True] Translation: X:191.88, Y:-29.08, Z:-8.11 [[ 9.85920064e-01 1.64970004e-01 2.73226050e-02 1.91878242e+02] [-1.64909816e-01 9.86298578e-01 -4.45725772e-03 -2.90792438e+01] [-2.76835603e-02 -1.11265959e-04 9.99616731e-01 -8.10687958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.91, Y:-29.08, Z:-8.11 [[ 9.85555429e-01 1.67146135e-01 2.72519035e-02 1.91906818e+02] [-1.67087139e-01 9.85932117e-01 -4.44395071e-03 -2.90805948e+01] [-2.76113161e-02 -1.73682847e-04 9.99618720e-01 -8.10656941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:191.94, Y:-29.08, Z:-8.11 [[ 9.85352599e-01 1.68356409e-01 2.71362374e-02 1.91935789e+02] [-1.68298408e-01 9.85726167e-01 -4.42378314e-03 -2.90840970e+01] [-2.74936715e-02 -2.07999321e-04 9.99621956e-01 -8.10690573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264000000002 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:191.96, Y:-29.09, Z:-8.11 [[ 9.85149307e-01 1.69597492e-01 2.67868222e-02 1.91963190e+02] [-1.69541461e-01 9.85513385e-01 -4.36577676e-03 -2.90857788e+01] [-2.71391967e-02 -2.40535031e-04 9.99631635e-01 -8.11020977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05264000000003 meters Centerline goodness [0,1] 0.9999787964886985 Centerline is valid? [True, True] Translation: X:191.99, Y:-29.09, Z:-8.11 [[ 9.85157331e-01 1.69550821e-01 2.67871698e-02 1.91991142e+02] [-1.69494831e-01 9.85521416e-01 -4.36364302e-03 -2.90902416e+01] [-2.71391887e-02 -2.41411904e-04 9.99631635e-01 -8.11138237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.02, Y:-29.09, Z:-8.12 [[ 9.84840167e-01 1.71560837e-01 2.56266577e-02 1.92019502e+02] [-1.71510304e-01 9.85173486e-01 -4.17343281e-03 -2.90898959e+01] [-2.59627014e-02 -2.85071597e-04 9.99662872e-01 -8.11537423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11264000000003 meters Centerline goodness [0,1] 0.9999789469251984 Centerline is valid? [True, True] Translation: X:192.05, Y:-29.09, Z:-8.12 [[ 9.84748959e-01 1.72008179e-01 2.61280466e-02 1.92046897e+02] [-1.71955831e-01 9.85095475e-01 -4.25414680e-03 -2.90917693e+01] [-2.64703685e-02 -3.03603348e-04 9.99649552e-01 -8.11654383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.08, Y:-29.10, Z:-8.11 [[ 9.84714553e-01 1.72131852e-01 2.66059277e-02 1.92075083e+02] [-1.72077680e-01 9.85073869e-01 -4.32962818e-03 -2.90957818e+01] [-2.69540711e-02 -3.14838437e-04 9.99636623e-01 -8.11447854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.10, Y:-29.10, Z:-8.12 [[ 9.84842297e-01 1.71317172e-01 2.71307391e-02 1.92102743e+02] [-1.71260565e-01 9.85215883e-01 -4.41380773e-03 -2.91007717e+01] [-2.74857961e-02 -2.99521180e-04 9.99622149e-01 -8.11564993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264000000003 meters Centerline goodness [0,1] 0.999871731834021 Centerline is valid? [True, True] Translation: X:192.13, Y:-29.11, Z:-8.12 [[ 9.85297883e-01 1.68579355e-01 2.77323370e-02 1.92130532e+02] [-1.68519180e-01 9.85688058e-01 -4.50973670e-03 -2.91067593e+01] [-2.80956819e-02 -2.29996656e-04 9.99605212e-01 -8.11572951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23264000000003 meters Centerline goodness [0,1] 0.9998499399759904 Centerline is valid? [True, True] Translation: X:192.16, Y:-29.11, Z:-8.11 [[ 9.85608190e-01 1.66626403e-01 2.84980188e-02 1.92158606e+02] [-1.66562084e-01 9.86020086e-01 -4.63280577e-03 -2.91130024e+01] [-2.88715667e-02 -1.80558082e-04 9.99583113e-01 -8.11473199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.19, Y:-29.12, Z:-8.11 [[ 9.85948292e-01 1.64572005e-01 2.86709194e-02 1.92186363e+02] [-1.64506075e-01 9.86365064e-01 -4.65951374e-03 -2.91201423e+01] [-2.90468188e-02 -1.22500807e-04 9.99578045e-01 -8.11487943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.21, Y:-29.13, Z:-8.12 [[ 9.86654910e-01 1.60285943e-01 2.86444693e-02 1.92212765e+02] [-1.60218364e-01 9.87070624e-01 -4.65393468e-03 -2.91299509e+01] [-2.90200745e-02 2.45748689e-06 9.99578829e-01 -8.11689413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.24, Y:-29.14, Z:-8.12 [[ 9.87303693e-01 1.56293263e-01 2.83519714e-02 1.92240643e+02] [-1.56225474e-01 9.87710688e-01 -4.60421785e-03 -2.91411071e+01] [-2.87231534e-02 1.16461112e-04 9.99587398e-01 -8.11780625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.27, Y:-29.15, Z:-8.12 [[ 9.87603395e-01 1.54386217e-01 2.83624795e-02 1.92268232e+02] [-1.54317608e-01 9.88010560e-01 -4.60537085e-03 -2.91493832e+01] [-2.87334351e-02 1.71449899e-04 9.99587095e-01 -8.12112409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.30, Y:-29.16, Z:-8.12 [[ 9.87880724e-01 1.52698465e-01 2.78361872e-02 1.92297547e+02] [-1.52631741e-01 9.88272803e-01 -4.51873455e-03 -2.91561897e+01] [-2.81997506e-02 2.15285031e-04 9.99602285e-01 -8.12259487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.33, Y:-29.16, Z:-8.13 [[ 9.88232342e-01 1.50607869e-01 2.67228096e-02 1.92326319e+02] [-1.50545630e-01 9.88593547e-01 -4.33740379e-03 -2.91647736e+01] [-2.70712443e-02 2.63360502e-04 9.99633472e-01 -8.12544959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264000000004 meters Centerline goodness [0,1] 0.9999356802881523 Centerline is valid? [True, True] Translation: X:192.36, Y:-29.17, Z:-8.13 [[ 9.88301587e-01 1.50184686e-01 2.65430465e-02 1.92355435e+02] [-1.50123145e-01 9.88657922e-01 -4.30759077e-03 -2.91710453e+01] [-2.68889273e-02 2.72473164e-04 9.99638390e-01 -8.12685644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.38, Y:-29.18, Z:-8.13 [[ 9.88342148e-01 1.50047114e-01 2.58004243e-02 1.92382953e+02] [-1.49988937e-01 9.88678811e-01 -4.18653173e-03 -2.91772963e+01] [-2.61365098e-02 2.67947542e-04 9.99658347e-01 -8.12904126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.41, Y:-29.18, Z:-8.13 [[ 9.88300734e-01 1.50264276e-01 2.61209912e-02 1.92411964e+02] [-1.50204741e-01 9.88645830e-01 -4.23774382e-03 -2.91822417e+01] [-2.64611905e-02 2.64668603e-04 9.99649806e-01 -8.12994741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.44, Y:-29.19, Z:-8.13 [[ 9.88113013e-01 1.51519906e-01 2.59690377e-02 1.92441303e+02] [-1.51461511e-01 9.88454180e-01 -4.21249321e-03 -2.91868870e+01] [-2.63074805e-02 2.29109674e-04 9.99653872e-01 -8.13019561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.47, Y:-29.19, Z:-8.13 [[ 9.88003817e-01 1.52245169e-01 2.58817750e-02 1.92471153e+02] [-1.52187431e-01 9.88342737e-01 -4.19771565e-03 -2.91909581e+01] [-2.62191463e-02 2.08478230e-04 9.99656197e-01 -8.13063056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.50, Y:-29.20, Z:-8.13 [[ 9.87762442e-01 1.53623670e-01 2.69281741e-02 1.92498966e+02] [-1.53561694e-01 9.88129413e-01 -4.36689455e-03 -2.91956415e+01] [-2.72793793e-02 1.78318382e-04 9.99627833e-01 -8.13233467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.53, Y:-29.20, Z:-8.13 [[ 9.87636184e-01 1.54425704e-01 2.69716650e-02 1.92528117e+02] [-1.54363859e-01 9.88004392e-01 -4.37280647e-03 -2.91988634e+01] [-2.73233972e-02 1.55291619e-04 9.99626634e-01 -8.13073414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.56, Y:-29.20, Z:-8.13 [[ 9.87309889e-01 1.56458366e-01 2.72022439e-02 1.92556512e+02] [-1.56396248e-01 9.87684550e-01 -4.40949626e-03 -2.92019959e+01] [-2.75571386e-02 9.92103698e-05 9.99620225e-01 -8.13329995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.58, Y:-29.20, Z:-8.13 [[ 9.87104647e-01 1.57767360e-01 2.70901418e-02 1.92584078e+02] [-1.57706249e-01 9.87476307e-01 -4.39121867e-03 -2.92047980e+01] [-2.74436641e-02 6.23077052e-05 9.99623350e-01 -8.13469521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.61, Y:-29.21, Z:-8.13 [[ 9.86901268e-01 1.58999619e-01 2.72948352e-02 1.92613052e+02] [-1.58938106e-01 9.87278644e-01 -4.42243425e-03 -2.92077037e+01] [-2.76507733e-02 2.63165515e-05 9.99617644e-01 -8.13368137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.64, Y:-29.21, Z:-8.13 [[ 9.86390080e-01 1.61941969e-01 2.84500993e-02 1.92641134e+02] [-1.61876400e-01 9.86800281e-01 -4.60827912e-03 -2.92097274e+01] [-2.88208398e-02 -5.98388301e-05 9.99584592e-01 -8.13303989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.67, Y:-29.21, Z:-8.13 [[ 9.85822971e-01 1.65387767e-01 2.82834864e-02 1.92670379e+02] [-1.65324422e-01 9.86228605e-01 -4.57982976e-03 -2.92086490e+01] [-2.86514312e-02 -1.61049670e-04 9.99589451e-01 -8.13432094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.70, Y:-29.21, Z:-8.14 [[ 9.85516883e-01 1.67199524e-01 2.82982860e-02 1.92698564e+02] [-1.67136931e-01 9.85923056e-01 -4.57972900e-03 -2.92092798e+01] [-2.86656611e-02 -2.16288424e-04 9.99589032e-01 -8.13596015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83264000000003 meters Centerline goodness [0,1] 0.9999785518188058 Centerline is valid? [True, True] Translation: X:192.73, Y:-29.21, Z:-8.14 [[ 9.85221639e-01 1.69001223e-01 2.78730755e-02 1.92726994e+02] [-1.68941276e-01 9.85615805e-01 -4.50885448e-03 -2.92116320e+01] [-2.82341457e-02 -2.66691947e-04 9.99601301e-01 -8.13623039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.76, Y:-29.21, Z:-8.14 [[ 9.84658892e-01 1.72428812e-01 2.67426861e-02 1.92755427e+02] [-1.72374922e-01 9.85021919e-01 -4.32490652e-03 -2.92102488e+01] [-2.70878705e-02 -3.51210782e-04 9.99632995e-01 -8.14060003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89264000000003 meters Centerline goodness [0,1] 0.9999786251709987 Centerline is valid? [True, True] Translation: X:192.78, Y:-29.21, Z:-8.14 [[ 9.84435835e-01 1.73701245e-01 2.67201109e-02 1.92783700e+02] [-1.73647964e-01 9.84798318e-01 -4.31941419e-03 -2.92136727e+01] [-2.70642079e-02 -3.87706746e-04 9.99633622e-01 -8.14033776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264000000003 meters Centerline goodness [0,1] 0.9999362935592788 Centerline is valid? [True, True] Translation: X:192.81, Y:-29.21, Z:-8.14 [[ 9.84156646e-01 1.75080306e-01 2.79746752e-02 1.92811645e+02] [-1.75022498e-01 9.84554055e-01 -4.52088015e-03 -2.92147498e+01] [-2.83340970e-02 -4.46943294e-04 9.99598409e-01 -8.13965285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95264000000003 meters Centerline goodness [0,1] 0.999978584889498 Centerline is valid? [True, True] Translation: X:192.84, Y:-29.22, Z:-8.14 [[ 9.84100979e-01 1.75357214e-01 2.81977133e-02 1.92839894e+02] [-1.75298650e-01 9.84504767e-01 -4.55497744e-03 -2.92183122e+01] [-2.85595313e-02 -4.60463319e-04 9.99591987e-01 -8.13994603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:192.87, Y:-29.22, Z:-8.14 [[ 9.84057810e-01 1.75549839e-01 2.85040419e-02 1.92866785e+02] [-1.75490105e-01 9.84470432e-01 -4.60348052e-03 -2.92192100e+01] [-2.88695267e-02 -4.72086336e-04 9.99583077e-01 -8.14180514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01264000000003 meters Centerline goodness [0,1] 0.9998517231883751 Centerline is valid? [True, True] Translation: X:192.90, Y:-29.22, Z:-8.14 [[ 9.84059793e-01 1.75559696e-01 2.83745924e-02 1.92895338e+02] [-1.75500591e-01 9.84468674e-01 -4.57966577e-03 -2.92234440e+01] [-2.87379020e-02 -4.73092775e-04 9.99586869e-01 -8.14313754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264000000003 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:192.92, Y:-29.23, Z:-8.15 [[ 9.84174136e-01 1.75059977e-01 2.74822622e-02 1.92922459e+02] [-1.75004367e-01 9.84557670e-01 -4.43453387e-03 -2.92271746e+01] [-2.78341815e-02 -4.45162385e-04 9.99612455e-01 -8.14589990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07264000000004 meters Centerline goodness [0,1] 0.9999788811218349 Centerline is valid? [True, True] Translation: X:192.95, Y:-29.23, Z:-8.15 [[ 9.84168440e-01 1.75106473e-01 2.73898691e-02 1.92951168e+02] [-1.75051305e-01 9.84549401e-01 -4.41782769e-03 -2.92314440e+01] [-2.77402694e-02 -4.46745734e-04 9.99615065e-01 -8.14710758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264000000004 meters Centerline goodness [0,1] 0.9999787834425986 Centerline is valid? [True, True] Translation: X:192.98, Y:-29.23, Z:-8.15 [[ 9.84201496e-01 1.74945197e-01 2.72322235e-02 1.92978212e+02] [-1.74890623e-01 9.84578074e-01 -4.39157588e-03 -2.92334246e+01] [-2.75805353e-02 -4.40464996e-04 9.99619488e-01 -8.14863690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.01, Y:-29.24, Z:-8.15 [[ 9.84330416e-01 1.74201209e-01 2.73417366e-02 1.93006770e+02] [-1.74145987e-01 9.84709987e-01 -4.40640032e-03 -2.92400068e+01] [-2.76912814e-02 -4.24099849e-04 9.99616433e-01 -8.14969774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.03, Y:-29.25, Z:-8.15 [[ 9.84491884e-01 1.73233106e-01 2.76770914e-02 1.93034949e+02] [-1.73176177e-01 9.84880769e-01 -4.45907876e-03 -2.92455803e+01] [-2.80310951e-02 -4.03086015e-04 9.99606970e-01 -8.15007883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19264000000004 meters Centerline goodness [0,1] 0.9999785195686729 Centerline is valid? [True, True] Translation: X:193.06, Y:-29.25, Z:-8.15 [[ 9.84655640e-01 1.72266084e-01 2.78866892e-02 1.93063018e+02] [-1.72207940e-01 9.85050380e-01 -4.49146857e-03 -2.92508613e+01] [-2.82435215e-02 -3.79759456e-04 9.99601000e-01 -8.15072282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.09, Y:-29.26, Z:-8.15 [[ 9.85101189e-01 1.69680461e-01 2.80033627e-02 1.93090298e+02] [-1.69620824e-01 9.85499085e-01 -4.50887677e-03 -2.92589018e+01] [-2.83623566e-02 -3.08253590e-04 9.99597660e-01 -8.15227079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.12, Y:-29.27, Z:-8.15 [[ 9.85332702e-01 1.68313781e-01 2.81058277e-02 1.93118289e+02] [-1.68253189e-01 9.85733431e-01 -4.52399778e-03 -2.92661510e+01] [-2.84663052e-02 -2.71252200e-04 9.99594716e-01 -8.15287156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.15, Y:-29.28, Z:-8.15 [[ 9.85753779e-01 1.65795119e-01 2.83101571e-02 1.93145270e+02] [-1.65732639e-01 9.86160199e-01 -4.55567032e-03 -2.92751656e+01] [-2.86736580e-02 -2.01147812e-04 9.99588806e-01 -8.15486209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.17, Y:-29.28, Z:-8.16 [[ 9.85970698e-01 1.64595805e-01 2.77489465e-02 1.93172950e+02] [-1.64535355e-01 9.86361087e-01 -4.46352874e-03 -2.92824611e+01] [-2.81051592e-02 -1.64774214e-04 9.99604958e-01 -8.15645476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.20, Y:-29.29, Z:-8.16 [[ 9.86361518e-01 1.62306033e-01 2.73442534e-02 1.93200515e+02] [-1.62246489e-01 9.86740463e-01 -4.39714652e-03 -2.92937244e+01] [-2.76953647e-02 -9.93330010e-05 9.99616405e-01 -8.15909207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.23, Y:-29.30, Z:-8.16 [[ 9.86556702e-01 1.61110024e-01 2.73757829e-02 1.93228697e+02] [-1.61049918e-01 9.86936450e-01 -4.40090718e-03 -2.93019537e+01] [-2.77271883e-02 -6.71231353e-05 9.99615525e-01 -8.16041615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.26, Y:-29.31, Z:-8.16 [[ 9.86759316e-01 1.59877062e-01 2.73016185e-02 1.93255239e+02] [-1.59816841e-01 9.87136933e-01 -4.38784552e-03 -2.93099653e+01] [-2.76519518e-02 -3.35109812e-05 9.99617611e-01 -8.16271331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.28, Y:-29.32, Z:-8.16 [[ 9.86903623e-01 1.58946550e-01 2.75178677e-02 1.93282916e+02] [-1.58885065e-01 9.87287189e-01 -4.42064499e-03 -2.93194341e+01] [-2.78706845e-02 -9.42763559e-06 9.99611537e-01 -8.16352716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.31, Y:-29.32, Z:-8.16 [[ 9.86863346e-01 1.59151498e-01 2.77765600e-02 1.93310969e+02] [-1.59088955e-01 9.87254172e-01 -4.46136423e-03 -2.93246761e+01] [-2.81325576e-02 -1.61870952e-05 9.99604201e-01 -8.16401195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.34, Y:-29.33, Z:-8.17 [[ 9.86518598e-01 1.61284503e-01 2.77193782e-02 1.93339440e+02] [-1.61223096e-01 9.86907951e-01 -4.45088516e-03 -2.93289148e+01] [-2.80743335e-02 -7.81229910e-05 9.99605835e-01 -8.16534087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.37, Y:-29.33, Z:-8.17 [[ 9.86208984e-01 1.63101218e-01 2.81039769e-02 1.93368475e+02] [-1.63038870e-01 9.86609333e-01 -4.51131341e-03 -2.93320088e+01] [-2.84634466e-02 -1.32942815e-04 9.99594825e-01 -8.16602373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.40, Y:-29.33, Z:-8.17 [[ 9.85351144e-01 1.68118728e-01 2.86219503e-02 1.93397365e+02] [-1.68056210e-01 9.85766713e-01 -4.59324155e-03 -2.93287793e+01] [-2.89867758e-02 -2.84140677e-04 9.99579755e-01 -8.16584526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264000000003 meters Centerline goodness [0,1] 0.9999144494824194 Centerline is valid? [True, True] Translation: X:193.43, Y:-29.33, Z:-8.17 [[ 9.84890247e-01 1.70683791e-01 2.92958078e-02 1.93426579e+02] [-1.70619483e-01 9.85325787e-01 -4.69950820e-03 -2.93278462e+01] [-2.96680448e-02 -3.69935810e-04 9.99559738e-01 -8.16515246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61264000000003 meters Centerline goodness [0,1] 0.9999147739378702 Centerline is valid? [True, True] Translation: X:193.46, Y:-29.33, Z:-8.16 [[ 9.84384583e-01 1.73489964e-01 2.98030914e-02 1.93455300e+02] [-1.73424736e-01 9.84835528e-01 -4.77950884e-03 -2.93298268e+01] [-3.01803401e-02 -4.63718425e-04 9.99544362e-01 -8.16465187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.49, Y:-29.33, Z:-8.16 [[ 9.83468805e-01 1.78496695e-01 3.04637284e-02 1.93485385e+02] [-1.78430994e-01 9.83940308e-01 -4.88371692e-03 -2.93293296e+01] [-3.08462176e-02 -6.32690084e-04 9.99523942e-01 -8.16325620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67264000000003 meters Centerline goodness [0,1] 0.9999573506205485 Centerline is valid? [True, True] Translation: X:193.51, Y:-29.32, Z:-8.16 [[ 9.82739584e-01 1.82351444e-01 3.11586514e-02 1.93514764e+02] [-1.82284664e-01 9.83233114e-01 -4.99455770e-03 -2.93241394e+01] [-3.15469826e-02 -7.71394740e-04 9.99501972e-01 -8.16352627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264000000003 meters Centerline goodness [0,1] 0.9998931441272012 Centerline is valid? [True, True] Translation: X:193.54, Y:-29.32, Z:-8.17 [[ 9.82520021e-01 1.83531926e-01 3.11518881e-02 1.93542497e+02] [-1.83465813e-01 9.83013416e-01 -4.99204058e-03 -2.93247769e+01] [-3.15389227e-02 -8.10526648e-04 9.99502196e-01 -8.16546011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73264000000003 meters Centerline goodness [0,1] 0.9998926877427939 Centerline is valid? [True, True] Translation: X:193.57, Y:-29.33, Z:-8.17 [[ 9.82376458e-01 1.84373901e-01 3.07043959e-02 1.93570634e+02] [-1.84310141e-01 9.82855829e-01 -4.91851129e-03 -2.93274839e+01] [-3.10848396e-02 -8.27301844e-04 9.99516407e-01 -8.16780446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264000000003 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:193.60, Y:-29.33, Z:-8.17 [[ 9.82573967e-01 1.83582028e-01 2.90867489e-02 1.93598700e+02] [-1.83524507e-01 9.83004099e-01 -4.65790923e-03 -2.93311465e+01] [-2.94475018e-02 -7.61390898e-04 9.99566038e-01 -8.17168429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79264000000003 meters Centerline goodness [0,1] 0.9999148138683023 Centerline is valid? [True, True] Translation: X:193.63, Y:-29.33, Z:-8.17 [[ 9.82820859e-01 1.82302036e-01 2.87945658e-02 1.93626108e+02] [-1.82245181e-01 9.83242316e-01 -4.60889213e-03 -2.93343978e+01] [-2.91522460e-02 -7.17955515e-04 9.99574725e-01 -8.17408120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264000000004 meters Centerline goodness [0,1] 0.9998720163819032 Centerline is valid? [True, True] Translation: X:193.65, Y:-29.34, Z:-8.18 [[ 9.83517689e-01 1.78633266e-01 2.79841282e-02 1.93654021e+02] [-1.78578132e-01 9.83915547e-01 -4.47739729e-03 -2.93428480e+01] [-2.83338309e-02 -5.93753896e-04 9.99598340e-01 -8.17673054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.68, Y:-29.35, Z:-8.18 [[ 9.83940635e-01 1.76389654e-01 2.73407475e-02 1.93681196e+02] [-1.76336189e-01 9.84320284e-01 -4.37341791e-03 -2.93497830e+01] [-2.76834780e-02 -5.17979615e-04 9.99616605e-01 -8.17889729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264000000004 meters Centerline goodness [0,1] 0.9998505391267215 Centerline is valid? [True, True] Translation: X:193.71, Y:-29.36, Z:-8.18 [[ 9.84813649e-01 1.71583221e-01 2.64816033e-02 1.93708698e+02] [-1.71531378e-01 9.85169559e-01 -4.23401994e-03 -2.93596501e+01] [-2.68153562e-02 -3.72705274e-04 9.99640334e-01 -8.18142463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91264000000004 meters Centerline goodness [0,1] 0.9999786178583647 Centerline is valid? [True, True] Translation: X:193.74, Y:-29.37, Z:-8.18 [[ 9.85231315e-01 1.69193148e-01 2.63236624e-02 1.93736682e+02] [-1.69141102e-01 9.85582865e-01 -4.20750223e-03 -2.93675558e+01] [-2.66560311e-02 -3.07050310e-04 9.99644618e-01 -8.18331565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264000000004 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:193.76, Y:-29.37, Z:-8.18 [[ 9.85792680e-01 1.65690255e-01 2.75596049e-02 1.93763570e+02] [-1.65631873e-01 9.86177818e-01 -4.40377241e-03 -2.93741428e+01] [-2.79083332e-02 -2.23542373e-04 9.99610462e-01 -8.18217208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97264000000004 meters Centerline goodness [0,1] 0.999978660748581 Centerline is valid? [True, True] Translation: X:193.79, Y:-29.38, Z:-8.18 [[ 9.85800390e-01 1.65644330e-01 2.75598908e-02 1.93791536e+02] [-1.65585980e-01 9.86185533e-01 -4.40198181e-03 -2.93785176e+01] [-2.79083290e-02 -2.24056143e-04 9.99610462e-01 -8.18334464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.82, Y:-29.38, Z:-8.18 [[ 9.85933846e-01 1.64741551e-01 2.81899268e-02 1.93819824e+02] [-1.64680172e-01 9.86336748e-01 -4.50126409e-03 -2.93837005e+01] [-2.85463059e-02 -2.04373384e-04 9.99592450e-01 -8.18125238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.85, Y:-29.39, Z:-8.18 [[ 9.85967019e-01 1.64640827e-01 2.76122428e-02 1.93847358e+02] [-1.64581930e-01 9.86353567e-01 -4.40790235e-03 -2.93872060e+01] [-2.79611548e-02 -1.98429864e-04 9.99608991e-01 -8.18371523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.88, Y:-29.39, Z:-8.19 [[ 9.85897626e-01 1.65025012e-01 2.77959936e-02 1.93875051e+02] [-1.64965536e-01 9.86289359e-01 -4.43526702e-03 -2.93904159e+01] [-2.81468227e-02 -2.12661751e-04 9.99603777e-01 -8.18604963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.90, Y:-29.39, Z:-8.19 [[ 9.85770714e-01 1.65760511e-01 2.79204762e-02 1.93903371e+02] [-1.65700857e-01 9.86166009e-01 -4.45299430e-03 -2.93938124e+01] [-2.82723552e-02 -2.36815475e-04 9.99600229e-01 -8.18570095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:193.93, Y:-29.39, Z:-8.19 [[ 9.85455236e-01 1.67561503e-01 2.83040689e-02 1.93931828e+02] [-1.67500977e-01 9.85861581e-01 -4.51289006e-03 -2.93932436e+01] [-2.86600808e-02 -2.93708063e-04 9.99589172e-01 -8.18680406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:193.96, Y:-29.40, Z:-8.19 [[ 9.85346956e-01 1.68154176e-01 2.85578188e-02 1.93960333e+02] [-1.68092865e-01 9.85760657e-01 -4.55141323e-03 -2.93970846e+01] [-2.89165133e-02 -3.15644398e-04 9.99581780e-01 -8.18689944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264000000002 meters Centerline goodness [0,1] 0.9999788184956896 Centerline is valid? [True, True] Translation: X:193.99, Y:-29.39, Z:-8.19 [[ 9.85157965e-01 1.69118779e-01 2.93704326e-02 1.93989021e+02] [-1.69054398e-01 9.85595613e-01 -4.67953645e-03 -2.93928784e+01] [-2.97387670e-02 -3.55118181e-04 9.99557642e-01 -8.19283257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21264000000002 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:194.02, Y:-29.40, Z:-8.19 [[ 9.85136536e-01 1.69229390e-01 2.94519781e-02 1.94016937e+02] [-1.69164760e-01 9.85576625e-01 -4.69052341e-03 -2.94000686e+01] [-2.98209555e-02 -3.61430825e-04 9.99555191e-01 -8.18920305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.04, Y:-29.41, Z:-8.19 [[ 9.85237249e-01 1.68685196e-01 2.92039018e-02 1.94044815e+02] [-1.68621453e-01 9.85669918e-01 -4.64962148e-03 -2.94056699e+01] [-2.95697298e-02 -3.43424082e-04 9.99562661e-01 -8.18998525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.07, Y:-29.41, Z:-8.19 [[ 9.85348514e-01 1.68023190e-01 2.92662530e-02 1.94071700e+02] [-1.67958921e-01 9.85782989e-01 -4.65823194e-03 -2.94112809e+01] [-2.96328653e-02 -3.25546358e-04 9.99560797e-01 -8.19204883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264000000003 meters Centerline goodness [0,1] 0.9999144201968335 Centerline is valid? [True, True] Translation: X:194.10, Y:-29.42, Z:-8.19 [[ 9.85515671e-01 1.67131109e-01 2.87411805e-02 1.94099720e+02] [-1.67068801e-01 9.85934635e-01 -4.57279169e-03 -2.94185739e+01] [-2.91011811e-02 -2.95196694e-04 9.99576427e-01 -8.19175983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33264000000003 meters Centerline goodness [0,1] 0.9999142238329081 Centerline is valid? [True, True] Translation: X:194.13, Y:-29.42, Z:-8.20 [[ 9.85633982e-01 1.66633469e-01 2.75488627e-02 1.94126779e+02] [-1.66576062e-01 9.86018871e-01 -4.38195192e-03 -2.94220392e+01] [-2.78938783e-02 -2.69980330e-04 9.99610854e-01 -8.19598068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.16, Y:-29.43, Z:-8.20 [[ 9.85650864e-01 1.66531008e-01 2.75644118e-02 1.94155445e+02] [-1.66473548e-01 9.86036181e-01 -4.38254326e-03 -2.94284273e+01] [-2.79093367e-02 -2.69087896e-04 9.99610422e-01 -8.19650122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.18, Y:-29.43, Z:-8.20 [[ 9.85682341e-01 1.66349845e-01 2.75327362e-02 1.94183201e+02] [-1.66292479e-01 9.86066762e-01 -4.37635213e-03 -2.94332703e+01] [-2.78771215e-02 -2.64793941e-04 9.99611322e-01 -8.19810754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.21, Y:-29.44, Z:-8.20 [[ 9.85700381e-01 1.66216831e-01 2.76897835e-02 1.94210446e+02] [-1.66158811e-01 9.86089192e-01 -4.39935822e-03 -2.94372620e+01] [-2.80358436e-02 -2.64452434e-04 9.99606883e-01 -8.20002411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45264000000003 meters Centerline goodness [0,1] 0.9999572950697158 Centerline is valid? [True, True] Translation: X:194.24, Y:-29.44, Z:-8.20 [[ 9.85672172e-01 1.66357330e-01 2.78497524e-02 1.94238006e+02] [-1.66298744e-01 9.86065497e-01 -4.42299310e-03 -2.94409192e+01] [-2.81974773e-02 -2.71757630e-04 9.99602335e-01 -8.20104418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.27, Y:-29.44, Z:-8.20 [[ 9.85458444e-01 1.67514997e-01 2.84671808e-02 1.94266777e+02] [-1.67454322e-01 9.85869478e-01 -4.51914008e-03 -2.94433144e+01] [-2.88219484e-02 -3.13527718e-04 9.99584512e-01 -8.20032754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.30, Y:-29.44, Z:-8.20 [[ 9.85121325e-01 1.69360236e-01 2.92076389e-02 1.94295723e+02] [-1.69297216e-01 9.85554142e-01 -4.63522177e-03 -2.94433666e+01] [-2.95707317e-02 -3.78516135e-04 9.99562619e-01 -8.20054872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264000000003 meters Centerline goodness [0,1] 0.9999785981808453 Centerline is valid? [True, True] Translation: X:194.32, Y:-29.44, Z:-8.20 [[ 9.84930042e-01 1.70508381e-01 2.89776690e-02 1.94323198e+02] [-1.70446888e-01 9.85356140e-01 -4.59731904e-03 -2.94443372e+01] [-2.93372055e-02 -4.11115868e-04 9.99569487e-01 -8.20263934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.35, Y:-29.45, Z:-8.20 [[ 9.84716562e-01 1.71778661e-01 2.87295051e-02 1.94351929e+02] [-1.71718796e-01 9.85135469e-01 -4.55661938e-03 -2.94453956e+01] [-2.90851844e-02 -4.46417443e-04 9.99576837e-01 -8.20491479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264000000004 meters Centerline goodness [0,1] 0.9999573169430395 Centerline is valid? [True, True] Translation: X:194.38, Y:-29.44, Z:-8.21 [[ 9.84229629e-01 1.74591489e-01 2.84578655e-02 1.94381107e+02] [-1.74533964e-01 9.84640815e-01 -4.51219882e-03 -2.94449228e+01] [-2.88085674e-02 -5.25824302e-04 9.99584809e-01 -8.20602924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63264000000004 meters Centerline goodness [0,1] 0.9999571027175428 Centerline is valid? [True, True] Translation: X:194.41, Y:-29.45, Z:-8.21 [[ 9.84018067e-01 1.75738892e-01 2.87103578e-02 1.94409367e+02] [-1.75680866e-01 9.84436652e-01 -4.55097472e-03 -2.94453802e+01] [-2.90633117e-02 -5.65619176e-04 9.99577413e-01 -8.20723422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.44, Y:-29.45, Z:-8.21 [[ 9.83707448e-01 1.77530512e-01 2.83297472e-02 1.94438617e+02] [-1.77474809e-01 9.84115106e-01 -4.48883622e-03 -2.94468342e+01] [-2.86766376e-02 -6.12114855e-04 9.99588553e-01 -8.20799857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69264000000004 meters Centerline goodness [0,1] 0.9999360504774898 Centerline is valid? [True, True] Translation: X:194.47, Y:-29.45, Z:-8.21 [[ 9.83695099e-01 1.77580332e-01 2.84460585e-02 1.94466114e+02] [-1.77524218e-01 9.84106115e-01 -4.50630460e-03 -2.94470468e+01] [-2.87941711e-02 -6.17034549e-04 9.99585171e-01 -8.21073159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264000000004 meters Centerline goodness [0,1] 0.9999360532037345 Centerline is valid? [True, True] Translation: X:194.49, Y:-29.45, Z:-8.21 [[ 9.83880506e-01 1.76487428e-01 2.88329333e-02 1.94494809e+02] [-1.76429395e-01 9.84302714e-01 -4.56461771e-03 -2.94505770e+01] [-2.91859321e-02 -5.95938610e-04 9.99573822e-01 -8.21102475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.52, Y:-29.46, Z:-8.21 [[ 9.84070839e-01 1.75420291e-01 2.88497094e-02 1.94523645e+02] [-1.75361777e-01 9.84493474e-01 -4.56575464e-03 -2.94558351e+01] [-2.92032767e-02 -5.66110310e-04 9.99573333e-01 -8.21240070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000004 meters Centerline goodness [0,1] 0.999957153262779 Centerline is valid? [True, True] Translation: X:194.55, Y:-29.46, Z:-8.21 [[ 9.84325842e-01 1.73997173e-01 2.87684023e-02 1.94551369e+02] [-1.73938407e-01 9.84746013e-01 -4.55200494e-03 -2.94622574e+01] [-2.91216055e-02 -5.23273980e-04 9.99575739e-01 -8.21341104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.58, Y:-29.47, Z:-8.21 [[ 9.84796198e-01 1.71309288e-01 2.88023731e-02 1.94579279e+02] [-1.71249274e-01 9.85217199e-01 -4.55600248e-03 -2.94702692e+01] [-2.91570789e-02 -4.45651567e-04 9.99574743e-01 -8.21365494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.61, Y:-29.47, Z:-8.22 [[ 9.85143747e-01 1.69317323e-01 2.86956912e-02 1.94607381e+02] [-1.69256949e-01 9.85561512e-01 -4.53768694e-03 -2.94728563e+01] [-2.90496779e-02 -3.86671247e-04 9.99577894e-01 -8.21705242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.64, Y:-29.48, Z:-8.22 [[ 9.85331234e-01 1.68276561e-01 2.83788357e-02 1.94635797e+02] [-1.68217122e-01 9.85739760e-01 -4.48616121e-03 -2.94783106e+01] [-2.87290625e-02 -3.53451320e-04 9.99587173e-01 -8.21904333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.66, Y:-29.48, Z:-8.22 [[ 9.85492803e-01 1.67373168e-01 2.81097585e-02 1.94664484e+02] [-1.67314522e-01 9.85893563e-01 -4.44228792e-03 -2.94837256e+01] [-2.84567497e-02 -3.25328029e-04 9.99594972e-01 -8.22060932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93264000000002 meters Centerline goodness [0,1] 0.9999787586558477 Centerline is valid? [True, True] Translation: X:194.69, Y:-29.49, Z:-8.22 [[ 9.85742525e-01 1.65800702e-01 2.86670719e-02 1.94692581e+02] [-1.65739084e-01 9.86159239e-01 -4.52893605e-03 -2.94901945e+01] [-2.90211986e-02 -2.86889384e-04 9.99578755e-01 -8.22080727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.72, Y:-29.49, Z:-8.22 [[ 9.85863868e-01 1.65079563e-01 2.86560766e-02 1.94719930e+02] [-1.65017723e-01 9.86280217e-01 -4.52595133e-03 -2.94941742e+01] [-2.90100635e-02 -2.66788628e-04 9.99579084e-01 -8.22291009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.75, Y:-29.50, Z:-8.22 [[ 9.86031745e-01 1.63950686e-01 2.93525280e-02 1.94748582e+02] [-1.63885363e-01 9.86468506e-01 -4.63397045e-03 -2.94979679e+01] [-2.97150871e-02 -2.41207715e-04 9.99558380e-01 -8.22129217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.78, Y:-29.50, Z:-8.22 [[ 9.86057807e-01 1.63795726e-01 2.93421579e-02 1.94775857e+02] [-1.63730419e-01 9.86494249e-01 -4.63103850e-03 -2.95006740e+01] [-2.97044143e-02 -2.37732134e-04 9.99558698e-01 -8.22280404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05264000000003 meters Centerline goodness [0,1] 0.9998505614619358 Centerline is valid? [True, True] Translation: X:194.80, Y:-29.50, Z:-8.22 [[ 9.86023655e-01 1.63995975e-01 2.93712927e-02 1.94803777e+02] [-1.63930674e-01 9.86460977e-01 -4.63400242e-03 -2.95030833e+01] [-2.97335918e-02 -2.45619822e-04 9.99557829e-01 -8.22403422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.83, Y:-29.51, Z:-8.22 [[ 9.86029123e-01 1.63844831e-01 3.00239830e-02 1.94832451e+02] [-1.63776604e-01 9.86486092e-01 -4.73440712e-03 -2.95076018e+01] [-3.03939498e-02 -2.48962663e-04 9.99537966e-01 -8.22453506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.86, Y:-29.51, Z:-8.22 [[ 9.86049021e-01 1.63744746e-01 2.99163374e-02 1.94860421e+02] [-1.63676996e-01 9.86502710e-01 -4.71629156e-03 -2.95114574e+01] [-3.02848159e-02 -2.46121563e-04 9.99541279e-01 -8.22497419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264000000003 meters Centerline goodness [0,1] 0.9998717482846333 Centerline is valid? [True, True] Translation: X:194.89, Y:-29.51, Z:-8.23 [[ 9.86119397e-01 1.63356874e-01 2.97164547e-02 1.94886901e+02] [-1.63289911e-01 9.86567016e-01 -4.68274295e-03 -2.95139630e+01] [-3.00822322e-02 -2.34653592e-04 9.99547400e-01 -8.22683623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.92, Y:-29.52, Z:-8.23 [[ 9.86268982e-01 1.62355833e-01 3.02337355e-02 1.94915401e+02] [-1.62286141e-01 9.86732253e-01 -4.76121386e-03 -2.95201673e+01] [-3.06056128e-02 -2.10678723e-04 9.99531516e-01 -8.22746039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264000000003 meters Centerline goodness [0,1] 0.9999786589269708 Centerline is valid? [True, True] Translation: X:194.94, Y:-29.53, Z:-8.23 [[ 9.86604022e-01 1.60196867e-01 3.08134285e-02 1.94942620e+02] [-1.60123467e-01 9.87085073e-01 -4.85109812e-03 -2.95277144e+01] [-3.11926061e-02 -1.47840099e-04 9.99513381e-01 -8.22796049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:194.97, Y:-29.53, Z:-8.23 [[ 9.86766527e-01 1.59124497e-01 3.11643225e-02 1.94970545e+02] [-1.59048945e-01 9.87258518e-01 -4.90432931e-03 -2.95336165e+01] [-3.15476417e-02 -1.17224600e-04 9.99502242e-01 -8.22774744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.00, Y:-29.54, Z:-8.23 [[ 9.87093290e-01 1.57045160e-01 3.13632611e-02 1.94999174e+02] [-1.56967642e-01 9.87591421e-01 -4.93400722e-03 -2.95406957e+01] [-3.17489495e-02 -5.26917055e-05 9.99495874e-01 -8.22729279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.03, Y:-29.55, Z:-8.23 [[ 9.87228195e-01 1.56223727e-01 3.12191848e-02 1.95026010e+02] [-1.56146538e-01 9.87721695e-01 -4.91040735e-03 -2.95458994e+01] [-3.16029882e-02 -2.70750513e-05 9.99500500e-01 -8.22993603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.05, Y:-29.55, Z:-8.23 [[ 9.87422403e-01 1.55074383e-01 3.08047626e-02 1.95054220e+02] [-1.54998735e-01 9.87902797e-01 -4.84319146e-03 -2.95535897e+01] [-3.11831661e-02 7.57652835e-06 9.99513687e-01 -8.23133374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.08, Y:-29.56, Z:-8.24 [[ 9.87585522e-01 1.54282291e-01 2.95264699e-02 1.95081789e+02] [-1.54212475e-01 9.88026808e-01 -4.64096627e-03 -2.95587975e+01] [-2.98889627e-02 3.00010841e-05 9.99553225e-01 -8.23514233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.11, Y:-29.56, Z:-8.24 [[ 9.87692641e-01 1.53767926e-01 2.86124369e-02 1.95110584e+02] [-1.53702205e-01 9.88106990e-01 -4.49544281e-03 -2.95633355e+01] [-2.89634038e-02 4.23211522e-05 9.99580472e-01 -8.23751389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.14, Y:-29.57, Z:-8.24 [[ 9.87860642e-01 1.52699075e-01 2.85367260e-02 1.95137505e+02] [-1.52633289e-01 9.88272729e-01 -4.48237177e-03 -2.95677441e+01] [-2.88865221e-02 7.23043010e-05 9.99582695e-01 -8.24014234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264000000004 meters Centerline goodness [0,1] 0.9999140561213528 Centerline is valid? [True, True] Translation: X:195.17, Y:-29.57, Z:-8.24 [[ 9.87939052e-01 1.52291978e-01 2.79925504e-02 1.95165672e+02] [-1.52228572e-01 9.88335544e-01 -4.39490622e-03 -2.95717170e+01] [-2.83353415e-02 8.06335170e-05 9.99598470e-01 -8.23928142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.19, Y:-29.58, Z:-8.24 [[ 9.88012024e-01 1.51701520e-01 2.86162443e-02 1.95193641e+02] [-1.51635050e-01 9.88426345e-01 -4.49137922e-03 -2.95766350e+01] [-2.89663988e-02 9.83110352e-05 9.99580381e-01 -8.24002453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.22, Y:-29.58, Z:-8.24 [[ 9.87956633e-01 1.51989793e-01 2.89964644e-02 1.95221277e+02] [-1.51921706e-01 9.88382059e-01 -4.54976966e-03 -2.95814426e+01] [-2.93511038e-02 8.97827718e-05 9.99569160e-01 -8.24122127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.25, Y:-29.59, Z:-8.24 [[ 9.87886749e-01 1.52461725e-01 2.88997042e-02 1.95249190e+02] [-1.52394351e-01 9.88309373e-01 -4.53263084e-03 -2.95856616e+01] [-2.92529013e-02 7.35742870e-05 9.99572040e-01 -8.24312177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.28, Y:-29.59, Z:-8.24 [[ 9.87799095e-01 1.53040554e-01 2.88363859e-02 1.95277393e+02] [-1.52973778e-01 9.88219908e-01 -4.52076703e-03 -2.95891962e+01] [-2.91885513e-02 5.43986722e-05 9.99573922e-01 -8.24406148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.31, Y:-29.59, Z:-8.25 [[ 9.87765424e-01 1.53157062e-01 2.93663304e-02 1.95305304e+02] [-1.53087899e-01 9.88201858e-01 -4.60251540e-03 -2.95934245e+01] [-2.97247700e-02 5.05757415e-05 9.99558120e-01 -8.24517028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.33, Y:-29.60, Z:-8.24 [[ 9.87883867e-01 1.52280209e-01 2.99366512e-02 1.95333728e+02] [-1.52207991e-01 9.88337357e-01 -4.68991803e-03 -2.95984431e+01] [-3.03016925e-02 7.64968130e-05 9.99540795e-01 -8.24313289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.36, Y:-29.60, Z:-8.24 [[ 9.87992674e-01 1.51533441e-01 3.01345794e-02 1.95362354e+02] [-1.51459964e-01 9.88452127e-01 -4.71940362e-03 -2.96042407e+01] [-3.05017366e-02 9.85538771e-05 9.99534709e-01 -8.24372646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.39, Y:-29.62, Z:-8.25 [[ 9.88338595e-01 1.49310380e-01 2.98869893e-02 1.95388917e+02] [-1.49237134e-01 9.88790364e-01 -4.67914708e-03 -2.96159600e+01] [-3.02506123e-02 1.64333019e-04 9.99542332e-01 -8.24686128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.42, Y:-29.62, Z:-8.25 [[ 9.88531527e-01 1.48039792e-01 2.98268330e-02 1.95416870e+02] [-1.47966311e-01 9.88981385e-01 -4.66811206e-03 -2.96249257e+01] [-3.01892489e-02 2.01209502e-04 9.99544180e-01 -8.24884778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.44, Y:-29.64, Z:-8.25 [[ 9.88950502e-01 1.45278675e-01 2.95129000e-02 1.95444740e+02] [-1.45205540e-01 9.89390735e-01 -4.61775664e-03 -2.96368358e+01] [-2.98706514e-02 2.81296168e-04 9.99553733e-01 -8.25002919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77264000000002 meters Centerline goodness [0,1] 0.9998292531961668 Centerline is valid? [True, True] Translation: X:195.47, Y:-29.65, Z:-8.25 [[ 9.89276874e-01 1.43247603e-01 2.84849191e-02 1.95473798e+02] [-1.43178661e-01 9.89686827e-01 -4.45595934e-03 -2.96479996e+01] [-2.88294547e-02 3.29744962e-04 9.99584290e-01 -8.25148373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.50, Y:-29.66, Z:-8.25 [[ 9.89402687e-01 1.42359527e-01 2.85672646e-02 1.95503585e+02] [-1.42289815e-01 9.89814951e-01 -4.46884084e-03 -2.96570958e+01] [-2.89124877e-02 3.56652333e-04 9.99581883e-01 -8.25439055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.53, Y:-29.67, Z:-8.26 [[ 9.89461357e-01 1.41960795e-01 2.85193974e-02 1.95531776e+02] [-1.41891147e-01 9.89872213e-01 -4.46150032e-03 -2.96662584e+01] [-2.88639172e-02 3.67832147e-04 9.99583283e-01 -8.25661843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.56, Y:-29.67, Z:-8.26 [[ 9.89461358e-01 1.41960775e-01 2.85194719e-02 1.95561395e+02] [-1.41891141e-01 9.89872216e-01 -4.46102441e-03 -2.96708917e+01] [-2.88639233e-02 3.67350865e-04 9.99583283e-01 -8.25786017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.59, Y:-29.68, Z:-8.26 [[ 9.89344314e-01 1.42606588e-01 2.93460299e-02 1.95591373e+02] [-1.42533142e-01 9.89779386e-01 -4.59031487e-03 -2.96795907e+01] [-2.97007046e-02 3.58620058e-04 9.99558772e-01 -8.25655642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.62, Y:-29.68, Z:-8.26 [[ 9.88929126e-01 1.45374246e-01 2.97575754e-02 1.95621766e+02] [-1.45299977e-01 9.89376698e-01 -4.65468894e-03 -2.96827261e+01] [-3.01181236e-02 2.79382444e-04 9.99546307e-01 -8.25606016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.65, Y:-29.69, Z:-8.26 [[ 9.88646078e-01 1.47344807e-01 2.94693222e-02 1.95652103e+02] [-1.47272845e-01 9.89085164e-01 -4.60960029e-03 -2.96866943e+01] [-2.98268700e-02 2.17232329e-04 9.99555056e-01 -8.25807453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264000000003 meters Centerline goodness [0,1] 0.9999356513159305 Centerline is valid? [True, True] Translation: X:195.68, Y:-29.69, Z:-8.26 [[ 9.88326721e-01 1.49608008e-01 2.87703977e-02 1.95682727e+02] [-1.49540379e-01 9.88745378e-01 -4.50027430e-03 -2.96900548e+01] [-2.91198748e-02 1.45405181e-04 9.99575916e-01 -8.25862917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.71, Y:-29.69, Z:-8.26 [[ 9.87608988e-01 1.54099337e-01 2.96964933e-02 1.95711059e+02] [-1.54029298e-01 9.88055360e-01 -4.64554920e-03 -2.96917027e+01] [-3.00576555e-02 1.38561172e-05 9.99548167e-01 -8.26120687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264000000003 meters Centerline goodness [0,1] 0.9998500942264862 Centerline is valid? [True, True] Translation: X:195.74, Y:-29.69, Z:-8.26 [[ 9.87301299e-01 1.56150136e-01 2.92109670e-02 1.95740369e+02] [-1.56083301e-01 9.87733331e-01 -4.56839544e-03 -2.96942627e+01] [-2.95660013e-02 -4.89614200e-05 9.99562829e-01 -8.26029092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.77, Y:-29.70, Z:-8.26 [[ 9.86823751e-01 1.59093157e-01 2.94661004e-02 1.95768585e+02] [-1.59026482e-01 9.87263566e-01 -4.60758756e-03 -2.96978109e+01] [-2.98238430e-02 -1.39013444e-04 9.99555161e-01 -8.26476639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.80, Y:-29.70, Z:-8.27 [[ 9.86644212e-01 1.60223199e-01 2.93551601e-02 1.95797660e+02] [-1.60157550e-01 9.87080795e-01 -4.58939573e-03 -2.97026869e+01] [-2.97112425e-02 -1.73349801e-04 9.99558509e-01 -8.26554103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.83, Y:-29.71, Z:-8.27 [[ 9.86449201e-01 1.61499392e-01 2.89122800e-02 1.95825361e+02] [-1.61436265e-01 9.86872790e-01 -4.51989935e-03 -2.97058562e+01] [-2.92627034e-02 -2.08839396e-04 9.99571734e-01 -8.26796644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.85, Y:-29.71, Z:-8.27 [[ 9.86407238e-01 1.61826799e-01 2.85104795e-02 1.95854001e+02] [-1.61765605e-01 9.86819153e-01 -4.45523508e-03 -2.97107983e+01] [-2.88556636e-02 -2.17338836e-04 9.99583565e-01 -8.26994193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.88, Y:-29.72, Z:-8.27 [[ 9.86514977e-01 1.61287390e-01 2.78312278e-02 1.95882945e+02] [-1.61228908e-01 9.86907462e-01 -4.34748752e-03 -2.97192971e+01] [-2.81680413e-02 -1.98336902e-04 9.99603182e-01 -8.27127185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.91, Y:-29.72, Z:-8.27 [[ 9.86569315e-01 1.61000802e-01 2.75631705e-02 1.95911240e+02] [-1.60943344e-01 9.86954257e-01 -4.30510166e-03 -2.97243304e+01] [-2.78967133e-02 -1.88827632e-04 9.99610793e-01 -8.27365531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.94, Y:-29.73, Z:-8.27 [[ 9.86814528e-01 1.59299143e-01 2.86508363e-02 1.95938945e+02] [-1.59236382e-01 9.87230349e-01 -4.47363810e-03 -2.97329067e+01] [-2.89976218e-02 -1.47604431e-04 9.99579470e-01 -8.27368634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:195.97, Y:-29.74, Z:-8.27 [[ 9.87052116e-01 1.57728680e-01 2.91510665e-02 1.95967382e+02] [-1.57663039e-01 9.87482482e-01 -4.55122191e-03 -2.97413519e+01] [-2.95040257e-02 -1.03752503e-04 9.99564656e-01 -8.27279937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.00, Y:-29.75, Z:-8.27 [[ 9.87323551e-01 1.55924423e-01 2.96610887e-02 1.95995779e+02] [-1.55855676e-01 9.87768987e-01 -4.62996255e-03 -2.97494809e+01] [-3.00202277e-02 -5.15779624e-05 9.99549290e-01 -8.27432970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.03, Y:-29.76, Z:-8.27 [[ 9.87861103e-01 1.52526504e-01 2.94296817e-02 1.96025555e+02] [-1.52457341e-01 9.88299379e-01 -4.59305742e-03 -2.97619930e+01] [-2.97858992e-02 5.05317551e-05 9.99556300e-01 -8.27373793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.06, Y:-29.77, Z:-8.28 [[ 9.88081722e-01 1.51099602e-01 2.93840302e-02 1.96055435e+02] [-1.51030025e-01 9.88518539e-01 -4.58584349e-03 -2.97708779e+01] [-2.97395777e-02 9.33173159e-05 9.99557677e-01 -8.27644885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters Centerline goodness [0,1] 0.9998714294897894 Centerline is valid? [True, True] Translation: X:196.09, Y:-29.78, Z:-8.28 [[ 9.88427814e-01 1.49119012e-01 2.78204393e-02 1.96086013e+02] [-1.49055816e-01 9.88819245e-01 -4.34335524e-03 -2.97816241e+01] [-2.81570627e-02 1.46294839e-04 9.99603501e-01 -8.27801027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.12, Y:-29.79, Z:-8.28 [[ 9.88530555e-01 1.48393629e-01 2.80476816e-02 1.96115955e+02] [-1.48328964e-01 9.88928360e-01 -4.38375843e-03 -2.97902009e+01] [-2.83876696e-02 1.73195595e-04 9.99596974e-01 -8.28234217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.15, Y:-29.80, Z:-8.28 [[ 9.88599127e-01 1.47862771e-01 2.84317872e-02 1.96148245e+02] [-1.47795988e-01 9.89007868e-01 -4.44780980e-03 -2.97998290e+01] [-2.87769267e-02 1.94996802e-04 9.99585839e-01 -8.28157004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.18, Y:-29.81, Z:-8.28 [[ 9.88601527e-01 1.47873216e-01 2.82936810e-02 1.96179894e+02] [-1.47806925e-01 9.89006305e-01 -4.43176973e-03 -2.98070250e+01] [-2.86379689e-02 1.99252337e-04 9.99589829e-01 -8.28355462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.21, Y:-29.81, Z:-8.28 [[ 9.88665252e-01 1.47581417e-01 2.75815840e-02 1.96211255e+02] [-1.47518172e-01 9.89049889e-01 -4.32511229e-03 -2.98137319e+01] [-2.79178688e-02 2.07303374e-04 9.99610199e-01 -8.28452376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.24, Y:-29.82, Z:-8.29 [[ 9.88673306e-01 1.47522045e-01 2.76105103e-02 1.96243389e+02] [-1.47458521e-01 9.89058745e-01 -4.33406571e-03 -2.98207825e+01] [-2.79477869e-02 2.13570076e-04 9.99609361e-01 -8.28599603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.28, Y:-29.83, Z:-8.29 [[ 9.88675297e-01 1.47487400e-01 2.77240857e-02 1.96275989e+02] [-1.47423185e-01 9.89063910e-01 -4.35731417e-03 -2.98280691e+01] [-2.80635415e-02 2.20795857e-04 9.99606117e-01 -8.28688308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.31, Y:-29.83, Z:-8.29 [[ 9.88437361e-01 1.49129796e-01 2.74205490e-02 1.96306396e+02] [-1.49067451e-01 9.88817613e-01 -4.31539530e-03 -2.98341580e+01] [-2.77574759e-02 1.77986585e-04 9.99614671e-01 -8.28851419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.34, Y:-29.83, Z:-8.29 [[ 9.87735849e-01 1.53806195e-01 2.68616336e-02 1.96339270e+02] [-1.53747989e-01 9.88101033e-01 -4.23131336e-03 -2.98339601e+01] [-2.71928101e-02 4.94977468e-05 9.99630206e-01 -8.28879429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.37, Y:-29.83, Z:-8.29 [[ 9.87163134e-01 1.57389799e-01 2.71550738e-02 1.96370107e+02] [-1.57331476e-01 9.87536556e-01 -4.28453324e-03 -2.98347979e+01] [-2.74909699e-02 -4.28145814e-05 9.99622051e-01 -8.29051494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.40, Y:-29.83, Z:-8.29 [[ 9.86511961e-01 1.61357989e-01 2.75272761e-02 1.96401440e+02] [-1.61299585e-01 9.86895929e-01 -4.34377033e-03 -2.98343671e+01] [-2.78674588e-02 -1.54956831e-04 9.99611615e-01 -8.29097293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.43, Y:-29.83, Z:-8.29 [[ 9.85149850e-01 1.69460499e-01 2.76208490e-02 1.96432344e+02] [-1.69404864e-01 9.85536905e-01 -4.35902351e-03 -2.98257894e+01] [-2.79600483e-02 -3.84814798e-04 9.99608967e-01 -8.29063816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264000000003 meters Centerline goodness [0,1] 0.9999787442077966 Centerline is valid? [True, True] Translation: X:196.46, Y:-29.82, Z:-8.29 [[ 9.84007339e-01 1.75926509e-01 2.79180941e-02 1.96462293e+02] [-1.75872292e-01 9.84403135e-01 -4.40503796e-03 -2.98174897e+01] [-2.82576223e-02 -5.75429526e-04 9.99600508e-01 -8.29152985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79264000000003 meters Centerline goodness [0,1] 0.9998726493186738 Centerline is valid? [True, True] Translation: X:196.49, Y:-29.82, Z:-8.29 [[ 9.83554744e-01 1.78428305e-01 2.79893927e-02 1.96491440e+02] [-1.78374862e-01 9.83952701e-01 -4.41493364e-03 -2.98179863e+01] [-2.83279877e-02 -6.50275138e-04 9.99598471e-01 -8.29216749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264000000004 meters Centerline goodness [0,1] 0.9999360668314722 Centerline is valid? [True, True] Translation: X:196.52, Y:-29.82, Z:-8.29 [[ 9.83207580e-01 1.80339695e-01 2.79365099e-02 1.96519229e+02] [-1.80287253e-01 9.83604137e-01 -4.40556936e-03 -2.98165697e+01] [-2.82729657e-02 -7.05007428e-04 9.99599991e-01 -8.29378630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85264000000004 meters Centerline goodness [0,1] 0.999935652696152 Centerline is valid? [True, True] Translation: X:196.55, Y:-29.81, Z:-8.30 [[ 9.82700309e-01 1.83119720e-01 2.76996512e-02 1.96549623e+02] [-1.83069331e-01 9.83090311e-01 -4.36594168e-03 -2.98122691e+01] [-2.80307488e-02 -7.80544371e-04 9.99606757e-01 -8.29572724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264000000004 meters Centerline goodness [0,1] 0.9999785292538915 Centerline is valid? [True, True] Translation: X:196.58, Y:-29.82, Z:-8.30 [[ 9.82560643e-01 1.83919451e-01 2.73535792e-02 1.96577813e+02] [-1.83870655e-01 9.82940997e-01 -4.31020435e-03 -2.98150214e+01] [-2.76796848e-02 -7.94483357e-04 9.99616528e-01 -8.29672946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91264000000004 meters Centerline goodness [0,1] 0.999850510400205 Centerline is valid? [True, True] Translation: X:196.61, Y:-29.81, Z:-8.30 [[ 9.82535872e-01 1.84119083e-01 2.68965321e-02 1.96607081e+02] [-1.84072023e-01 9.82903628e-01 -4.23656376e-03 -2.98084040e+01] [-2.72167312e-02 -7.88323206e-04 9.99629245e-01 -8.30136028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264000000004 meters Centerline goodness [0,1] 0.9998507303550486 Centerline is valid? [True, True] Translation: X:196.64, Y:-29.82, Z:-8.30 [[ 9.82635760e-01 1.83575016e-01 2.69662069e-02 1.96635535e+02] [-1.83527558e-01 9.83005396e-01 -4.24570918e-03 -2.98157989e+01] [-2.72873330e-02 -7.77056415e-04 9.99627329e-01 -8.30004129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97264000000004 meters Centerline goodness [0,1] 0.9999144842330304 Centerline is valid? [True, True] Translation: X:196.66, Y:-29.82, Z:-8.30 [[ 9.83150009e-01 1.80905130e-01 2.62563186e-02 1.96663788e+02] [-1.80859214e-01 9.83500312e-01 -4.13288799e-03 -2.98151380e+01] [-2.65707582e-02 -6.85448275e-04 9.99646700e-01 -8.30357658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.69, Y:-29.82, Z:-8.30 [[ 9.83560625e-01 1.78627736e-01 2.64693813e-02 1.96692497e+02] [-1.78580300e-01 9.83916528e-01 -4.16444722e-03 -2.98217410e+01] [-2.67875475e-02 -6.30923744e-04 9.99640950e-01 -8.30401450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03264000000004 meters Centerline goodness [0,1] 0.9999147103349751 Centerline is valid? [True, True] Translation: X:196.72, Y:-29.83, Z:-8.30 [[ 9.84633465e-01 1.72376284e-01 2.79884932e-02 1.96720634e+02] [-1.72320755e-01 9.85031054e-01 -4.40218112e-03 -2.98315367e+01] [-2.83283666e-02 -4.88463433e-04 9.99598552e-01 -8.30314732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.75, Y:-29.84, Z:-8.30 [[ 9.85257060e-01 1.68684842e-01 2.85298213e-02 1.96747353e+02] [-1.68625603e-01 9.85669961e-01 -4.48707699e-03 -2.98389645e+01] [-2.88778897e-02 -3.89934049e-04 9.99582871e-01 -8.30390893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.78, Y:-29.85, Z:-8.30 [[ 9.85905312e-01 1.64845389e-01 2.85782104e-02 1.96775349e+02] [-1.64784394e-01 9.86319380e-01 -4.49268689e-03 -2.98496782e+01] [-2.89278415e-02 -2.79879210e-04 9.99581463e-01 -8.30281821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.80, Y:-29.86, Z:-8.30 [[ 9.87055119e-01 1.57620437e-01 2.96308882e-02 1.96803180e+02] [-1.57551646e-01 9.87499768e-01 -4.65685516e-03 -2.98631451e+01] [-2.99945108e-02 -7.18224704e-05 9.99550061e-01 -8.30218337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15264000000002 meters Centerline goodness [0,1] 0.9998939824434926 Centerline is valid? [True, True] Translation: X:196.83, Y:-29.88, Z:-8.30 [[ 9.87955731e-01 1.51777722e-01 3.01163996e-02 1.96830539e+02] [-1.51703969e-01 9.88414646e-01 -4.73224843e-03 -2.98763128e+01] [-3.04857404e-02 1.06474597e-04 9.99535196e-01 -8.30315276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.86, Y:-29.89, Z:-8.31 [[ 9.88343759e-01 1.49375469e-01 2.93867760e-02 1.96860532e+02] [-1.49304207e-01 9.88780531e-01 -4.61682794e-03 -2.98854749e+01] [-2.97467128e-02 1.75443789e-04 9.99557453e-01 -8.30579871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.89, Y:-29.89, Z:-8.31 [[ 9.88638243e-01 1.47482250e-01 2.90415130e-02 1.96890663e+02] [-1.47411817e-01 9.89064676e-01 -4.56327460e-03 -2.98940513e+01] [-2.93969366e-02 2.30365594e-04 9.99567790e-01 -8.30778799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.92, Y:-29.91, Z:-8.31 [[ 9.88992743e-01 1.45248815e-01 2.82158658e-02 1.96920274e+02] [-1.45181451e-01 9.89395118e-01 -4.43251283e-03 -2.99060911e+01] [-2.85604571e-02 2.87302697e-04 9.99592026e-01 -8.31216037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.95, Y:-29.91, Z:-8.31 [[ 9.89030665e-01 1.45124695e-01 2.75166641e-02 1.96952422e+02] [-1.45060470e-01 9.89413331e-01 -4.32663147e-03 -2.99100268e+01] [-2.78532553e-02 2.87590973e-04 9.99611981e-01 -8.31117414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:196.98, Y:-29.92, Z:-8.32 [[ 9.88934438e-01 1.46011475e-01 2.62550438e-02 1.96982818e+02] [-1.45953200e-01 9.89282864e-01 -4.13269434e-03 -2.99171520e+01] [-2.65770857e-02 2.54956089e-04 9.99646734e-01 -8.31604287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.01, Y:-29.92, Z:-8.32 [[ 9.88786823e-01 1.47046318e-01 2.60384299e-02 1.97013854e+02] [-1.46989198e-01 9.89129580e-01 -4.10474331e-03 -2.99218019e+01] [-2.63589687e-02 2.31348155e-04 9.99652515e-01 -8.31703471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.04, Y:-29.93, Z:-8.32 [[ 9.88337551e-01 1.50128040e-01 2.55040640e-02 1.97043910e+02] [-1.50074266e-01 9.88666552e-01 -4.02049119e-03 -2.99270456e+01] [-2.58186035e-02 1.46098722e-04 9.99666634e-01 -8.31947889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39264000000003 meters Centerline goodness [0,1] 0.9999570649607145 Centerline is valid? [True, True] Translation: X:197.07, Y:-29.93, Z:-8.32 [[ 9.88008689e-01 1.52295675e-01 2.53940347e-02 1.97074678e+02] [-1.52243011e-01 9.88334973e-01 -4.00580754e-03 -2.99291293e+01] [-2.57078797e-02 9.17083481e-05 9.99669494e-01 -8.31869159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.10, Y:-29.93, Z:-8.32 [[ 9.87585488e-01 1.54928868e-01 2.59220048e-02 1.97103912e+02] [-1.54874893e-01 9.87925627e-01 -4.08927876e-03 -2.99314597e+01] [-2.62425602e-02 2.38446519e-05 9.99655604e-01 -8.32195819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.13, Y:-29.93, Z:-8.32 [[ 9.86747086e-01 1.60070282e-01 2.66025028e-02 1.97133303e+02] [-1.60015297e-01 9.87105613e-01 -4.19681244e-03 -2.99312126e+01] [-2.69312648e-02 -1.15614949e-04 9.99637281e-01 -8.32100743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.16, Y:-29.93, Z:-8.32 [[ 9.86337645e-01 1.62580751e-01 2.65621798e-02 1.97161566e+02] [-1.62526878e-01 9.86695224e-01 -4.18914095e-03 -2.99321017e+01] [-2.68898497e-02 -1.85160735e-04 9.99638385e-01 -8.32351870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.19, Y:-29.93, Z:-8.33 [[ 9.85608377e-01 1.66967250e-01 2.64209297e-02 1.97190439e+02] [-1.66915553e-01 9.85962395e-01 -4.16573537e-03 -2.99308314e+01] [-2.67455845e-02 -3.04280414e-04 9.99642227e-01 -8.32520280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264000000003 meters Centerline goodness [0,1] 0.9998501680258567 Centerline is valid? [True, True] Translation: X:197.22, Y:-29.93, Z:-8.33 [[ 9.85304391e-01 1.68805106e-01 2.60785855e-02 1.97219336e+02] [-1.68755429e-01 9.85649386e-01 -4.11005013e-03 -2.99338649e+01] [-2.63981392e-02 -3.51252439e-04 9.99651447e-01 -8.32504966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.25, Y:-29.94, Z:-8.33 [[ 9.85047345e-01 1.70245925e-01 2.64206815e-02 1.97246975e+02] [-1.70195482e-01 9.85401526e-01 -4.16290610e-03 -2.99354432e+01] [-2.67436977e-02 -3.96021014e-04 9.99642245e-01 -8.32823778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264000000004 meters Centerline goodness [0,1] 0.9999579876063439 Centerline is valid? [True, True] Translation: X:197.27, Y:-29.93, Z:-8.33 [[ 9.84688681e-01 1.72347501e-01 2.61637406e-02 1.97274867e+02] [-1.72298826e-01 9.85036109e-01 -4.12050953e-03 -2.99339183e+01] [-2.64823887e-02 -4.50562697e-04 9.99649179e-01 -8.33229858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.30, Y:-29.94, Z:-8.33 [[ 9.84453180e-01 1.73768308e-01 2.56224860e-02 1.97302739e+02] [-1.73722145e-01 9.84786446e-01 -4.03378835e-03 -2.99400276e+01] [-2.59336215e-02 -4.80117471e-04 9.99663552e-01 -8.33150558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.33, Y:-29.95, Z:-8.33 [[ 9.84338368e-01 1.74428477e-01 2.55476742e-02 1.97331101e+02] [-1.74382850e-01 9.84669721e-01 -4.02032392e-03 -2.99462107e+01] [-2.58572802e-02 -4.97717145e-04 9.99665521e-01 -8.33047058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69264000000004 meters Centerline goodness [0,1] 0.9999576549300248 Centerline is valid? [True, True] Translation: X:197.36, Y:-29.95, Z:-8.33 [[ 9.84199894e-01 1.75180276e-01 2.57379195e-02 1.97358946e+02] [-1.75134253e-01 9.84536235e-01 -4.04913822e-03 -2.99470948e+01] [-2.60492435e-02 -5.22429881e-04 9.99660524e-01 -8.33317342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.39, Y:-29.95, Z:-8.33 [[ 9.83954690e-01 1.76622132e-01 2.52545090e-02 1.97387550e+02] [-1.76578336e-01 9.84278578e-01 -3.97151967e-03 -2.99475237e+01] [-2.55589305e-02 -5.51603764e-04 9.99673165e-01 -8.33439342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75264000000004 meters Centerline goodness [0,1] 0.9999143046896759 Centerline is valid? [True, True] Translation: X:197.42, Y:-29.95, Z:-8.33 [[ 9.83802574e-01 1.77446555e-01 2.54010825e-02 1.97415210e+02] [-1.77402563e-01 9.84130269e-01 -3.99302547e-03 -2.99491057e+01] [-2.57065228e-02 -5.77868412e-04 9.99669366e-01 -8.33496030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000004 meters Centerline goodness [0,1] 0.9999143046896759 Centerline is valid? [True, True] Translation: X:197.44, Y:-29.95, Z:-8.34 [[ 9.83814943e-01 1.77377938e-01 2.54012883e-02 1.97442376e+02] [-1.77333957e-01 9.84142639e-01 -3.99171564e-03 -2.99532346e+01] [-2.57065332e-02 -5.77401483e-04 9.99669366e-01 -8.33609853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81264000000002 meters Centerline goodness [0,1] 0.9998929382039313 Centerline is valid? [True, True] Translation: X:197.47, Y:-29.96, Z:-8.34 [[ 9.83626504e-01 1.78406756e-01 2.54937119e-02 1.97471493e+02] [-1.78362857e-01 9.83956635e-01 -4.00404415e-03 -2.99551813e+01] [-2.57990555e-02 -6.08647333e-04 9.99666964e-01 -8.33595736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters Centerline goodness [0,1] 0.9998070243149363 Centerline is valid? [True, True] Translation: X:197.50, Y:-29.96, Z:-8.34 [[ 9.83663102e-01 1.78228413e-01 2.53285131e-02 1.97499501e+02] [-1.78185043e-01 9.83988959e-01 -3.97727250e-03 -2.99593089e+01] [-2.56318402e-02 -6.00865986e-04 9.99671270e-01 -8.33633239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87264000000002 meters Centerline goodness [0,1] 0.9998289501817405 Centerline is valid? [True, True] Translation: X:197.53, Y:-29.96, Z:-8.34 [[ 9.83810871e-01 1.77345655e-01 2.57815585e-02 1.97527836e+02] [-1.77300475e-01 9.84148449e-01 -4.04615954e-03 -2.99642661e+01] [-2.60904496e-02 -5.90426828e-04 9.99659412e-01 -8.33619159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters Centerline goodness [0,1] 0.999978581678768 Centerline is valid? [True, True] Translation: X:197.56, Y:-29.97, Z:-8.34 [[ 9.84048738e-01 1.76054144e-01 2.55542325e-02 1.97556124e+02] [-1.76009354e-01 9.84380330e-01 -4.00926536e-03 -2.99704523e+01] [-2.58609316e-02 -5.52471426e-04 9.99665398e-01 -8.33816814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93264000000002 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:197.58, Y:-29.97, Z:-8.34 [[ 9.84537858e-01 1.73360082e-01 2.51294458e-02 1.97584032e+02] [-1.73315923e-01 9.84858394e-01 -3.94139130e-03 -2.99747840e+01] [-2.54322256e-02 -4.74884136e-04 9.99676436e-01 -8.34205787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.61, Y:-29.98, Z:-8.34 [[ 9.84776169e-01 1.72026562e-01 2.49551228e-02 1.97611820e+02] [-1.71982621e-01 9.85092214e-01 -3.91263459e-03 -2.99824277e+01] [-2.52561743e-02 -4.38778129e-04 9.99680916e-01 -8.34161425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.64, Y:-29.99, Z:-8.34 [[ 9.85130530e-01 1.70060843e-01 2.44366353e-02 1.97639389e+02] [-1.70018116e-01 9.85433491e-01 -3.83086617e-03 -2.99880221e+01] [-2.47321592e-02 -3.80767474e-04 9.99694041e-01 -8.34354453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264000000002 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:197.67, Y:-29.99, Z:-8.35 [[ 9.85263039e-01 1.69314252e-01 2.42781448e-02 1.97666956e+02] [-1.69271889e-01 9.85562050e-01 -3.80449881e-03 -2.99906315e+01] [-2.45717740e-02 -3.61175366e-04 9.99698003e-01 -8.34656995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.69, Y:-29.99, Z:-8.35 [[ 9.85463292e-01 1.68136504e-01 2.43354754e-02 1.97694938e+02] [-1.68093619e-01 9.85763666e-01 -3.81192227e-03 -2.99938670e+01] [-2.46299508e-02 -3.34128667e-04 9.99696581e-01 -8.34770274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.72, Y:-30.00, Z:-8.35 [[ 9.85564458e-01 1.67544124e-01 2.43241930e-02 1.97723277e+02] [-1.67501139e-01 9.85864526e-01 -3.80851646e-03 -2.99991116e+01] [-2.46184536e-02 -3.20791584e-04 9.99696868e-01 -8.34701168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.75, Y:-30.00, Z:-8.35 [[ 9.85691174e-01 1.66674990e-01 2.51467150e-02 1.97750728e+02] [-1.66628794e-01 9.86011841e-01 -3.93616974e-03 -3.00023559e+01] [-2.54510198e-02 -3.10319029e-04 9.99676022e-01 -8.34784377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.78, Y:-30.01, Z:-8.35 [[ 9.85692119e-01 1.66637397e-01 2.53579395e-02 1.97779651e+02] [-1.66590455e-01 9.86018194e-01 -3.96743875e-03 -3.00066091e+01] [-2.56645134e-02 -3.13717576e-04 9.99670563e-01 -8.34782406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.81, Y:-30.01, Z:-8.35 [[ 9.85502495e-01 1.67725193e-01 2.55556612e-02 1.97807854e+02] [-1.67677907e-01 9.85833728e-01 -3.99742236e-03 -3.00066622e+01] [-2.58641012e-02 -3.45650077e-04 9.99665408e-01 -8.34893724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:197.84, Y:-30.01, Z:-8.35 [[ 9.85345693e-01 1.68530290e-01 2.62946056e-02 1.97836511e+02] [-1.68480575e-01 9.85696402e-01 -4.11079429e-03 -3.00078919e+01] [-2.66112914e-02 -3.79576803e-04 9.99645785e-01 -8.34876257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23264000000003 meters Centerline goodness [0,1] 0.9999787455631363 Centerline is valid? [True, True] Translation: X:197.87, Y:-30.00, Z:-8.35 [[ 9.84890802e-01 1.71153368e-01 2.63938030e-02 1.97865813e+02] [-1.71104247e-01 9.85244294e-01 -4.12520936e-03 -3.00049109e+01] [-2.67103873e-02 -4.53211048e-04 9.99643111e-01 -8.34834765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264000000003 meters Centerline goodness [0,1] 0.9999574929332001 Centerline is valid? [True, True] Translation: X:197.89, Y:-30.00, Z:-8.35 [[ 9.84649929e-01 1.72521417e-01 2.64741104e-02 1.97894115e+02] [-1.72472528e-01 9.85005643e-01 -4.13636403e-03 -3.00042257e+01] [-2.67907595e-02 -4.93186203e-04 9.99640942e-01 -8.34997423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29264000000003 meters Centerline goodness [0,1] 0.9999147648575508 Centerline is valid? [True, True] Translation: X:197.92, Y:-30.00, Z:-8.35 [[ 9.84388645e-01 1.74002558e-01 2.64972586e-02 1.97922441e+02] [-1.73954182e-01 9.84745054e-01 -4.13767154e-03 -3.00034071e+01] [-2.68130098e-02 -5.36232059e-04 9.99640323e-01 -8.34988137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264000000004 meters Centerline goodness [0,1] 0.999957264957265 Centerline is valid? [True, True] Translation: X:197.95, Y:-30.00, Z:-8.35 [[ 9.83817091e-01 1.77101163e-01 2.71865619e-02 1.97953214e+02] [-1.77051479e-01 9.84192446e-01 -4.24311870e-03 -3.00009956e+01] [-2.75082701e-02 -6.38968297e-04 9.99621372e-01 -8.34984725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35264000000004 meters Centerline goodness [0,1] 0.9999787365242723 Centerline is valid? [True, True] Translation: X:197.98, Y:-30.00, Z:-8.35 [[ 9.83248635e-01 1.80253949e-01 2.70302696e-02 1.97983580e+02] [-1.80206037e-01 9.83619841e-01 -4.21823594e-03 -2.99969275e+01] [-2.73478632e-02 -7.23443042e-04 9.99625715e-01 -8.35113910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264000000004 meters Centerline goodness [0,1] 0.9998733455765942 Centerline is valid? [True, True] Translation: X:198.01, Y:-29.99, Z:-8.35 [[ 9.83034202e-01 1.81400913e-01 2.71563404e-02 1.98012036e+02] [-1.81353010e-01 9.83408934e-01 -4.23721660e-03 -2.99929980e+01] [-2.74744227e-02 -7.59555223e-04 9.99622218e-01 -8.35425600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41264000000004 meters Centerline goodness [0,1] 0.9998930892918235 Centerline is valid? [True, True] Translation: X:198.04, Y:-29.99, Z:-8.36 [[ 9.82922807e-01 1.82077044e-01 2.66590740e-02 1.98041206e+02] [-1.82031177e-01 9.83283969e-01 -4.15781389e-03 -2.99910169e+01] [-2.69704826e-02 -7.65972518e-04 9.99635937e-01 -8.35604375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264000000004 meters Centerline goodness [0,1] 0.9998504976293195 Centerline is valid? [True, True] Translation: X:198.07, Y:-29.99, Z:-8.36 [[ 9.83004145e-01 1.81780401e-01 2.56658719e-02 1.98069974e+02] [-1.81737817e-01 9.83338879e-01 -4.00174459e-03 -2.99924855e+01] [-2.59656884e-02 -7.30728018e-04 9.99662568e-01 -8.35803908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47264000000004 meters Centerline goodness [0,1] 0.999851038474634 Centerline is valid? [True, True] Translation: X:198.10, Y:-29.99, Z:-8.36 [[ 9.83204464e-01 1.80679276e-01 2.57678359e-02 1.98098418e+02] [-1.80636003e-01 9.83541815e-01 -4.01657317e-03 -2.99881208e+01] [-2.60694556e-02 -7.05486218e-04 9.99659885e-01 -8.36374452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264000000004 meters Centerline goodness [0,1] 0.9998300223095719 Centerline is valid? [True, True] Translation: X:198.13, Y:-30.00, Z:-8.36 [[ 9.83367621e-01 1.79707603e-01 2.63305943e-02 1.98126209e+02] [-1.79662119e-01 9.83719824e-01 -4.10249512e-03 -2.99950406e+01] [-2.66391772e-02 -6.96349506e-04 9.99644872e-01 -8.36154472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53264000000004 meters Centerline goodness [0,1] 0.9998944056091741 Centerline is valid? [True, True] Translation: X:198.16, Y:-30.00, Z:-8.36 [[ 9.83692412e-01 1.77808728e-01 2.70794051e-02 1.98155146e+02] [-1.77759939e-01 9.84064843e-01 -4.21779675e-03 -2.99957262e+01] [-2.73978516e-02 -6.64618721e-04 9.99624387e-01 -8.36211889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters Centerline goodness [0,1] 0.999936 Centerline is valid? [True, True] Translation: X:198.18, Y:-30.00, Z:-8.36 [[ 9.83940832e-01 1.76462621e-01 2.68585589e-02 1.98183195e+02] [-1.76414157e-01 9.84307145e-01 -4.18214082e-03 -3.00001045e+01] [-2.71750629e-02 -6.23250892e-04 9.99630495e-01 -8.36279073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59264000000002 meters Centerline goodness [0,1] 0.9999359781472076 Centerline is valid? [True, True] Translation: X:198.21, Y:-30.00, Z:-8.37 [[ 9.84663831e-01 1.72518670e-01 2.59701544e-02 1.98210830e+02] [-1.72472005e-01 9.85006122e-01 -4.04314800e-03 -3.00008675e+01] [-2.62782796e-02 -4.97983002e-04 9.99654542e-01 -8.36791578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters Centerline goodness [0,1] 0.9999365750528542 Centerline is valid? [True, True] Translation: X:198.24, Y:-30.01, Z:-8.37 [[ 9.85153684e-01 1.69699077e-01 2.59700273e-02 1.98238581e+02] [-1.69651507e-01 9.85495836e-01 -4.04029873e-03 -3.00096156e+01] [-2.62789887e-02 -4.25539086e-04 9.99654557e-01 -8.36963796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.27, Y:-30.02, Z:-8.37 [[ 9.85733953e-01 1.66333113e-01 2.57268092e-02 1.98266134e+02] [-1.66285314e-01 9.86069564e-01 -4.00126594e-03 -3.00180475e+01] [-2.60339665e-02 -3.33806846e-04 9.99661003e-01 -8.37024744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.29, Y:-30.03, Z:-8.37 [[ 9.86880331e-01 1.59403085e-01 2.56489394e-02 1.98293058e+02] [-1.59353265e-01 9.87213570e-01 -3.98790699e-03 -3.00291628e+01] [-2.59566658e-02 -1.51655263e-04 9.99663057e-01 -8.37218814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.32, Y:-30.04, Z:-8.37 [[ 9.88057800e-01 1.51938417e-01 2.56222783e-02 1.98318777e+02] [-1.51886215e-01 9.88389961e-01 -3.98270203e-03 -3.00434776e+01] [-2.59299281e-02 4.34689200e-05 9.99663762e-01 -8.37375568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.35, Y:-30.05, Z:-8.37 [[ 9.88563441e-01 1.48553664e-01 2.59640641e-02 1.98346926e+02] [-1.48498939e-01 9.88904339e-01 -4.03406956e-03 -3.00532379e+01] [-2.62752514e-02 1.32297704e-04 9.99654737e-01 -8.37403006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.37, Y:-30.06, Z:-8.38 [[ 9.88994893e-01 1.45587135e-01 2.63341752e-02 1.98373605e+02] [-1.45529816e-01 9.89345410e-01 -4.09045212e-03 -3.00632369e+01] [-2.66491125e-02 2.13028581e-04 9.99644827e-01 -8.37507557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.40, Y:-30.07, Z:-8.38 [[ 9.89327414e-01 1.43324066e-01 2.62579431e-02 1.98401348e+02] [-1.43266328e-01 9.89675774e-01 -4.07688642e-03 -3.00723339e+01] [-2.65711661e-02 2.71496408e-04 9.99646887e-01 -8.37640099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83264000000003 meters Centerline goodness [0,1] 0.9998933128494004 Centerline is valid? [True, True] Translation: X:198.43, Y:-30.08, Z:-8.38 [[ 9.89667034e-01 1.41058207e-01 2.57243812e-02 1.98428556e+02] [-1.41002062e-01 9.90001251e-01 -3.99268708e-03 -3.00822746e+01] [-2.60303709e-02 3.24239990e-04 9.99661100e-01 -8.37636090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.46, Y:-30.09, Z:-8.38 [[ 9.89675269e-01 1.40905868e-01 2.62373606e-02 1.98456454e+02] [-1.40847427e-01 9.90022942e-01 -4.07154389e-03 -3.00889247e+01] [-2.65492934e-02 3.34041567e-04 9.99647450e-01 -8.37785243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.48, Y:-30.10, Z:-8.38 [[ 9.89616885e-01 1.41407880e-01 2.57338843e-02 1.98483563e+02] [-1.41351855e-01 9.89951369e-01 -3.99245938e-03 -3.00950284e+01] [-2.60398592e-02 3.13472925e-04 9.99660856e-01 -8.38009576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.51, Y:-30.10, Z:-8.38 [[ 9.89269003e-01 1.43820689e-01 2.57380737e-02 1.98512567e+02] [-1.43765513e-01 9.89603733e-01 -3.99116769e-03 -3.00974379e+01] [-2.60445063e-02 2.48091105e-04 9.99660754e-01 -8.38050366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95264000000003 meters Centerline goodness [0,1] 0.999849907800506 Centerline is valid? [True, True] Translation: X:198.54, Y:-30.10, Z:-8.38 [[ 9.89022819e-01 1.45608800e-01 2.51384198e-02 1.98540981e+02] [-1.45556773e-01 9.89342226e-01 -3.89701127e-03 -3.00999334e+01] [-2.54379394e-02 1.95165810e-04 9.99676384e-01 -8.37958231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264000000003 meters Centerline goodness [0,1] 0.9998715258447176 Centerline is valid? [True, True] Translation: X:198.57, Y:-30.10, Z:-8.38 [[ 9.88710950e-01 1.47681468e-01 2.53148557e-02 1.98568363e+02] [-1.47629414e-01 9.89034966e-01 -3.92331316e-03 -3.01021914e+01] [-2.56166781e-02 1.41805381e-04 9.99671829e-01 -8.38129965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.60, Y:-30.10, Z:-8.38 [[ 9.87949280e-01 1.52568294e-01 2.60602356e-02 1.98597528e+02] [-1.52514874e-01 9.88292930e-01 -4.03701542e-03 -3.01018174e+01] [-2.63710672e-02 1.37929148e-05 9.99652223e-01 -8.38347332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.63, Y:-30.10, Z:-8.39 [[ 9.87591234e-01 1.54903263e-01 2.58559997e-02 1.98626142e+02] [-1.54851510e-01 9.87929642e-01 -4.00414490e-03 -3.01034389e+01] [-2.61641637e-02 -4.93821966e-05 9.99657658e-01 -8.38517937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.65, Y:-30.10, Z:-8.39 [[ 9.86895082e-01 1.59276775e-01 2.58651653e-02 1.98654716e+02] [-1.59226514e-01 9.87233955e-01 -4.00449912e-03 -3.01024753e+01] [-2.61727932e-02 -1.66399620e-04 9.99657420e-01 -8.38700124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264000000004 meters Centerline goodness [0,1] 0.9998284623796556 Centerline is valid? [True, True] Translation: X:198.68, Y:-30.10, Z:-8.39 [[ 9.86643761e-01 1.60983023e-01 2.48707552e-02 1.98683474e+02] [-1.60937135e-01 9.86957154e-01 -3.84895583e-03 -3.01047970e+01] [-2.51659863e-02 -2.05079818e-04 9.99683265e-01 -8.38699789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.71, Y:-30.10, Z:-8.39 [[ 9.86182825e-01 1.63686563e-01 2.54979266e-02 1.98712702e+02] [-1.63639266e-01 9.86512356e-01 -3.94476796e-03 -3.01040464e+01] [-2.57997251e-02 -2.82199581e-04 9.99667092e-01 -8.38940053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.74, Y:-30.11, Z:-8.39 [[ 9.86066760e-01 1.64399004e-01 2.54029996e-02 1.98741028e+02] [-1.64352326e-01 9.86393875e-01 -3.92888079e-03 -3.01072776e+01] [-2.57032673e-02 -3.00903330e-04 9.99669571e-01 -8.38984081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.77, Y:-30.11, Z:-8.39 [[ 9.86021693e-01 1.64651457e-01 2.55170158e-02 1.98767515e+02] [-1.64604452e-01 9.86351764e-01 -3.94618283e-03 -3.01098188e+01] [-2.58184983e-02 -3.09192514e-04 9.99666599e-01 -8.39182741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.79, Y:-30.11, Z:-8.39 [[ 9.86167051e-01 1.63821984e-01 2.52369757e-02 1.98794499e+02] [-1.63775825e-01 9.86489876e-01 -3.89931535e-03 -3.01145315e+01] [-2.55348146e-02 -2.87830195e-04 9.99673892e-01 -8.39473011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.82, Y:-30.12, Z:-8.39 [[ 9.86430968e-01 1.62253255e-01 2.50564772e-02 1.98822250e+02] [-1.62207289e-01 9.86749117e-01 -3.86978092e-03 -3.01238809e+01] [-2.53523413e-02 -2.47071504e-04 9.99678547e-01 -8.39357360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.85, Y:-30.14, Z:-8.40 [[ 9.87190036e-01 1.57505768e-01 2.54512275e-02 1.98848812e+02] [-1.57456792e-01 9.87518059e-01 -3.92962706e-03 -3.01360312e+01] [-2.57524857e-02 -1.28179966e-04 9.99668342e-01 -8.39616834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.88, Y:-30.15, Z:-8.40 [[ 9.87625395e-01 1.54646175e-01 2.60890561e-02 1.98876668e+02] [-1.54593766e-01 9.87969917e-01 -4.02620274e-03 -3.01454484e+01] [-2.63978394e-02 -5.68253564e-05 9.99651515e-01 -8.39555636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.90, Y:-30.16, Z:-8.39 [[ 9.88485351e-01 1.48834397e-01 2.72952774e-02 1.98904064e+02] [-1.48774850e-01 9.88862130e-01 -4.21094852e-03 -3.01590582e+01] [-2.76180001e-02 1.01610116e-04 9.99618545e-01 -8.39404677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.93, Y:-30.17, Z:-8.39 [[ 9.88887669e-01 1.46115588e-01 2.74119233e-02 1.98932753e+02] [-1.46054531e-01 9.89267509e-01 -4.22730340e-03 -3.01670131e+01] [-2.77354000e-02 1.76692601e-04 9.99615284e-01 -8.39372275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.96, Y:-30.18, Z:-8.40 [[ 9.89536381e-01 1.41689818e-01 2.72350107e-02 1.98959555e+02] [-1.41627884e-01 9.89911060e-01 -4.19951592e-03 -3.01796540e+01] [-2.75552670e-02 2.98336842e-04 9.99620237e-01 -8.39584594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:198.99, Y:-30.19, Z:-8.40 [[ 9.89738792e-01 1.40315576e-01 2.69937425e-02 1.98987573e+02] [-1.40254261e-01 9.90106776e-01 -4.16098188e-03 -3.01883030e+01] [-2.73105380e-02 3.32297780e-04 9.99626942e-01 -8.39827327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.01, Y:-30.20, Z:-8.40 [[ 9.90045234e-01 1.38237820e-01 2.64714894e-02 1.99014983e+02] [-1.38178116e-01 9.90398990e-01 -4.08033411e-03 -3.01999892e+01] [-2.67813929e-02 3.81934811e-04 9.99641241e-01 -8.40129034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.05, Y:-30.20, Z:-8.40 [[ 9.90078922e-01 1.37892908e-01 2.70050812e-02 1.99045897e+02] [-1.37830671e-01 9.90447064e-01 -4.16158857e-03 -3.02033933e+01] [-2.73209570e-02 3.98172652e-04 9.99626634e-01 -8.39814008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264000000002 meters Centerline goodness [0,1] 0.9999576396831449 Centerline is valid? [True, True] Translation: X:199.08, Y:-30.21, Z:-8.40 [[ 9.90017355e-01 1.38171517e-01 2.78256896e-02 1.99075558e+02] [-1.38105554e-01 9.90408234e-01 -4.28788522e-03 -3.02127712e+01] [-2.81512557e-02 4.02198509e-04 9.99603594e-01 -8.39965808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.11, Y:-30.22, Z:-8.40 [[ 9.89981474e-01 1.38449124e-01 2.77222250e-02 1.99105311e+02] [-1.38383745e-01 9.90369469e-01 -4.27244743e-03 -3.02177725e+01] [-2.80467619e-02 3.93338498e-04 9.99606535e-01 -8.40065232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264000000003 meters Centerline goodness [0,1] 0.9998074578011681 Centerline is valid? [True, True] Translation: X:199.14, Y:-30.22, Z:-8.40 [[ 9.89829941e-01 1.39741943e-01 2.66247589e-02 1.99135114e+02] [-1.39682107e-01 9.90187897e-01 -4.10330999e-03 -3.02228260e+01] [-2.69369186e-02 3.42576668e-04 9.99637077e-01 -8.40076427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.16, Y:-30.23, Z:-8.40 [[ 9.89683568e-01 1.40662217e-01 2.72135099e-02 1.99163715e+02] [-1.40600047e-01 9.90057592e-01 -4.19421115e-03 -3.02276878e+01] [-2.75329091e-02 3.24721082e-04 9.99620845e-01 -8.40444591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.19, Y:-30.23, Z:-8.41 [[ 9.89530427e-01 1.41733476e-01 2.72241964e-02 1.99193886e+02] [-1.41671676e-01 9.89904811e-01 -4.19536478e-03 -3.02326078e+01] [-2.75439866e-02 2.94543567e-04 9.99620549e-01 -8.40553971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.22, Y:-30.24, Z:-8.41 [[ 9.89530427e-01 1.41733476e-01 2.72241964e-02 1.99223515e+02] [-1.41671676e-01 9.89904811e-01 -4.19536478e-03 -3.02371738e+01] [-2.75439866e-02 2.94543568e-04 9.99620549e-01 -8.40678142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.25, Y:-30.24, Z:-8.41 [[ 9.89149766e-01 1.44469428e-01 2.66706718e-02 1.99253671e+02] [-1.44411110e-01 9.89509241e-01 -4.11006427e-03 -3.02419994e+01] [-2.69846548e-02 2.13927806e-04 9.99635825e-01 -8.40875020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.28, Y:-30.24, Z:-8.41 [[ 9.88713752e-01 1.47507232e-01 2.62056052e-02 1.99283318e+02] [-1.47451987e-01 9.89060969e-01 -4.03874861e-03 -3.02437811e+01] [-2.65146859e-02 1.29097719e-04 9.99648416e-01 -8.41067518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.31, Y:-30.25, Z:-8.41 [[ 9.88516865e-01 1.48901134e-01 2.57460757e-02 1.99311810e+02] [-1.48848295e-01 9.88852084e-01 -3.96750523e-03 -3.02471865e+01] [-2.60498266e-02 8.96863746e-05 9.99660642e-01 -8.41314964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.34, Y:-30.25, Z:-8.41 [[ 9.87989186e-01 1.52290339e-01 2.61729164e-02 1.99340888e+02] [-1.52236942e-01 9.88335799e-01 -4.03249654e-03 -3.02488345e+01] [-2.64817405e-02 -4.21781765e-07 9.99649297e-01 -8.41360414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.37, Y:-30.25, Z:-8.41 [[ 9.87688152e-01 1.54156519e-01 2.66060714e-02 1.99370269e+02] [-1.54102055e-01 9.88046439e-01 -4.09777512e-03 -3.02512517e+01] [-2.69197329e-02 -5.27263385e-05 9.99637597e-01 -8.41238174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.40, Y:-30.25, Z:-8.41 [[ 9.87063392e-01 1.58033851e-01 2.70400198e-02 1.99398419e+02] [-1.57979068e-01 9.87433682e-01 -4.16391211e-03 -3.02500642e+01] [-2.73582653e-02 -1.61711916e-04 9.99625680e-01 -8.41436473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.43, Y:-30.25, Z:-8.42 [[ 9.86679485e-01 1.60416407e-01 2.70216741e-02 1.99426119e+02] [-1.60362639e-01 9.87049403e-01 -4.15936141e-03 -3.02512831e+01] [-2.73389571e-02 -2.29310400e-04 9.99626195e-01 -8.41702943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.45, Y:-30.25, Z:-8.42 [[ 9.86543017e-01 1.61209046e-01 2.72858820e-02 1.99453961e+02] [-1.61154571e-01 9.86920249e-01 -4.19835574e-03 -3.02538300e+01] [-2.76058023e-02 -2.55386053e-04 9.99618855e-01 -8.41910657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.48, Y:-30.26, Z:-8.42 [[ 9.86462244e-01 1.61722533e-01 2.71673328e-02 1.99482560e+02] [-1.61668772e-01 9.86836232e-01 -4.17839417e-03 -3.02596609e+01] [-2.74854488e-02 -2.70281247e-04 9.99622167e-01 -8.41713701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.51, Y:-30.26, Z:-8.42 [[ 9.86404107e-01 1.62099613e-01 2.70305821e-02 1.99510676e+02] [-1.62046570e-01 9.86774360e-01 -4.15603673e-03 -3.02633118e+01] [-2.73467773e-02 -2.80681412e-04 9.99625968e-01 -8.41827499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264000000004 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:199.54, Y:-30.26, Z:-8.42 [[ 9.86309486e-01 1.62603261e-01 2.74549925e-02 1.99538274e+02] [-1.62548768e-01 9.86691486e-01 -4.22005906e-03 -3.02648301e+01] [-2.77758027e-02 -3.00490917e-04 9.99614133e-01 -8.42095452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.57, Y:-30.27, Z:-8.42 [[ 9.86307927e-01 1.62590382e-01 2.75869714e-02 1.99567255e+02] [-1.62535412e-01 9.86693608e-01 -4.23844221e-03 -3.02680203e+01] [-2.79090183e-02 -3.03450601e-04 9.99610421e-01 -8.42129107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters Centerline goodness [0,1] 0.9998074454428755 Centerline is valid? [True, True] Translation: X:199.60, Y:-30.27, Z:-8.42 [[ 9.86417107e-01 1.62086379e-01 2.66326188e-02 1.99596226e+02] [-1.62034995e-01 9.86776534e-01 -4.09060930e-03 -3.02699690e+01] [-2.69434753e-02 -2.80369268e-04 9.99636919e-01 -8.42098424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.62, Y:-30.27, Z:-8.43 [[ 9.86480774e-01 1.61622615e-01 2.70889812e-02 1.99623941e+02] [-1.61569313e-01 9.86852601e-01 -4.15951769e-03 -3.02741029e+01] [-2.74051036e-02 -2.73463837e-04 9.99624372e-01 -8.42504863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters Centerline goodness [0,1] 0.9999785038693035 Centerline is valid? [True, True] Translation: X:199.65, Y:-30.28, Z:-8.43 [[ 9.86617222e-01 1.60889274e-01 2.64782772e-02 1.99652054e+02] [-1.60838131e-01 9.86972431e-01 -4.06401747e-03 -3.02801147e+01] [-2.67871865e-02 -2.49086998e-04 9.99641128e-01 -8.42676271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.68, Y:-30.29, Z:-8.43 [[ 9.86997786e-01 1.58567853e-01 2.62984134e-02 1.99678750e+02] [-1.58516607e-01 9.87348065e-01 -4.03532488e-03 -3.02864541e+01] [-2.66055603e-02 -1.85878538e-04 9.99645992e-01 -8.42868517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.71, Y:-30.29, Z:-8.43 [[ 9.87568868e-01 1.54797899e-01 2.73009302e-02 1.99706259e+02] [-1.54741283e-01 9.87946154e-01 -4.18723270e-03 -3.02936505e+01] [-2.76200239e-02 -8.94003148e-05 9.99618490e-01 -8.42860162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.73, Y:-30.30, Z:-8.43 [[ 9.87938226e-01 1.52392154e-01 2.74716699e-02 1.99734161e+02] [-1.52333934e-01 9.88320105e-01 -4.21210627e-03 -3.03012596e+01] [-2.77926957e-02 -2.35667539e-05 9.99613708e-01 -8.42894801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.76, Y:-30.31, Z:-8.43 [[ 9.88344022e-01 1.49774277e-01 2.72719643e-02 1.99763205e+02] [-1.49715948e-01 9.88720215e-01 -4.17987646e-03 -3.03102428e+01] [-2.75903804e-02 4.81079288e-05 9.99619312e-01 -8.43042259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.79, Y:-30.32, Z:-8.43 [[ 9.89103460e-01 1.44724502e-01 2.70030428e-02 1.99792104e+02] [-1.44665461e-01 9.89471972e-01 -4.13769369e-03 -3.03224322e+01] [-2.73175797e-02 1.86199516e-04 9.99626788e-01 -8.43000615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264000000003 meters Centerline goodness [0,1] 0.9998505423178752 Centerline is valid? [True, True] Translation: X:199.82, Y:-30.33, Z:-8.43 [[ 9.89426601e-01 1.42634357e-01 2.62762580e-02 1.99821017e+02] [-1.42577710e-01 9.89775421e-01 -4.02650916e-03 -3.03305818e+01] [-2.65819129e-02 2.37526580e-04 9.99646610e-01 -8.43149935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33264000000003 meters Centerline goodness [0,1] 0.9998927084674477 Centerline is valid? [True, True] Translation: X:199.85, Y:-30.34, Z:-8.43 [[ 9.89864221e-01 1.39646522e-01 2.58393842e-02 1.99850128e+02] [-1.39590739e-01 9.90201369e-01 -3.95906546e-03 -3.03404838e+01] [-2.61390634e-02 3.11998516e-04 9.99658268e-01 -8.43303243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264000000003 meters Centerline goodness [0,1] 0.9999135565016316 Centerline is valid? [True, True] Translation: X:199.88, Y:-30.35, Z:-8.43 [[ 9.89999057e-01 1.38654506e-01 2.60152728e-02 1.99881079e+02] [-1.38597628e-01 9.90340756e-01 -3.98564229e-03 -3.03470532e+01] [-2.63166122e-02 3.40127007e-04 9.99653600e-01 -8.43374627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.91, Y:-30.35, Z:-8.44 [[ 9.90039214e-01 1.38356663e-01 2.60727545e-02 1.99911332e+02] [-1.38299440e-01 9.90382407e-01 -3.99404206e-03 -3.03549930e+01] [-2.63745997e-02 3.48410914e-04 9.99652069e-01 -8.43824934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.94, Y:-30.36, Z:-8.44 [[ 9.89980267e-01 1.38897862e-01 2.54254988e-02 1.99942826e+02] [-1.38843594e-01 9.90306658e-01 -3.89606470e-03 -3.03611270e+01] [-2.57201958e-02 3.26859555e-04 9.99669128e-01 -8.43975315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:199.97, Y:-30.37, Z:-8.44 [[ 9.89849782e-01 1.39787592e-01 2.56288745e-02 1.99973142e+02] [-1.39732628e-01 9.90181464e-01 -3.93191982e-03 -3.03688482e+01] [-2.59268701e-02 3.10819975e-04 9.99663794e-01 -8.44397514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.00, Y:-30.37, Z:-8.44 [[ 9.89588383e-01 1.41608842e-01 2.57248671e-02 2.00004466e+02] [-1.41553920e-01 9.89922655e-01 -3.95284124e-03 -3.03708039e+01] [-2.60253860e-02 2.70230007e-04 9.99661246e-01 -8.44153862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.04, Y:-30.37, Z:-8.44 [[ 9.89449740e-01 1.42549934e-01 2.58597965e-02 2.00035253e+02] [-1.42494733e-01 9.89787581e-01 -3.97439956e-03 -3.03747055e+01] [-2.61622558e-02 2.47583804e-04 9.99657679e-01 -8.44169883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.06, Y:-30.38, Z:-8.45 [[ 9.89237499e-01 1.43980804e-01 2.60518374e-02 2.00064881e+02] [-1.43925268e-01 9.89580458e-01 -4.00424749e-03 -3.03818887e+01] [-2.63569240e-02 2.11634093e-04 9.99652574e-01 -8.44613311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.09, Y:-30.39, Z:-8.45 [[ 9.89119239e-01 1.44800906e-01 2.59967012e-02 2.00094677e+02] [-1.44745874e-01 9.89460793e-01 -3.99628815e-03 -3.03871744e+01] [-2.63013828e-02 1.89890247e-04 9.99654041e-01 -8.44756760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.12, Y:-30.39, Z:-8.45 [[ 9.88959921e-01 1.45845053e-01 2.62201268e-02 2.00124434e+02] [-1.45789437e-01 9.89307431e-01 -4.03063378e-03 -3.03915936e+01] [-2.65276143e-02 1.63517725e-04 9.99648068e-01 -8.44693909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.15, Y:-30.40, Z:-8.45 [[ 9.88664191e-01 1.47728537e-01 2.68215683e-02 2.00153777e+02] [-1.47671034e-01 9.89027940e-01 -4.12308911e-03 -3.03976522e+01] [-2.71363784e-02 1.15581836e-04 9.99631734e-01 -8.44831646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.18, Y:-30.40, Z:-8.45 [[ 9.88330119e-01 1.49804632e-01 2.76070324e-02 2.00184113e+02] [-1.49744520e-01 9.88715616e-01 -4.24383291e-03 -3.04018123e+01] [-2.79312498e-02 6.03060646e-05 9.99609845e-01 -8.44591723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69264000000004 meters Centerline goodness [0,1] 0.9998507144380465 Centerline is valid? [True, True] Translation: X:200.21, Y:-30.41, Z:-8.45 [[ 9.88195864e-01 1.50687721e-01 2.76069892e-02 2.00213758e+02] [-1.50627958e-01 9.88581413e-01 -4.24366065e-03 -3.04072207e+01] [-2.79312240e-02 3.51834870e-05 9.99609847e-01 -8.44748486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264000000004 meters Centerline goodness [0,1] 0.9999568025227327 Centerline is valid? [True, True] Translation: X:200.24, Y:-30.41, Z:-8.45 [[ 9.88052145e-01 1.51629885e-01 2.75923328e-02 2.00243929e+02] [-1.51570539e-01 9.88437341e-01 -4.24191705e-03 -3.04129826e+01] [-2.79164934e-02 9.05049395e-06 9.99610259e-01 -8.44758554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.27, Y:-30.42, Z:-8.45 [[ 9.87783432e-01 1.53352608e-01 2.76923911e-02 2.00273026e+02] [-1.53293512e-01 9.88171532e-01 -4.25713473e-03 -3.04203822e+01] [-2.80176753e-02 -3.99367324e-05 9.99607427e-01 -8.44985271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.30, Y:-30.43, Z:-8.45 [[ 9.87642617e-01 1.54244037e-01 2.77639676e-02 2.00304248e+02] [-1.54184982e-01 9.88032779e-01 -4.26832358e-03 -3.04263742e+01] [-2.80900735e-02 -6.52085724e-05 9.99605394e-01 -8.45097863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.33, Y:-30.43, Z:-8.45 [[ 9.87426492e-01 1.55716622e-01 2.72260189e-02 2.00333720e+02] [-1.55660371e-01 9.87801763e-01 -4.18644880e-03 -3.04325638e+01] [-2.75458091e-02 -1.04201741e-04 9.99620537e-01 -8.45450831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.36, Y:-30.44, Z:-8.46 [[ 9.87328009e-01 1.56428538e-01 2.67117184e-02 2.00363731e+02] [-1.56374639e-01 9.87689272e-01 -4.10786233e-03 -3.04376451e+01] [-2.70254646e-02 -1.21227774e-04 9.99634738e-01 -8.45688187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.39, Y:-30.44, Z:-8.46 [[ 9.87155507e-01 1.57711481e-01 2.55165359e-02 2.00393733e+02] [-1.57662727e-01 9.87485223e-01 -3.92406115e-03 -3.04444154e+01] [-2.58160716e-02 -1.49348044e-04 9.99666699e-01 -8.45812130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.42, Y:-30.45, Z:-8.46 [[ 9.86995972e-01 1.58737842e-01 2.53228851e-02 2.00422570e+02] [-1.58690157e-01 9.87320752e-01 -3.89447723e-03 -3.04492238e+01] [-2.56200109e-02 -1.74659280e-04 9.99671738e-01 -8.46179254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.45, Y:-30.45, Z:-8.46 [[ 9.86855765e-01 1.59575323e-01 2.55228511e-02 2.00452025e+02] [-1.59527166e-01 9.87185736e-01 -3.92508547e-03 -3.04547683e+01] [-2.58221413e-02 -1.98094870e-04 9.99666533e-01 -8.46217328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.48, Y:-30.46, Z:-8.46 [[ 9.86444053e-01 1.61843738e-01 2.71060056e-02 2.00480144e+02] [-1.61790296e-01 9.86816361e-01 -4.16782417e-03 -3.04586072e+01] [-2.74231860e-02 -2.74163299e-04 9.99623876e-01 -8.46085788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.51, Y:-30.46, Z:-8.46 [[ 9.86011299e-01 1.64306679e-01 2.80184661e-02 2.00509996e+02] [-1.64250591e-01 9.86409240e-01 -4.30742322e-03 -3.04625279e+01] [-2.83454122e-02 -3.54881648e-04 9.99598125e-01 -8.45928444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.54, Y:-30.47, Z:-8.46 [[ 9.85787806e-01 1.65546411e-01 2.85794876e-02 2.00540475e+02] [-1.65488604e-01 9.86201920e-01 -4.39266220e-03 -3.04665602e+01] [-2.89123350e-02 -3.99346681e-04 9.99581871e-01 -8.45884066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.57, Y:-30.47, Z:-8.46 [[ 9.85236652e-01 1.68751551e-01 2.88383955e-02 2.00570520e+02] [-1.68694055e-01 9.85658494e-01 -4.43275814e-03 -3.04675959e+01] [-2.91728442e-02 -4.97550092e-04 9.99574258e-01 -8.45934336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264000000003 meters Centerline goodness [0,1] 0.9997655534005414 Centerline is valid? [True, True] Translation: X:200.60, Y:-30.47, Z:-8.46 [[ 9.85014561e-01 1.70096109e-01 2.85241670e-02 2.00598996e+02] [-1.70040439e-01 9.85427334e-01 -4.38390793e-03 -3.04678335e+01] [-2.88541796e-02 -5.32048734e-04 9.99583490e-01 -8.46220467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11264000000003 meters Centerline goodness [0,1] 0.9999786187727175 Centerline is valid? [True, True] Translation: X:200.63, Y:-30.47, Z:-8.46 [[ 9.84362243e-01 1.73739506e-01 2.90785009e-02 2.00628618e+02] [-1.73683271e-01 9.84791429e-01 -4.46797316e-03 -3.04682053e+01] [-2.94125219e-02 -6.52345074e-04 9.99567145e-01 -8.46288177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.66, Y:-30.47, Z:-8.46 [[ 9.84161976e-01 1.74886079e-01 2.89838756e-02 2.00657106e+02] [-1.74830732e-01 9.84588437e-01 -4.45254735e-03 -3.04707470e+01] [-2.93158774e-02 -6.85244413e-04 9.99569962e-01 -8.46333427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17264000000003 meters Centerline goodness [0,1] 0.9999143432266907 Centerline is valid? [True, True] Translation: X:200.69, Y:-30.47, Z:-8.46 [[ 9.83995068e-01 1.75811704e-01 2.90508472e-02 2.00686519e+02] [-1.75756546e-01 9.84423553e-01 -4.46140328e-03 -3.04707134e+01] [-2.93827051e-02 -7.15877741e-04 9.99567979e-01 -8.46463590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264000000003 meters Centerline goodness [0,1] 0.9999572448586943 Centerline is valid? [True, True] Translation: X:200.71, Y:-30.48, Z:-8.47 [[ 9.83956312e-01 1.75980489e-01 2.93401277e-02 2.00714920e+02] [-1.75924345e-01 9.84393384e-01 -4.50439581e-03 -3.04756723e+01] [-2.96749134e-02 -7.29514070e-04 9.99559337e-01 -8.46519610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23264000000003 meters Centerline goodness [0,1] 0.9999786543715847 Centerline is valid? [True, True] Translation: X:200.74, Y:-30.47, Z:-8.47 [[ 9.84020436e-01 1.75522489e-01 2.99271989e-02 2.00743025e+02] [-1.75463905e-01 9.84475150e-01 -4.59312715e-03 -3.04741965e+01] [-3.02687808e-02 -7.31412230e-04 9.99541528e-01 -8.46598956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.77, Y:-30.48, Z:-8.47 [[ 9.84023869e-01 1.75420309e-01 3.04095303e-02 2.00771632e+02] [-1.75359837e-01 9.84493354e-01 -4.66508488e-03 -3.04772071e+01] [-3.07563312e-02 -7.42055413e-04 9.99526637e-01 -8.46616024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29264000000003 meters Centerline goodness [0,1] 0.9999786975693926 Centerline is valid? [True, True] Translation: X:200.80, Y:-30.48, Z:-8.47 [[ 9.84004062e-01 1.75456466e-01 3.08388387e-02 2.00800302e+02] [-1.75394340e-01 9.84486901e-01 -4.72943240e-03 -3.04788025e+01] [-3.11902422e-02 -7.55177047e-04 9.99513181e-01 -8.46650477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264000000004 meters Centerline goodness [0,1] 0.9999574649085495 Centerline is valid? [True, True] Translation: X:200.83, Y:-30.48, Z:-8.47 [[ 9.83949089e-01 1.75704179e-01 3.11806335e-02 2.00829236e+02] [-1.75640839e-01 9.84442707e-01 -4.78033304e-03 -3.04774997e+01] [-3.15354717e-02 -7.72988298e-04 9.99502334e-01 -8.46766364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35264000000004 meters Centerline goodness [0,1] 0.9999358535750941 Centerline is valid? [True, True] Translation: X:200.86, Y:-30.48, Z:-8.47 [[ 9.83966815e-01 1.75693587e-01 3.06768709e-02 2.00857517e+02] [-1.75632317e-01 9.84444607e-01 -4.70166987e-03 -3.04808224e+01] [-3.10257334e-02 -7.61562785e-04 9.99518296e-01 -8.46907035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264000000004 meters Centerline goodness [0,1] 0.9999575164092869 Centerline is valid? [True, True] Translation: X:200.89, Y:-30.48, Z:-8.47 [[ 9.84059296e-01 1.75326764e-01 2.97964484e-02 2.00885761e+02] [-1.75268832e-01 9.84510027e-01 -4.56544736e-03 -3.04766866e+01] [-3.01353474e-02 -7.29717793e-04 9.99545561e-01 -8.47322785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41264000000004 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:200.91, Y:-30.48, Z:-8.47 [[ 9.84207330e-01 1.74551189e-01 2.94586917e-02 2.00914477e+02] [-1.74494273e-01 9.84647852e-01 -4.51177346e-03 -3.04823988e+01] [-2.97939729e-02 -6.99852476e-04 9.99555816e-01 -8.47412036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264000000004 meters Centerline goodness [0,1] 0.99991391184573 Centerline is valid? [True, True] Translation: X:200.94, Y:-30.48, Z:-8.48 [[ 9.84642977e-01 1.72214242e-01 2.86437367e-02 2.00943026e+02] [-1.72159483e-01 9.85059328e-01 -4.38558496e-03 -3.04816638e+01] [-2.89710402e-02 -6.13055471e-04 9.99580063e-01 -8.47824099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:200.97, Y:-30.49, Z:-8.48 [[ 9.84870886e-01 1.70953296e-01 2.83603301e-02 2.00971659e+02] [-1.70899132e-01 9.85278968e-01 -4.34081219e-03 -3.04865282e+01] [-2.86849129e-02 -5.71616248e-04 9.99588340e-01 -8.47910062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264000000004 meters Centerline goodness [0,1] 0.9999356995884774 Centerline is valid? [True, True] Translation: X:201.00, Y:-30.49, Z:-8.48 [[ 9.85128924e-01 1.69500219e-01 2.81190162e-02 2.00999608e+02] [-1.69446417e-01 9.85530009e-01 -4.30264553e-03 -3.04865742e+01] [-2.84414336e-02 -5.26005965e-04 9.99595322e-01 -8.48265641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53264000000004 meters Centerline goodness [0,1] 0.9998720191118127 Centerline is valid? [True, True] Translation: X:201.03, Y:-30.49, Z:-8.48 [[ 9.85676224e-01 1.66253619e-01 2.83216573e-02 2.01028266e+02] [-1.66197754e-01 9.86082929e-01 -4.33169486e-03 -3.04908476e+01] [-2.86476628e-02 -4.37347203e-04 9.99589476e-01 -8.48441487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.06, Y:-30.50, Z:-8.49 [[ 9.86013215e-01 1.64327773e-01 2.78266572e-02 2.01056339e+02] [-1.64273113e-01 9.86405719e-01 -4.25471299e-03 -3.04968475e+01] [-2.81475413e-02 -3.75968369e-04 9.99603709e-01 -8.48571614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.08, Y:-30.50, Z:-8.49 [[ 9.86021084e-01 1.64280514e-01 2.78268604e-02 2.01084335e+02] [-1.64225873e-01 9.86413590e-01 -4.25338339e-03 -3.05010345e+01] [-2.81475413e-02 -3.75964753e-04 9.99603709e-01 -8.48688873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.11, Y:-30.51, Z:-8.49 [[ 9.86693990e-01 1.60236132e-01 2.75563385e-02 2.01112548e+02] [-1.60181007e-01 9.87078677e-01 -4.21071660e-03 -3.05074101e+01] [-2.78749831e-02 -2.59313292e-04 9.99611384e-01 -8.48818469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.14, Y:-30.51, Z:-8.49 [[ 9.87047833e-01 1.57992966e-01 2.78352108e-02 2.01141083e+02] [-1.57935868e-01 9.87440217e-01 -4.25191415e-03 -3.05128148e+01] [-2.81573791e-02 -1.99335513e-04 9.99603483e-01 -8.48884880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.17, Y:-30.52, Z:-8.49 [[ 9.87353294e-01 1.55986078e-01 2.83163764e-02 2.01169627e+02] [-1.55926204e-01 9.87759243e-01 -4.32395770e-03 -3.05182842e+01] [-2.86442397e-02 -1.45991221e-04 9.99589659e-01 -8.48937564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.20, Y:-30.53, Z:-8.49 [[ 9.87988484e-01 1.51683873e-01 2.95086282e-02 2.01197723e+02] [-1.51616988e-01 9.88429058e-01 -4.50410593e-03 -3.05255202e+01] [-2.98503858e-02 -2.40045272e-05 9.99554378e-01 -8.48960036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.23, Y:-30.53, Z:-8.49 [[ 9.88314102e-01 1.49494768e-01 2.97749893e-02 2.01226984e+02] [-1.49425692e-01 9.88762516e-01 -4.54422484e-03 -3.05318762e+01] [-3.01197312e-02 4.19731039e-05 9.99546297e-01 -8.48988138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.26, Y:-30.54, Z:-8.49 [[ 9.88916542e-01 1.45528535e-01 2.94196955e-02 2.01255510e+02] [-1.45459375e-01 9.89354042e-01 -4.48890017e-03 -3.05405851e+01] [-2.97597577e-02 1.59777114e-04 9.99557068e-01 -8.49442537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.29, Y:-30.54, Z:-8.49 [[ 9.89121724e-01 1.44211145e-01 2.90062081e-02 2.01285968e+02] [-1.44143340e-01 9.89546920e-01 -4.42614648e-03 -3.05445910e+01] [-2.93413036e-02 1.96945917e-04 9.99569432e-01 -8.49323584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.32, Y:-30.55, Z:-8.50 [[ 9.89305659e-01 1.43015234e-01 2.86523155e-02 2.01316130e+02] [-1.42948572e-01 9.89720461e-01 -4.37214491e-03 -3.05502320e+01] [-2.89830662e-02 2.29580111e-04 9.99579876e-01 -8.49514915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.35, Y:-30.56, Z:-8.50 [[ 9.89371662e-01 1.42541878e-01 2.87320047e-02 2.01345040e+02] [-1.42474640e-01 9.89788742e-01 -4.38445634e-03 -3.05572878e+01] [-2.90635834e-02 2.44274822e-04 9.99577535e-01 -8.49941070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.37, Y:-30.56, Z:-8.50 [[ 9.89365707e-01 1.42577821e-01 2.87587148e-02 2.01374925e+02] [-1.42510489e-01 9.89783565e-01 -4.38802310e-03 -3.05617760e+01] [-2.90905381e-02 2.42941069e-04 9.99576751e-01 -8.49873654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264000000003 meters Centerline goodness [0,1] 0.9998715313463515 Centerline is valid? [True, True] Translation: X:201.40, Y:-30.57, Z:-8.50 [[ 9.89314636e-01 1.42963775e-01 2.85991190e-02 2.01404982e+02] [-1.42897349e-01 9.89727895e-01 -4.36367187e-03 -3.05653592e+01] [-2.89291929e-02 2.30306155e-04 9.99581437e-01 -8.49784900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.44, Y:-30.57, Z:-8.50 [[ 9.89204389e-01 1.43524886e-01 2.95852121e-02 2.01435517e+02] [-1.43454050e-01 9.89646683e-01 -4.51413058e-03 -3.05687443e+01] [-2.99267971e-02 2.21279283e-04 9.99552069e-01 -8.49844962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.47, Y:-30.57, Z:-8.50 [[ 9.89017571e-01 1.44633280e-01 3.04213664e-02 2.01465044e+02] [-1.44558903e-01 9.89485309e-01 -4.64183969e-03 -3.05708648e+01] [-3.07728596e-02 1.93181663e-04 9.99526385e-01 -8.49923603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.50, Y:-30.58, Z:-8.50 [[ 9.89053701e-01 1.44411112e-01 3.03019391e-02 2.01495180e+02] [-1.44337228e-01 9.89517757e-01 -4.62311897e-03 -3.05777694e+01] [-3.06519366e-02 1.98815025e-04 9.99530099e-01 -8.50033928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.52, Y:-30.59, Z:-8.50 [[ 9.89192388e-01 1.43608808e-01 2.95791973e-02 2.01524409e+02] [-1.43538054e-01 9.89634510e-01 -4.51271582e-03 -3.05858962e+01] [-2.99206602e-02 2.18203722e-04 9.99552253e-01 -8.50358596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07264000000004 meters Centerline goodness [0,1] 0.9998701495444413 Centerline is valid? [True, True] Translation: X:201.55, Y:-30.59, Z:-8.50 [[ 9.89373269e-01 1.42559591e-01 2.85884162e-02 2.01554171e+02] [-1.42493046e-01 9.89786191e-01 -4.36203161e-03 -3.05928608e+01] [-2.89182690e-02 2.42026975e-04 9.99581750e-01 -8.50409760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.58, Y:-30.60, Z:-8.51 [[ 9.89568743e-01 1.41179286e-01 2.86725064e-02 2.01584204e+02] [-1.41111774e-01 9.89984004e-01 -4.37470911e-03 -3.05999322e+01] [-2.90029411e-02 2.83047143e-04 9.99579286e-01 -8.50613876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.61, Y:-30.61, Z:-8.51 [[ 9.89902558e-01 1.38944374e-01 2.80604246e-02 2.01613689e+02] [-1.38878836e-01 9.90300129e-01 -4.28063492e-03 -3.06102396e+01] [-2.83830122e-02 3.40412341e-04 9.99597063e-01 -8.50937505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.65, Y:-30.62, Z:-8.51 [[ 9.90049819e-01 1.37935183e-01 2.78431532e-02 2.01645406e+02] [-1.37870216e-01 9.90441189e-01 -4.24896745e-03 -3.06184124e+01] [-2.81630879e-02 3.67947905e-04 9.99603274e-01 -8.51103765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.68, Y:-30.63, Z:-8.51 [[ 9.90276615e-01 1.36346321e-01 2.76026548e-02 2.01676397e+02] [-1.36281722e-01 9.90661148e-01 -4.21700447e-03 -3.06283102e+01] [-2.79198507e-02 4.14263597e-04 9.99610079e-01 -8.51228565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.71, Y:-30.64, Z:-8.51 [[ 9.90335087e-01 1.35856953e-01 2.79160181e-02 2.01707173e+02] [-1.35790526e-01 9.90728366e-01 -4.27046997e-03 -3.06370216e+01] [-2.82373640e-02 4.38465476e-04 9.99601150e-01 -8.51466931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.74, Y:-30.64, Z:-8.52 [[ 9.90382923e-01 1.35512925e-01 2.78911060e-02 2.01738697e+02] [-1.35446401e-01 9.90775476e-01 -4.26948961e-03 -3.06446855e+01] [-2.82123948e-02 4.50679686e-04 9.99601850e-01 -8.51568844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.77, Y:-30.66, Z:-8.52 [[ 9.90521798e-01 1.34426877e-01 2.82131708e-02 2.01768008e+02] [-1.34358223e-01 9.90923394e-01 -4.32382124e-03 -3.06572732e+01] [-2.85383288e-02 4.92167703e-04 9.99592578e-01 -8.51703519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.80, Y:-30.67, Z:-8.52 [[ 9.90597238e-01 1.33686308e-01 2.90703068e-02 2.01800318e+02] [-1.33612972e-01 9.91023555e-01 -4.45951277e-03 -3.06672686e+01] [-2.94055346e-02 5.33410946e-04 9.99567421e-01 -8.51558844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters Centerline goodness [0,1] 0.9999357862967957 Centerline is valid? [True, True] Translation: X:201.83, Y:-30.68, Z:-8.52 [[ 9.90602848e-01 1.33656477e-01 2.90162579e-02 2.01831079e+02] [-1.33583230e-01 9.91027576e-01 -4.45701064e-03 -3.06757941e+01] [-2.93516200e-02 5.39041972e-04 9.99569003e-01 -8.51603183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.86, Y:-30.68, Z:-8.52 [[ 9.90647225e-01 1.33229872e-01 2.94597617e-02 2.01863471e+02] [-1.33154025e-01 9.91085002e-01 -4.53034255e-03 -3.06814002e+01] [-2.98007050e-02 5.65285415e-04 9.99555701e-01 -8.51578332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.89, Y:-30.69, Z:-8.52 [[ 9.90644619e-01 1.33258487e-01 2.94179123e-02 2.01894555e+02] [-1.33182686e-01 9.91081153e-01 -4.53001327e-03 -3.06911810e+01] [-2.97592011e-02 5.69676697e-04 9.99556935e-01 -8.51798674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.92, Y:-30.70, Z:-8.52 [[ 9.90594263e-01 1.33661411e-01 2.92853697e-02 2.01924540e+02] [-1.33586281e-01 9.91026898e-01 -4.51589839e-03 -3.07030396e+01] [-2.96261904e-02 5.61299417e-04 9.99560890e-01 -8.52085275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.95, Y:-30.71, Z:-8.52 [[ 9.90418080e-01 1.35119480e-01 2.85438798e-02 2.01954759e+02] [-1.35048626e-01 9.90829182e-01 -4.40456051e-03 -3.07121528e+01] [-2.88772510e-02 5.07544624e-04 9.99582836e-01 -8.52279831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:201.99, Y:-30.71, Z:-8.52 [[ 9.90236660e-01 1.36553646e-01 2.80081772e-02 2.01986657e+02] [-1.36485889e-01 9.90632570e-01 -4.32581627e-03 -3.07140285e+01] [-2.83365186e-02 4.60860878e-04 9.99598334e-01 -8.52251629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.02, Y:-30.72, Z:-8.52 [[ 9.89942743e-01 1.38691374e-01 2.78938691e-02 2.02017981e+02] [-1.38624879e-01 9.90335570e-01 -4.31305841e-03 -3.07184181e+01] [-2.82224748e-02 4.02896637e-04 9.99601585e-01 -8.52448266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.05, Y:-30.72, Z:-8.53 [[ 9.89133314e-01 1.44260934e-01 2.83561385e-02 2.02049358e+02] [-1.44194302e-01 9.89539649e-01 -4.39150627e-03 -3.07192759e+01] [-2.86930461e-02 2.54991549e-04 9.99588237e-01 -8.52526179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.08, Y:-30.72, Z:-8.53 [[ 9.88653819e-01 1.47510854e-01 2.83579570e-02 2.02081894e+02] [-1.47445583e-01 9.89060424e-01 -4.39062150e-03 -3.07213165e+01] [-2.86953973e-02 1.59549201e-04 9.99588190e-01 -8.52653979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.11, Y:-30.72, Z:-8.53 [[ 9.87636792e-01 1.54122217e-01 2.86340440e-02 2.02113930e+02] [-1.54058249e-01 9.88051791e-01 -4.44010353e-03 -3.07163016e+01] [-2.89762371e-02 -2.61010746e-05 9.99580100e-01 -8.52806912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.14, Y:-30.72, Z:-8.53 [[ 9.87186715e-01 1.56962021e-01 2.87282641e-02 2.02144887e+02] [-1.56898837e-01 9.87604633e-01 -4.45457104e-03 -3.07166602e+01] [-2.90713652e-02 -1.09937859e-04 9.99577332e-01 -8.52988627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.18, Y:-30.72, Z:-8.53 [[ 9.86870684e-01 1.58941929e-01 2.87004570e-02 2.02175430e+02] [-1.58879559e-01 9.87287920e-01 -4.45521964e-03 -3.07179606e+01] [-2.90437357e-02 -1.63190305e-04 9.99578128e-01 -8.53255621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.21, Y:-30.72, Z:-8.53 [[ 9.86585158e-01 1.60852380e-01 2.78610615e-02 2.02205568e+02] [-1.60794305e-01 9.86978453e-01 -4.32714205e-03 -3.07202108e+01] [-2.81942985e-02 -2.10805890e-04 9.99602440e-01 -8.53457179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.24, Y:-30.72, Z:-8.54 [[ 9.86596299e-01 1.60812480e-01 2.76963875e-02 2.02235628e+02] [-1.60755074e-01 9.86984956e-01 -4.30156629e-03 -3.07246716e+01] [-2.80276633e-02 -2.08425432e-04 9.99607126e-01 -8.53666029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.27, Y:-30.73, Z:-8.54 [[ 9.86710114e-01 1.60149035e-01 2.74852227e-02 2.02265259e+02] [-1.60092244e-01 9.87092828e-01 -4.26876997e-03 -3.07296789e+01] [-2.78141056e-02 -1.88132460e-04 9.99613095e-01 -8.53778585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.30, Y:-30.74, Z:-8.54 [[ 9.86998335e-01 1.58325152e-01 2.77025715e-02 2.02296324e+02] [-1.58266750e-01 9.87387020e-01 -4.30219314e-03 -3.07365253e+01] [-2.80343049e-02 -1.38138487e-04 9.99606952e-01 -8.53820539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264000000004 meters Centerline goodness [0,1] 0.999828840393667 Centerline is valid? [True, True] Translation: X:202.33, Y:-30.74, Z:-8.54 [[ 9.87181540e-01 1.57118908e-01 2.80402662e-02 2.02326317e+02] [-1.57058581e-01 9.87579687e-01 -4.35483522e-03 -3.07424007e+01] [-2.83762242e-02 -1.04951472e-04 9.99597308e-01 -8.53973180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.36, Y:-30.75, Z:-8.54 [[ 9.87467416e-01 1.55321071e-01 2.79904984e-02 2.02356912e+02] [-1.55260168e-01 9.87864040e-01 -4.34948062e-03 -3.07497072e+01] [-2.83263728e-02 -5.08390933e-05 9.99598726e-01 -8.54080207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.39, Y:-30.76, Z:-8.54 [[ 9.88104176e-01 1.51382761e-01 2.70812940e-02 2.02386816e+02] [-1.51324305e-01 9.88475218e-01 -4.20695809e-03 -3.07610743e+01] [-2.74060489e-02 5.88548734e-05 9.99624382e-01 -8.54440057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.42, Y:-30.77, Z:-8.55 [[ 9.88504057e-01 1.48729905e-01 2.71871979e-02 2.02417906e+02] [-1.48669870e-01 9.88877847e-01 -4.22766255e-03 -3.07704412e+01] [-2.75135976e-02 1.37144408e-04 9.99621420e-01 -8.54563394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264000000004 meters Centerline goodness [0,1] 0.9999787487249235 Centerline is valid? [True, True] Translation: X:202.45, Y:-30.79, Z:-8.55 [[ 9.89346002e-01 1.42980495e-01 2.74055809e-02 2.02446557e+02] [-1.42917147e-01 9.89725460e-01 -4.26658397e-03 -3.07870001e+01] [-2.77340394e-02 3.04400347e-04 9.99615291e-01 -8.54745385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.48, Y:-30.80, Z:-8.55 [[ 9.89731041e-01 1.40303940e-01 2.73362568e-02 2.02477890e+02] [-1.40239777e-01 9.90108407e-01 -4.25988895e-03 -3.07963510e+01] [-2.76635369e-02 3.82513752e-04 9.99617218e-01 -8.54701327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264000000004 meters Centerline goodness [0,1] 0.9999785674482404 Centerline is valid? [True, True] Translation: X:202.51, Y:-30.81, Z:-8.55 [[ 9.90022943e-01 1.38170066e-01 2.76333925e-02 2.02507705e+02] [-1.38103527e-01 9.90408415e-01 -4.31131190e-03 -3.08078781e+01] [-2.79640387e-02 4.52028737e-04 9.99608828e-01 -8.54947515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03264000000004 meters Centerline goodness [0,1] 0.999978488146969 Centerline is valid? [True, True] Translation: X:202.54, Y:-30.82, Z:-8.55 [[ 9.90300728e-01 1.36084371e-01 2.80269939e-02 2.02539050e+02] [-1.36014958e-01 9.90697113e-01 -4.37728821e-03 -3.08177111e+01] [-2.83619425e-02 5.22741308e-04 9.99597583e-01 -8.54920262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000004 meters Centerline goodness [0,1] 0.9999783727669882 Centerline is valid? [True, True] Translation: X:202.57, Y:-30.82, Z:-8.55 [[ 9.90245258e-01 1.36460121e-01 2.81596231e-02 2.02571282e+02] [-1.36390073e-01 9.90645429e-01 -4.40246095e-03 -3.08231716e+01] [-2.84969623e-02 5.18823018e-04 9.99593744e-01 -8.54875404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09264000000002 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:202.60, Y:-30.83, Z:-8.55 [[ 9.89871990e-01 1.38977777e-01 2.89589666e-02 2.02601648e+02] [-1.38904582e-01 9.90295391e-01 -4.53388963e-03 -3.08293029e+01] [-2.93080410e-02 4.65437190e-04 9.99570319e-01 -8.54922400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters Centerline goodness [0,1] 0.9999570003439973 Centerline is valid? [True, True] Translation: X:202.63, Y:-30.83, Z:-8.55 [[ 9.89556118e-01 1.41210834e-01 2.89514982e-02 2.02632251e+02] [-1.41138496e-01 9.89979463e-01 -4.53738669e-03 -3.08340700e+01] [-2.93021168e-02 4.03827860e-04 9.99570519e-01 -8.55106937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15264000000002 meters Centerline goodness [0,1] 0.9999784774982244 Centerline is valid? [True, True] Translation: X:202.66, Y:-30.84, Z:-8.55 [[ 9.89266851e-01 1.43238301e-01 2.88771114e-02 2.02664883e+02] [-1.43167066e-01 9.89688167e-01 -4.53019404e-03 -3.08357528e+01] [-2.92282327e-02 3.47319485e-04 9.99572704e-01 -8.55144961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.70, Y:-30.84, Z:-8.55 [[ 9.88989331e-01 1.45160675e-01 2.87833469e-02 2.02696751e+02] [-1.45090571e-01 9.89408051e-01 -4.52045469e-03 -3.08397240e+01] [-2.91346674e-02 2.94489207e-04 9.99575452e-01 -8.55359715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.73, Y:-30.84, Z:-8.55 [[ 9.88590541e-01 1.47775177e-01 2.91760202e-02 2.02727364e+02] [-1.47704129e-01 9.89020953e-01 -4.58739213e-03 -3.08439383e+01] [-2.95335980e-02 2.25633829e-04 9.99563763e-01 -8.55493963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.76, Y:-30.85, Z:-8.56 [[ 9.88408777e-01 1.48875990e-01 2.97326189e-02 2.02757733e+02] [-1.48802554e-01 9.88855854e-01 -4.67981895e-03 -3.08503403e+01] [-3.00979869e-02 2.01284491e-04 9.99546933e-01 -8.55547707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27264000000002 meters Centerline goodness [0,1] 0.9999348208660134 Centerline is valid? [True, True] Translation: X:202.79, Y:-30.86, Z:-8.56 [[ 9.88347915e-01 1.49411617e-01 2.90614506e-02 2.02790642e+02] [-1.49341578e-01 9.88775068e-01 -4.57803372e-03 -3.08559474e+01] [-2.94192492e-02 1.84607193e-04 9.99567143e-01 -8.55541457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.82, Y:-30.86, Z:-8.56 [[ 9.88290190e-01 1.49798109e-01 2.90349313e-02 2.02821521e+02] [-1.49728187e-01 9.88716590e-01 -4.57989979e-03 -3.08629747e+01] [-2.93933786e-02 1.78922411e-04 9.99567905e-01 -8.55879551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.85, Y:-30.87, Z:-8.56 [[ 9.88092589e-01 1.51235631e-01 2.82987457e-02 2.02852113e+02] [-1.51169649e-01 9.88497731e-01 -4.46902705e-03 -3.08707436e+01] [-2.86491221e-02 1.37901047e-04 9.99589520e-01 -8.56233918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.88, Y:-30.88, Z:-8.56 [[ 9.87913092e-01 1.52422386e-01 2.81982248e-02 2.02884470e+02] [-1.52357215e-01 9.88315438e-01 -4.45807203e-03 -3.08755878e+01] [-2.85482508e-02 1.07984727e-04 9.99592410e-01 -8.56358962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.92, Y:-30.88, Z:-8.57 [[ 9.87397472e-01 1.55868201e-01 2.74105128e-02 2.02916422e+02] [-1.55807779e-01 9.87777862e-01 -4.33960580e-03 -3.08759732e+01] [-2.77519043e-02 1.41446775e-05 9.99614842e-01 -8.56679453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.95, Y:-30.88, Z:-8.57 [[ 9.87043223e-01 1.58108172e-01 2.73401089e-02 2.02948914e+02] [-1.58048856e-01 9.87421796e-01 -4.33075216e-03 -3.08785002e+01] [-2.76809468e-02 -4.64333693e-05 9.99616808e-01 -8.56856666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:202.98, Y:-30.88, Z:-8.57 [[ 9.86709061e-01 1.60225995e-01 2.70713676e-02 2.02980831e+02] [-1.60168487e-01 9.87080352e-01 -4.29359398e-03 -3.08813769e+01] [-2.74095604e-02 -9.94519090e-05 9.99624282e-01 -8.56926491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.01, Y:-30.89, Z:-8.57 [[ 9.86678543e-01 1.60413931e-01 2.70707042e-02 2.03012887e+02] [-1.60356380e-01 9.87049827e-01 -4.29777141e-03 -3.08866698e+01] [-2.74095563e-02 -1.00441283e-04 9.99624282e-01 -8.57061076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.04, Y:-30.89, Z:-8.57 [[ 9.86167949e-01 1.63536038e-01 2.69952094e-02 2.03044293e+02] [-1.63479818e-01 9.86537344e-01 -4.29155579e-03 -3.08865423e+01] [-2.73336062e-02 -1.80977147e-04 9.99626351e-01 -8.57338093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.08, Y:-30.89, Z:-8.57 [[ 9.85983581e-01 1.64630456e-01 2.70775198e-02 2.03075574e+02] [-1.64574137e-01 9.86355296e-01 -4.31078131e-03 -3.08889286e+01] [-2.74177410e-02 -2.05899857e-04 9.99624042e-01 -8.57452517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.11, Y:-30.89, Z:-8.57 [[ 9.85845199e-01 1.65402995e-01 2.74060674e-02 2.03106406e+02] [-1.65345582e-01 9.86226037e-01 -4.36372192e-03 -3.08932370e+01] [-2.77503499e-02 -2.29517861e-04 9.99614859e-01 -8.57333407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264000000004 meters Centerline goodness [0,1] 0.9999786730363198 Centerline is valid? [True, True] Translation: X:203.14, Y:-30.90, Z:-8.58 [[ 9.85814546e-01 1.65532983e-01 2.77220486e-02 2.03137380e+02] [-1.65474296e-01 9.86204226e-01 -4.41378081e-03 -3.08968966e+01] [-2.80702278e-02 -2.36117143e-04 9.99605926e-01 -8.57596002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.17, Y:-30.90, Z:-8.58 [[ 9.85869086e-01 1.65192661e-01 2.78124213e-02 2.03168689e+02] [-1.65133406e-01 9.86261291e-01 -4.42991743e-03 -3.09047414e+01] [-2.81621044e-02 -2.25441206e-04 9.99603344e-01 -8.57538362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.20, Y:-30.91, Z:-8.58 [[ 9.86295732e-01 1.62740149e-01 2.71361898e-02 2.03199301e+02] [-1.62682689e-01 9.86668953e-01 -4.32671307e-03 -3.09141639e+01] [-2.74785659e-02 -1.47169683e-04 9.99622382e-01 -8.57780030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.23, Y:-30.92, Z:-8.58 [[ 9.86598765e-01 1.61051267e-01 2.61795038e-02 2.03231617e+02] [-1.60997092e-01 9.86946037e-01 -4.17798342e-03 -3.09224337e+01] [-2.65106270e-02 -9.28307011e-05 9.99648527e-01 -8.57933681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264000000004 meters Centerline goodness [0,1] 0.9998717482846333 Centerline is valid? [True, True] Translation: X:203.26, Y:-30.93, Z:-8.58 [[ 9.86930102e-01 1.59138735e-01 2.53739519e-02 2.03261727e+02] [-1.59087045e-01 9.87256229e-01 -4.05590441e-03 -3.09298775e+01] [-2.56960436e-02 -3.37728808e-05 9.99669802e-01 -8.58314141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.29, Y:-30.94, Z:-8.58 [[ 9.87198789e-01 1.57535697e-01 2.49209829e-02 2.03293427e+02] [-1.57485308e-01 9.87513293e-01 -3.98416829e-03 -3.09382488e+01] [-2.52374506e-02 8.47743656e-06 9.99681485e-01 -8.58399086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.32, Y:-30.95, Z:-8.58 [[ 9.87820544e-01 1.53575141e-01 2.50049778e-02 2.03324373e+02] [-1.53523003e-01 9.88136966e-01 -4.00308292e-03 -3.09510114e+01] [-2.53231169e-02 1.15488260e-04 9.99679312e-01 -8.58468097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.35, Y:-30.96, Z:-8.59 [[ 9.88056323e-01 1.51970549e-01 2.54883106e-02 2.03354926e+02] [-1.51915727e-01 9.88385009e-01 -4.08490215e-03 -3.09601277e+01] [-2.58130489e-02 1.64038159e-04 9.99666774e-01 -8.58607535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.39, Y:-30.97, Z:-8.58 [[ 9.88221934e-01 1.50842714e-01 2.57659457e-02 2.03386924e+02] [-1.50786184e-01 9.88557755e-01 -4.13414611e-03 -3.09678884e+01] [-2.60947313e-02 2.00305223e-04 9.99659454e-01 -8.58468002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87264000000002 meters Centerline goodness [0,1] 0.9997859955487074 Centerline is valid? [True, True] Translation: X:203.42, Y:-30.98, Z:-8.58 [[ 9.88532698e-01 1.48802215e-01 2.57100408e-02 2.03416545e+02] [-1.48745091e-01 9.88866944e-01 -4.13088404e-03 -3.09799036e+01] [-2.60384941e-02 2.59271584e-04 9.99660907e-01 -8.58395730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.45, Y:-30.99, Z:-8.59 [[ 9.88496715e-01 1.48955110e-01 2.62034362e-02 2.03447812e+02] [-1.48895715e-01 9.88843924e-01 -4.21435239e-03 -3.09867843e+01] [-2.65388580e-02 2.64294117e-04 9.99647748e-01 -8.58530373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.48, Y:-30.99, Z:-8.59 [[ 9.88411527e-01 1.49504225e-01 2.62895575e-02 2.03479469e+02] [-1.49444516e-01 9.88761054e-01 -4.23259161e-03 -3.09931158e+01] [-2.66268809e-02 2.54712153e-04 9.99645409e-01 -8.58712339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.51, Y:-31.00, Z:-8.59 [[ 9.88071521e-01 1.51775860e-01 2.60529902e-02 2.03511211e+02] [-1.51717882e-01 9.88414918e-01 -4.19938132e-03 -3.09964703e+01] [-2.63885289e-02 1.96584598e-04 9.99651743e-01 -8.58694098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.54, Y:-31.00, Z:-8.59 [[ 9.87861497e-01 1.53207986e-01 2.56315548e-02 2.03543069e+02] [-1.53152242e-01 9.88193952e-01 -4.13561473e-03 -3.10011798e+01] [-2.59625566e-02 1.59884492e-04 9.99662903e-01 -8.58957984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.58, Y:-31.01, Z:-8.59 [[ 9.87649778e-01 1.54680478e-01 2.49372480e-02 2.03575684e+02] [-1.54628074e-01 9.87964541e-01 -4.02787527e-03 -3.10052526e+01] [-2.52601504e-02 1.22131491e-04 9.99680904e-01 -8.59182529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.61, Y:-31.01, Z:-8.59 [[ 9.87309139e-01 1.56954210e-01 2.42082571e-02 2.03607692e+02] [-1.56905394e-01 9.87605879e-01 -3.91482150e-03 -3.10073374e+01] [-2.45226647e-02 6.67329375e-05 9.99699272e-01 -8.59466059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.64, Y:-31.01, Z:-8.59 [[ 9.87153228e-01 1.57912145e-01 2.43363598e-02 2.03640779e+02] [-1.57863000e-01 9.87453165e-01 -3.93967301e-03 -3.10113655e+01] [-2.46531378e-02 4.72501438e-05 9.99696064e-01 -8.59334636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.67, Y:-31.02, Z:-8.59 [[ 9.86971949e-01 1.58966458e-01 2.48200859e-02 2.03672452e+02] [-1.58915532e-01 9.87283984e-01 -4.02356901e-03 -3.10162368e+01] [-2.51440858e-02 2.68525841e-05 9.99683837e-01 -8.59400392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.70, Y:-31.02, Z:-8.60 [[ 9.86648849e-01 1.60834484e-01 2.56186840e-02 2.03703527e+02] [-1.60780728e-01 9.86981392e-01 -4.15798691e-03 -3.10199647e+01] [-2.59539121e-02 -1.65176656e-05 9.99663140e-01 -8.59566288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.74, Y:-31.02, Z:-8.59 [[ 9.86411331e-01 1.62301493e-01 2.55129774e-02 2.03736158e+02] [-1.62248580e-01 9.86741214e-01 -4.14435315e-03 -3.10237522e+01] [-2.58473410e-02 -5.14074317e-05 9.99665900e-01 -8.59364191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.77, Y:-31.03, Z:-8.60 [[ 9.86119834e-01 1.64059436e-01 2.55377075e-02 2.03767664e+02] [-1.64006871e-01 9.86450451e-01 -4.15373967e-03 -3.10260208e+01] [-2.58731433e-02 -9.22744244e-05 9.99665230e-01 -8.59625602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.80, Y:-31.03, Z:-8.60 [[ 9.85799335e-01 1.65970726e-01 2.55614636e-02 2.03799442e+02] [-1.65918542e-01 9.86130671e-01 -4.16388743e-03 -3.10270766e+01] [-2.58980267e-02 -1.36363302e-04 9.99664581e-01 -8.59944170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.83, Y:-31.03, Z:-8.60 [[ 9.85142724e-01 1.70049874e-01 2.40177725e-02 2.03831759e+02] [-1.70004993e-01 9.85435431e-01 -3.91327567e-03 -3.10255524e+01] [-2.43334160e-02 -2.28006205e-04 9.99703873e-01 -8.59967565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.86, Y:-31.03, Z:-8.60 [[ 9.84836921e-01 1.71783426e-01 2.42217752e-02 2.03861880e+02] [-1.71738164e-01 9.85134703e-01 -3.95222556e-03 -3.10265584e+01] [-2.45406382e-02 -2.67505549e-04 9.99698797e-01 -8.60149699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.89, Y:-31.03, Z:-8.60 [[ 9.84662227e-01 1.72836533e-01 2.38292258e-02 2.03891996e+02] [-1.72792982e-01 9.84950481e-01 -3.89035910e-03 -3.10283446e+01] [-2.41430036e-02 -2.86833320e-04 9.99708474e-01 -8.60367781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.92, Y:-31.03, Z:-8.60 [[ 9.84591594e-01 1.73219546e-01 2.39662558e-02 2.03922685e+02] [-1.73175606e-01 9.84883191e-01 -3.91273061e-03 -3.10326297e+01] [-2.42817239e-02 -2.97929190e-04 9.99705111e-01 -8.60379678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:203.95, Y:-31.04, Z:-8.60 [[ 9.84753390e-01 1.72194331e-01 2.46955978e-02 2.03952615e+02] [-1.72147353e-01 9.85062959e-01 -4.03180298e-03 -3.10380351e+01] [-2.50209723e-02 -2.80950132e-04 9.99686887e-01 -8.60358419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41264000000004 meters Centerline goodness [0,1] 0.9998714405090956 Centerline is valid? [True, True] Translation: X:203.98, Y:-31.04, Z:-8.60 [[ 9.84976385e-01 1.70906312e-01 2.47498345e-02 2.03982536e+02] [-1.70858726e-01 9.85287253e-01 -4.04045697e-03 -3.10434089e+01] [-2.50762361e-02 -2.48970488e-04 9.99685511e-01 -8.60458797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.01, Y:-31.05, Z:-8.61 [[ 9.85148815e-01 1.69948143e-01 2.44834737e-02 2.04011993e+02] [-1.69901272e-01 9.85452982e-01 -3.99727357e-03 -3.10478379e+01] [-2.48066413e-02 -2.21863998e-04 9.99692243e-01 -8.60795154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.04, Y:-31.05, Z:-8.61 [[ 9.85318536e-01 1.69039355e-01 2.39390658e-02 2.04040861e+02] [-1.68994261e-01 9.85609283e-01 -3.90909194e-03 -3.10523864e+01] [-2.42553558e-02 -1.93863979e-04 9.99705777e-01 -8.61076627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264000000004 meters Centerline goodness [0,1] 0.9999143633989167 Centerline is valid? [True, True] Translation: X:204.07, Y:-31.06, Z:-8.61 [[ 9.85530051e-01 1.67992438e-01 2.25623405e-02 2.04070724e+02] [-1.67952118e-01 9.85788271e-01 -3.68381725e-03 -3.10565724e+01] [-2.28605441e-02 -1.58880264e-04 9.99738651e-01 -8.61255788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.10, Y:-31.06, Z:-8.61 [[ 9.85483189e-01 1.68208930e-01 2.29921842e-02 2.04101400e+02] [-1.68167118e-01 9.85751352e-01 -3.75399905e-03 -3.10605649e+01] [-2.32960328e-02 -1.67026392e-04 9.99728597e-01 -8.61425953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.13, Y:-31.06, Z:-8.61 [[ 9.85459426e-01 1.68401631e-01 2.25966964e-02 2.04131308e+02] [-1.68361295e-01 9.85718450e-01 -3.68942664e-03 -3.10649233e+01] [-2.28952860e-02 -1.68628819e-04 9.99737854e-01 -8.61487724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59264000000002 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:204.16, Y:-31.07, Z:-8.62 [[ 9.85435238e-01 1.68583430e-01 2.22939147e-02 2.04160037e+02] [-1.68544219e-01 9.85687373e-01 -3.63978841e-03 -3.10683805e+01] [-2.25884382e-02 -1.70734691e-04 9.99744834e-01 -8.61920427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters Centerline goodness [0,1] 0.999914458630055 Centerline is valid? [True, True] Translation: X:204.18, Y:-31.08, Z:-8.62 [[ 9.84807275e-01 1.71053840e-01 2.99201508e-02 2.04183604e+02] [-1.71338389e-01 9.85185922e-01 7.20103717e-03 -3.10812054e+01] [-2.82451463e-02 -1.22181042e-02 9.99526353e-01 -8.61937221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65264000000002 meters Centerline goodness [0,1] 0.9999786507258753 Centerline is valid? [True, True] Translation: X:204.22, Y:-31.07, Z:-8.62 [[ 9.85203516e-01 1.70180901e-01 2.03099249e-02 2.04222007e+02] [-1.69896386e-01 9.85347629e-01 -1.50089588e-02 -3.10682765e+01] [-2.25665745e-02 1.13362961e-02 9.99681068e-01 -8.61995829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.25, Y:-31.08, Z:-8.62 [[ 9.85164912e-01 1.70082909e-01 2.28451390e-02 2.04249601e+02] [-1.70042104e-01 9.85429734e-01 -3.73129847e-03 -3.10756582e+01] [-2.31469093e-02 -2.08691160e-04 9.99732053e-01 -8.62413570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.28, Y:-31.08, Z:-8.62 [[ 9.85191451e-01 1.69896142e-01 2.30890880e-02 2.04279237e+02] [-1.69854435e-01 9.85461951e-01 -3.77005708e-03 -3.10817232e+01] [-2.33939359e-02 -2.07555984e-04 9.99726303e-01 -8.62072467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.30, Y:-31.09, Z:-8.62 [[ 9.84872533e-01 1.70599280e-01 3.03641013e-02 2.04304592e+02] [-1.70787121e-01 9.85301061e-01 3.68502880e-03 -3.10914470e+01] [-2.92891180e-02 -8.81508109e-03 9.99532111e-01 -8.62255348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77264000000002 meters Centerline goodness [0,1] 0.9999785766313896 Centerline is valid? [True, True] Translation: X:204.34, Y:-31.09, Z:-8.62 [[ 9.85399915e-01 1.68785452e-01 2.23266545e-02 2.04340543e+02] [-1.68552088e-01 9.85620132e-01 -1.19644654e-02 -3.10860768e+01] [-2.40250278e-02 8.02657901e-03 9.99679135e-01 -8.62439831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264000000003 meters Centerline goodness [0,1] 0.999870639472209 Centerline is valid? [True, True] Translation: X:204.37, Y:-31.10, Z:-8.62 [[ 9.85531059e-01 1.67956588e-01 2.27841148e-02 2.04369829e+02] [-1.67915427e-01 9.85794380e-01 -3.72153701e-03 -3.10968562e+01] [-2.30855089e-02 -1.58114055e-04 9.99733482e-01 -8.62328940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83264000000003 meters Centerline goodness [0,1] 0.9999786297388554 Centerline is valid? [True, True] Translation: X:204.40, Y:-31.10, Z:-8.63 [[ 9.85158643e-01 1.69400745e-01 2.76737243e-02 2.04396536e+02] [-1.69454819e-01 9.85537877e-01 -3.96451467e-04 -3.11044453e+01] [-2.73406626e-02 -4.29887834e-03 9.99616931e-01 -8.62590802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.43, Y:-31.11, Z:-8.63 [[ 9.84862595e-01 1.70934189e-01 2.87605951e-02 2.04426317e+02] [-1.70978891e-01 9.85274266e-01 -9.15938337e-04 -3.11066157e+01] [-2.84936394e-02 -4.01538125e-03 9.99585909e-01 -8.63142778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.46, Y:-31.10, Z:-8.63 [[ 9.85286802e-01 1.69627117e-01 2.08940189e-02 2.04463163e+02] [-1.69433880e-01 9.85483380e-01 -1.07082788e-02 -3.11041424e+01] [-2.24071229e-02 7.01057107e-03 9.99724348e-01 -8.62983722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.49, Y:-31.11, Z:-8.63 [[ 9.85209047e-01 1.69966325e-01 2.17849007e-02 2.04491536e+02] [-1.69929176e-01 9.85449852e-01 -3.55880299e-03 -3.11118428e+01] [-2.20728039e-02 -1.95725340e-04 9.99756347e-01 -8.63005726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95264000000003 meters Centerline goodness [0,1] 0.9999135957143475 Centerline is valid? [True, True] Translation: X:204.52, Y:-31.12, Z:-8.63 [[ 9.84676503e-01 1.72345605e-01 2.66303742e-02 2.04518303e+02] [-1.72347746e-01 9.85033640e-01 -2.23215973e-03 -3.11161962e+01] [-2.66165174e-02 -2.39172973e-03 9.99642857e-01 -8.62926322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264000000003 meters Centerline goodness [0,1] 0.9998720382179189 Centerline is valid? [True, True] Translation: X:204.55, Y:-31.12, Z:-8.63 [[ 9.84813674e-01 1.72192483e-01 2.21760114e-02 2.04551509e+02] [-1.72111514e-01 9.85061985e-01 -5.52385553e-03 -3.11160572e+01] [-2.27959122e-02 1.62322158e-03 9.99738822e-01 -8.63032469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.58, Y:-31.12, Z:-8.63 [[ 9.84631869e-01 1.73132177e-01 2.29201011e-02 2.04580537e+02] [-1.73091922e-01 9.84898558e-01 -3.74381036e-03 -3.11184235e+01] [-2.32221485e-02 -2.81009361e-04 9.99730290e-01 -8.63374964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264000000003 meters Centerline goodness [0,1] 0.9999784913858 Centerline is valid? [True, True] Translation: X:204.61, Y:-31.12, Z:-8.64 [[ 9.84435779e-01 1.74324993e-01 2.22933556e-02 2.04608687e+02] [-1.74287223e-01 9.84688126e-01 -3.64108714e-03 -3.11185525e+01] [-2.25867351e-02 -3.01030590e-04 9.99744842e-01 -8.63648124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.64, Y:-31.12, Z:-8.64 [[ 9.84435153e-01 1.74374171e-01 2.19334819e-02 2.04635951e+02] [-1.74337653e-01 9.84679420e-01 -3.58099485e-03 -3.11221805e+01] [-2.22218813e-02 -2.98574550e-04 9.99753019e-01 -8.63940187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.66, Y:-31.13, Z:-8.64 [[ 9.84280826e-01 1.75136539e-01 2.27694530e-02 2.04663571e+02] [-1.75020012e-01 9.84539785e-01 -7.02905420e-03 -3.11273852e+01] [-2.36484766e-02 2.93345333e-03 9.99716032e-01 -8.63629295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.69, Y:-31.13, Z:-8.64 [[ 9.84466896e-01 1.74164006e-01 2.21772309e-02 2.04693970e+02] [-1.74202534e-01 9.84709824e-01 -1.97496074e-04 -3.11340577e+01] [-2.18725338e-02 -3.66890147e-03 9.99754035e-01 -8.63884288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264000000004 meters Centerline goodness [0,1] 0.9999572996285068 Centerline is valid? [True, True] Translation: X:204.72, Y:-31.13, Z:-8.64 [[ 9.84469723e-01 1.74149538e-01 2.21653380e-02 2.04721685e+02] [-1.74112184e-01 9.84719173e-01 -3.61894471e-03 -3.11338806e+01] [-2.24568709e-02 -2.96513919e-04 9.99747769e-01 -8.64140162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.75, Y:-31.14, Z:-8.64 [[ 9.84606640e-01 1.73332825e-01 2.24832191e-02 2.04750322e+02] [-1.73294218e-01 9.84863265e-01 -3.66914905e-03 -3.11394040e+01] [-2.27788806e-02 -2.83543360e-04 9.99740487e-01 -8.64025078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.78, Y:-31.14, Z:-8.64 [[ 9.84673977e-01 1.72811204e-01 2.35254461e-02 2.04779127e+02] [-1.72768815e-01 9.84954926e-01 -3.83797030e-03 -3.11445331e+01] [-2.38347483e-02 -2.85313972e-04 9.99715871e-01 -8.63918300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.81, Y:-31.15, Z:-8.64 [[ 9.84746391e-01 1.72217593e-01 2.48122199e-02 2.04808042e+02] [-1.72170296e-01 9.85058891e-01 -4.04613655e-03 -3.11499409e+01] [-2.51383137e-02 -2.87508874e-04 9.99683941e-01 -8.63807864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.84, Y:-31.16, Z:-8.64 [[ 9.85091831e-01 1.69969376e-01 2.65423514e-02 2.04836381e+02] [-1.69914456e-01 9.85449314e-01 -4.32752770e-03 -3.11569966e+01] [-2.68916891e-02 -2.46917009e-04 9.99638323e-01 -8.63640166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.86, Y:-31.17, Z:-8.64 [[ 9.85006252e-01 1.68824494e-01 3.55102011e-02 2.04861851e+02] [-1.69254655e-01 9.85526985e-01 9.45638745e-03 -3.11734698e+01] [-3.33997916e-02 -1.53248676e-02 9.99324573e-01 -8.63687505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.90, Y:-31.17, Z:-8.64 [[ 9.85300017e-01 1.67785111e-01 3.21252596e-02 2.04895448e+02] [-1.67649672e-01 9.85822604e-01 -6.88337359e-03 -3.11726901e+01] [-3.28247347e-02 1.39639889e-03 9.99460148e-01 -8.63516256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.92, Y:-31.19, Z:-8.64 [[ 9.85800485e-01 1.64401168e-01 3.42002917e-02 2.04924965e+02] [-1.64495600e-01 9.86377815e-01 -5.32867927e-05 -3.11856909e+01] [-3.37431694e-02 -5.57326736e-03 9.99414997e-01 -8.63833533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.96, Y:-31.19, Z:-8.64 [[ 9.85755001e-01 1.64805226e-01 3.35606153e-02 2.04958336e+02] [-1.64725337e-01 9.86326028e-01 -5.15066595e-03 -3.11883490e+01] [-3.39505650e-02 -4.50988943e-04 9.99423412e-01 -8.63998773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:204.99, Y:-31.20, Z:-8.64 [[ 9.86061585e-01 1.63134646e-01 3.27053057e-02 2.04989483e+02] [-1.63069564e-01 9.86603543e-01 -4.66551772e-03 -3.11966917e+01] [-3.30282781e-02 -7.32752137e-04 9.99454149e-01 -8.64298652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.02, Y:-31.20, Z:-8.65 [[ 9.86540599e-01 1.61759075e-01 2.39091549e-02 2.05024627e+02] [-1.61264617e-01 9.86680297e-01 -2.13474954e-02 -3.11951900e+01] [-2.70438432e-02 1.72044702e-02 9.99486186e-01 -8.64910547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49264000000002 meters Centerline goodness [0,1] 0.9999134105422665 Centerline is valid? [True, True] Translation: X:205.05, Y:-31.21, Z:-8.65 [[ 9.86826511e-01 1.59735397e-01 2.56523061e-02 2.05054013e+02] [-1.59679842e-01 9.87159865e-01 -4.21292622e-03 -3.12127733e+01] [-2.59958805e-02 6.12710839e-05 9.99662048e-01 -8.64910035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.08, Y:-31.22, Z:-8.65 [[ 9.86912243e-01 1.59087213e-01 2.63720305e-02 2.05084671e+02] [-1.59028129e-01 9.87264530e-01 -4.33620918e-03 -3.12193497e+01] [-2.67260057e-02 8.55632450e-05 9.99642793e-01 -8.65304310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55264000000003 meters Centerline goodness [0,1] 0.9998712004121587 Centerline is valid? [True, True] Translation: X:205.12, Y:-31.23, Z:-8.65 [[ 9.86992445e-01 1.58700481e-01 2.56918459e-02 2.05115343e+02] [-1.58644167e-01 9.87326768e-01 -4.22852207e-03 -3.12272847e+01] [-2.60373157e-02 9.76578295e-05 9.99660967e-01 -8.65445723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264000000003 meters Centerline goodness [0,1] 0.9997408822957828 Centerline is valid? [True, True] Translation: X:205.15, Y:-31.23, Z:-8.65 [[ 9.86929755e-01 1.59085256e-01 2.57204391e-02 2.05147855e+02] [-1.59028864e-01 9.87264844e-01 -4.23641145e-03 -3.12331340e+01] [-2.60668359e-02 9.07483007e-05 9.99660198e-01 -8.65225870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.17, Y:-31.25, Z:-8.65 [[ 9.86344744e-01 1.60456758e-01 3.71170525e-02 2.05172364e+02] [-1.61109669e-01 9.86817827e-01 1.53052679e-02 -3.12497707e+01] [-3.41719355e-02 -2.10761865e-02 9.99193712e-01 -8.65290142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.21, Y:-31.23, Z:-8.66 [[ 9.86666422e-01 1.61018945e-01 2.37122699e-02 2.05211911e+02] [-1.60426336e-01 9.86729041e-01 -2.50836559e-02 -3.12322829e+01] [-2.74365291e-02 2.09451284e-02 9.99404092e-01 -8.65705610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.24, Y:-31.25, Z:-8.66 [[ 9.86669706e-01 1.60451556e-01 2.71696591e-02 2.05242150e+02] [-1.60388826e-01 9.87043714e-01 -4.48677865e-03 -3.12502948e+01] [-2.75375519e-02 6.92588400e-05 9.99620767e-01 -8.65718164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.27, Y:-31.26, Z:-8.66 [[ 9.86612164e-01 1.60784129e-01 2.72928992e-02 2.05272969e+02] [-1.60720797e-01 9.86989595e-01 -4.51285192e-03 -3.12565637e+01] [-2.76634025e-02 6.58980997e-05 9.99617293e-01 -8.66031137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.30, Y:-31.27, Z:-8.66 [[ 9.86549552e-01 1.59832374e-01 3.42577382e-02 2.05303193e+02] [-1.60257074e-01 9.87024508e-01 1.00144891e-02 -3.12721152e+01] [-3.22125877e-02 -1.53698346e-02 9.99362856e-01 -8.65733218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.34, Y:-31.26, Z:-8.66 [[ 9.86583907e-01 1.61305230e-01 2.51558554e-02 2.05336744e+02] [-1.60830599e-01 9.86781731e-01 -1.98829933e-02 -3.12622355e+01] [-2.80305693e-02 1.55704100e-02 9.99485793e-01 -8.66112445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.37, Y:-31.28, Z:-8.66 [[ 9.86614403e-01 1.60613337e-01 2.82024018e-02 2.05365351e+02] [-1.60545295e-01 9.87017400e-01 -4.67542176e-03 -3.12786275e+01] [-2.85871964e-02 8.50755219e-05 9.99591299e-01 -8.66212608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264000000004 meters Centerline goodness [0,1] 0.99980528331278 Centerline is valid? [True, True] Translation: X:205.40, Y:-31.29, Z:-8.66 [[ 9.86639608e-01 1.60532283e-01 2.77789600e-02 2.05397910e+02] [-1.60466129e-01 9.87030586e-01 -4.60905823e-03 -3.12864182e+01] [-2.81585858e-02 8.98972233e-05 9.99603464e-01 -8.66132590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.43, Y:-31.29, Z:-8.67 [[ 9.86568904e-01 1.60837077e-01 2.85172441e-02 2.05428219e+02] [-1.60767294e-01 9.86980966e-01 -4.73821278e-03 -3.12933264e+01] [-2.89080574e-02 8.99332225e-05 9.99582071e-01 -8.66523476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264000000004 meters Centerline goodness [0,1] 0.9998711284849006 Centerline is valid? [True, True] Translation: X:205.46, Y:-31.30, Z:-8.67 [[ 9.86462745e-01 1.61519654e-01 2.83311468e-02 2.05460994e+02] [-1.61450936e-01 9.86869493e-01 -4.71161788e-03 -3.12999566e+01] [-2.87201633e-02 7.37453458e-05 9.99587488e-01 -8.66598853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.49, Y:-31.31, Z:-8.67 [[ 9.86293010e-01 1.62462776e-01 2.88434566e-02 2.05492282e+02] [-1.62391779e-01 9.86714672e-01 -4.80277067e-03 -3.13052046e+01] [-2.92405333e-02 5.29989174e-05 9.99572403e-01 -8.66653500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.52, Y:-31.31, Z:-8.67 [[ 9.86111336e-01 1.63618582e-01 2.85200263e-02 2.05524204e+02] [-1.63549489e-01 9.86523674e-01 -4.75451841e-03 -3.13111162e+01] [-2.89136087e-02 2.40487599e-05 9.99581914e-01 -8.66853696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.56, Y:-31.32, Z:-8.67 [[ 9.85876456e-01 1.65125619e-01 2.79489305e-02 2.05555465e+02] [-1.65059800e-01 9.86272543e-01 -4.66182926e-03 -3.13164592e+01] [-2.83350502e-02 -1.72571704e-05 9.99598482e-01 -8.67253053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.59, Y:-31.32, Z:-8.67 [[ 9.85607912e-01 1.66844285e-01 2.72034779e-02 2.05587542e+02] [-1.66782446e-01 9.85983256e-01 -4.54256262e-03 -3.13205455e+01] [-2.75800743e-02 -5.98769039e-05 9.99619596e-01 -8.67384392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.62, Y:-31.32, Z:-8.68 [[ 9.84991261e-01 1.70479719e-01 2.69978167e-02 2.05620157e+02] [-1.70420047e-01 9.85361173e-01 -4.51290512e-03 -3.13216121e+01] [-2.73719592e-02 -1.55797101e-04 9.99625306e-01 -8.67588496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.65, Y:-31.33, Z:-8.68 [[ 9.84740939e-01 1.71870899e-01 2.73070731e-02 2.05651422e+02] [-1.71810189e-01 9.85119464e-01 -4.57174799e-03 -3.13250253e+01] [-2.76864797e-02 -1.89645989e-04 9.99616638e-01 -8.67652891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.68, Y:-31.33, Z:-8.68 [[ 9.84512797e-01 1.73162895e-01 2.73708723e-02 2.05683018e+02] [-1.73102443e-01 9.84893172e-01 -4.58085648e-03 -3.13296866e+01] [-2.77506196e-02 -2.28053041e-04 9.99614851e-01 -8.67723572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.71, Y:-31.33, Z:-8.68 [[ 9.84298568e-01 1.74203027e-01 2.84540673e-02 2.05712912e+02] [-1.74137931e-01 9.84709722e-01 -4.76900659e-03 -3.13326455e+01] [-2.88497721e-02 -2.60806058e-04 9.99583725e-01 -8.67876314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.74, Y:-31.34, Z:-8.68 [[ 9.84334962e-01 1.73986056e-01 2.85225163e-02 2.05743219e+02] [-1.73920485e-01 9.84748084e-01 -4.78292613e-03 -3.13380552e+01] [-2.89196557e-02 -2.52648459e-04 9.99581707e-01 -8.68041769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.77, Y:-31.35, Z:-8.68 [[ 9.84466393e-01 1.73205353e-01 2.87371863e-02 2.05774901e+02] [-1.73138497e-01 9.84885705e-01 -4.81763710e-03 -3.13453277e+01] [-2.91372845e-02 -2.32711414e-04 9.99575392e-01 -8.68102659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.81, Y:-31.35, Z:-8.68 [[ 9.84841461e-01 1.70813042e-01 3.01695318e-02 2.05806549e+02] [-1.70738021e-01 9.85303445e-01 -5.06459022e-03 -3.13545779e+01] [-3.05912417e-02 -1.63267720e-04 9.99531965e-01 -8.67933769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.84, Y:-31.36, Z:-8.68 [[ 9.85067958e-01 1.69452429e-01 3.04465361e-02 2.05837756e+02] [-1.69375359e-01 9.85538360e-01 -5.11158071e-03 -3.13625482e+01] [-3.08723990e-02 -1.21638608e-04 9.99523326e-01 -8.67859114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.87, Y:-31.37, Z:-8.68 [[ 9.85301581e-01 1.68174247e-01 2.99702599e-02 2.05869132e+02] [-1.68098818e-01 9.85757281e-01 -5.03691918e-03 -3.13695419e+01] [-3.03904820e-02 -7.50808270e-05 9.99538100e-01 -8.68304672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.90, Y:-31.38, Z:-8.68 [[ 9.85556015e-01 1.66695940e-01 2.98631199e-02 2.05901250e+02] [-1.66620194e-01 9.86008348e-01 -5.02472401e-03 -3.13777853e+01] [-3.02828867e-02 -2.36518727e-05 9.99541368e-01 -8.68294220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.93, Y:-31.39, Z:-8.68 [[ 9.85869351e-01 1.64757719e-01 3.02740354e-02 2.05933407e+02] [-1.64678768e-01 9.86334067e-01 -5.10010581e-03 -3.13872569e+01] [-3.07005943e-02 4.25471514e-05 9.99528625e-01 -8.68400694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.96, Y:-31.39, Z:-8.69 [[ 9.86058447e-01 1.63669191e-01 3.00189252e-02 2.05963261e+02] [-1.63590834e-01 9.86515276e-01 -5.06459485e-03 -3.13943289e+01] [-3.04430465e-02 8.31655160e-05 9.99536500e-01 -8.68613688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:205.99, Y:-31.40, Z:-8.69 [[ 9.86242528e-01 1.62567369e-01 2.99587470e-02 2.05994508e+02] [-1.62488774e-01 9.86697439e-01 -5.05587468e-03 -3.14024196e+01] [-3.03821392e-02 1.18358548e-04 9.99538349e-01 -8.68912921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.03, Y:-31.41, Z:-8.69 [[ 9.86791958e-01 1.58973303e-01 3.11306948e-02 2.06025750e+02] [-1.58886449e-01 9.87282852e-01 -5.25994179e-03 -3.14132914e+01] [-3.15709914e-02 2.44222726e-04 9.99501482e-01 -8.68702237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.06, Y:-31.42, Z:-8.69 [[ 9.87154502e-01 1.56623994e-01 3.15422578e-02 2.06056420e+02] [-1.56533448e-01 9.87658249e-01 -5.33513130e-03 -3.14228549e+01] [-3.19885807e-02 3.29180514e-04 9.99488180e-01 -8.68757015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.09, Y:-31.43, Z:-8.69 [[ 9.87562949e-01 1.54023081e-01 3.15644130e-02 2.06085992e+02] [-1.53930893e-01 9.88067161e-01 -5.34468731e-03 -3.14343122e+01] [-3.20109651e-02 4.19476905e-04 9.99487430e-01 -8.69022451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51264000000003 meters Centerline goodness [0,1] 0.9999568854013969 Centerline is valid? [True, True] Translation: X:206.11, Y:-31.45, Z:-8.69 [[ 9.88404454e-01 1.48553607e-01 3.14397970e-02 2.06114118e+02] [-1.48459167e-01 9.88904174e-01 -5.33018329e-03 -3.14512560e+01] [-3.18827645e-02 6.00850828e-04 9.99491435e-01 -8.69174943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.15, Y:-31.46, Z:-8.69 [[ 9.88683833e-01 1.46628416e-01 3.16920426e-02 2.06145058e+02] [-1.46531479e-01 9.89191418e-01 -5.37254384e-03 -3.14596784e+01] [-3.21372642e-02 6.67865368e-04 9.99483242e-01 -8.69132071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57264000000004 meters Centerline goodness [0,1] 0.9999783559153284 Centerline is valid? [True, True] Translation: X:206.18, Y:-31.47, Z:-8.69 [[ 9.88919596e-01 1.44975554e-01 3.19393342e-02 2.06175726e+02] [-1.44876049e-01 9.89434966e-01 -5.42021273e-03 -3.14697060e+01] [-3.23876923e-02 7.32910041e-04 9.99475112e-01 -8.69178910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264000000004 meters Centerline goodness [0,1] 0.9998268323304039 Centerline is valid? [True, True] Translation: X:206.21, Y:-31.48, Z:-8.69 [[ 9.89100761e-01 1.43670652e-01 3.22246445e-02 2.06207051e+02] [-1.43568479e-01 9.89625243e-01 -5.47444622e-03 -3.14787656e+01] [-3.26768389e-02 7.88335725e-04 9.99465659e-01 -8.69137989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63264000000004 meters Centerline goodness [0,1] 0.999891863834941 Centerline is valid? [True, True] Translation: X:206.24, Y:-31.49, Z:-8.69 [[ 9.89271167e-01 1.42617313e-01 3.16679771e-02 2.06236268e+02] [-1.42517892e-01 9.89777570e-01 -5.38640956e-03 -3.14934677e+01] [-3.21124487e-02 8.15366333e-04 9.99483930e-01 -8.69421989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.27, Y:-31.50, Z:-8.70 [[ 9.89213443e-01 1.43155178e-01 3.10380323e-02 2.06267703e+02] [-1.43059886e-01 9.89699945e-01 -5.28092860e-03 -3.15022206e+01] [-3.14743311e-02 7.83668196e-04 9.99504253e-01 -8.69795913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.30, Y:-31.51, Z:-8.70 [[ 9.89069833e-01 1.44304154e-01 3.02849279e-02 2.06297548e+02] [-1.44213776e-01 9.89533107e-01 -5.15910455e-03 -3.15099937e+01] [-3.07124191e-02 7.35210871e-04 9.99527992e-01 -8.70093199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.33, Y:-31.51, Z:-8.70 [[ 9.88519503e-01 1.48324935e-01 2.87907209e-02 2.06328408e+02] [-1.48244780e-01 9.88938507e-01 -4.91073278e-03 -3.15140207e+01] [-2.92006366e-02 5.86281047e-04 9.99573399e-01 -8.70309682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75264000000004 meters Centerline goodness [0,1] 0.9998922692407136 Centerline is valid? [True, True] Translation: X:206.36, Y:-31.52, Z:-8.71 [[ 9.88128834e-01 1.51122883e-01 2.76275390e-02 2.06358863e+02] [-1.51050207e-01 9.88514867e-01 -4.71092022e-03 -3.15200964e+01] [-2.80221609e-02 4.81850601e-04 9.99607186e-01 -8.70611675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.39, Y:-31.52, Z:-8.71 [[ 9.87534931e-01 1.54973871e-01 2.75292634e-02 2.06389397e+02] [-1.54903048e-01 9.87918497e-01 -4.69981623e-03 -3.15248529e+01] [-2.79250172e-02 3.76865885e-04 9.99609950e-01 -8.71070128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81264000000004 meters Centerline goodness [0,1] 0.9998053801574258 Centerline is valid? [True, True] Translation: X:206.42, Y:-31.53, Z:-8.71 [[ 9.86875775e-01 1.59092431e-01 2.76731646e-02 2.06421638e+02] [-1.59022437e-01 9.87263657e-01 -4.72602880e-03 -3.15261568e+01] [-2.80725851e-02 2.63349246e-04 9.99605853e-01 -8.70840135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.45, Y:-31.52, Z:-8.71 [[ 9.85207131e-01 1.68837828e-01 2.93376220e-02 2.06453083e+02] [-1.68763244e-01 9.85643844e-01 -5.01794322e-03 -3.15240473e+01] [-2.97636651e-02 -7.39881193e-06 9.99556964e-01 -8.70873754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.49, Y:-31.52, Z:-8.71 [[ 9.84205983e-01 1.74426735e-01 3.02307236e-02 2.06486716e+02] [-1.74350212e-01 9.84670138e-01 -5.16941787e-03 -3.15238533e+01] [-3.06689754e-02 -1.82961086e-04 9.99529580e-01 -8.70831078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:206.52, Y:-31.52, Z:-8.71 [[ 9.83157186e-01 1.80155655e-01 3.07552916e-02 2.06519235e+02] [-1.80079047e-01 9.83638048e-01 -5.26569096e-03 -3.15225461e+01] [-3.12007190e-02 -3.61381692e-04 9.99513074e-01 -8.70917060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93264000000002 meters Centerline goodness [0,1] 0.99991533495608 Centerline is valid? [True, True] Translation: X:206.55, Y:-31.51, Z:-8.71 [[ 9.81111553e-01 1.91057262e-01 3.02860109e-02 2.06551859e+02] [-1.90987930e-01 9.81578651e-01 -5.19264253e-03 -3.15086176e+01] [-3.07201937e-02 -6.89700942e-04 9.99527786e-01 -8.71399583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264000000002 meters Centerline goodness [0,1] 0.9998081432530377 Centerline is valid? [True, True] Translation: X:206.58, Y:-31.51, Z:-8.71 [[ 9.80116354e-01 1.96160466e-01 2.98831756e-02 2.06582998e+02] [-1.96095351e-01 9.80571450e-01 -5.12300333e-03 -3.15100950e+01] [-3.03075196e-02 -8.38812477e-04 9.99540270e-01 -8.71451480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99264000000002 meters Centerline goodness [0,1] 0.9996347855976626 Centerline is valid? [True, True] Translation: X:206.61, Y:-31.51, Z:-8.72 [[ 9.79253104e-01 2.00492701e-01 2.94284817e-02 2.06614452e+02] [-2.00431495e-01 9.79694728e-01 -5.04539798e-03 -3.15089713e+01] [-2.98424939e-02 -9.57672966e-04 9.99554155e-01 -8.71523467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264000000002 meters Centerline goodness [0,1] 0.999317697228145 Centerline is valid? [True, True] Translation: X:206.65, Y:-31.50, Z:-8.72 [[ 9.77590934e-01 2.08322331e-01 3.02947499e-02 2.06645720e+02] [-2.08261195e-01 9.78059452e-01 -5.19456915e-03 -3.15006422e+01] [-3.07122112e-02 -1.23105711e-03 9.99527511e-01 -8.71633976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05264000000003 meters Centerline goodness [0,1] 0.998549518994902 Centerline is valid? [True, True] Translation: X:206.68, Y:-31.50, Z:-8.72 [[ 9.76925804e-01 2.11381832e-01 3.05564136e-02 2.06676060e+02] [-2.11321138e-01 9.77402644e-01 -5.23911196e-03 -3.14976507e+01] [-3.09733725e-02 -1.33899243e-03 9.99519313e-01 -8.71798602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264000000003 meters Centerline goodness [0,1] 0.9980403016231415 Centerline is valid? [True, True] Translation: X:206.71, Y:-31.50, Z:-8.72 [[ 9.76452369e-01 2.13575896e-01 3.04320206e-02 2.06705719e+02] [-2.13516760e-01 9.76925467e-01 -5.21770229e-03 -3.14989864e+01] [-3.08441914e-02 -1.40290869e-03 9.99523220e-01 -8.71902222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11264000000003 meters Centerline goodness [0,1] 0.9952198650563675 Centerline is valid? [True, True] Translation: X:206.73, Y:-31.50, Z:-8.72 [[ 9.76170728e-01 2.14874739e-01 3.03241783e-02 2.06734475e+02] [-2.14816683e-01 9.76640555e-01 -5.19806641e-03 -3.14971972e+01] [-3.07327555e-02 -1.43993910e-03 9.99526600e-01 -8.72078150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264000000003 meters Centerline goodness [0,1] 0.9978299257494202 Centerline is valid? [True, True] Translation: X:206.76, Y:-31.50, Z:-8.72 [[ 9.75989501e-01 2.15580028e-01 3.11407493e-02 2.06763866e+02] [-2.15519182e-01 9.76485020e-01 -5.33737197e-03 -3.14990230e+01] [-3.15591061e-02 -1.50220981e-03 9.99500758e-01 -8.72042951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17264000000003 meters Centerline goodness [0,1] 0.9985091156926222 Centerline is valid? [True, True] Translation: X:206.79, Y:-31.50, Z:-8.72 [[ 9.76157882e-01 2.14733571e-01 3.17061930e-02 2.06792855e+02] [-2.14670103e-01 9.76671507e-01 -5.43262755e-03 -3.15035741e+01] [-3.21331028e-02 -1.50326950e-03 9.99482468e-01 -8.72107999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264000000003 meters Centerline goodness [0,1] 0.9993156983084918 Centerline is valid? [True, True] Translation: X:206.82, Y:-31.51, Z:-8.72 [[ 9.76991085e-01 2.10788501e-01 3.25057958e-02 2.06823098e+02] [-2.10719661e-01 9.77530675e-01 -5.56810433e-03 -3.15099497e+01] [-3.29491049e-02 -1.40962198e-03 9.99456037e-01 -8.72103849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23264000000003 meters Centerline goodness [0,1] 0.9992537154310327 Centerline is valid? [True, True] Translation: X:206.85, Y:-31.51, Z:-8.72 [[ 9.77538799e-01 2.08224641e-01 3.25637238e-02 2.06851449e+02] [-2.08154137e-01 9.78080130e-01 -5.57797821e-03 -3.15124021e+01] [-3.30114037e-02 -1.32558369e-03 9.99454096e-01 -8.72315770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264000000003 meters Centerline goodness [0,1] 0.9997632168073015 Centerline is valid? [True, True] Translation: X:206.88, Y:-31.52, Z:-8.72 [[ 9.78193958e-01 2.05168606e-01 3.22865815e-02 2.06880096e+02] [-2.05097635e-01 9.78725893e-01 -5.53046007e-03 -3.15220109e+01] [-3.27343901e-02 -1.21203890e-03 9.99463351e-01 -8.72424188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29264000000003 meters Centerline goodness [0,1] 0.9997632168073015 Centerline is valid? [True, True] Translation: X:206.91, Y:-31.53, Z:-8.73 [[ 9.78198822e-01 2.05145407e-01 3.22866268e-02 2.06908844e+02] [-2.05074432e-01 9.78730757e-01 -5.53019563e-03 -3.15268910e+01] [-3.27344089e-02 -1.21153081e-03 9.99463351e-01 -8.72549295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264000000004 meters Centerline goodness [0,1] 0.9998499753530937 Centerline is valid? [True, True] Translation: X:206.94, Y:-31.54, Z:-8.73 [[ 9.78940418e-01 2.01622596e-01 3.19997813e-02 2.06938328e+02] [-2.01551029e-01 9.79462685e-01 -5.48004090e-03 -3.15359673e+01] [-3.24474918e-02 -1.08495533e-03 9.99472853e-01 -8.72654501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35264000000004 meters Centerline goodness [0,1] 0.9998718605843158 Centerline is valid? [True, True] Translation: X:206.97, Y:-31.54, Z:-8.73 [[ 9.80632198e-01 1.93197478e-01 3.21749325e-02 2.06967310e+02] [-1.93120588e-01 9.81159558e-01 -5.51004458e-03 -3.15430403e+01] [-3.26332693e-02 -8.10314777e-04 9.99467065e-01 -8.72997607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264000000004 meters Centerline goodness [0,1] 0.9998721554589619 Centerline is valid? [True, True] Translation: X:207.00, Y:-31.56, Z:-8.73 [[ 9.81586840e-01 1.88288311e-01 3.21681257e-02 2.06996113e+02] [-1.88208818e-01 9.82113585e-01 -5.50884280e-03 -3.15554542e+01] [-3.26300039e-02 -6.46917322e-04 9.99467290e-01 -8.72923935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41264000000004 meters Centerline goodness [0,1] 0.9999148718821826 Centerline is valid? [True, True] Translation: X:207.03, Y:-31.56, Z:-8.73 [[ 9.82531877e-01 1.83275865e-01 3.22655746e-02 2.07025573e+02] [-1.83193194e-01 9.83061405e-01 -5.52528298e-03 -3.15642722e+01] [-3.27316921e-02 -4.82067006e-04 9.99464058e-01 -8.73173877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.06, Y:-31.58, Z:-8.73 [[ 9.83436060e-01 1.78309244e-01 3.25473526e-02 2.07055534e+02] [-1.78222373e-01 9.83974447e-01 -5.57435849e-03 -3.15759753e+01] [-3.30197229e-02 -3.18641276e-04 9.99454649e-01 -8.73327197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.08, Y:-31.59, Z:-8.73 [[ 9.85024818e-01 1.69312942e-01 3.25459078e-02 2.07084783e+02] [-1.69221184e-01 9.85562341e-01 -5.57347085e-03 -3.15939554e+01] [-3.30196818e-02 -1.74499260e-05 9.99454701e-01 -8.73435264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.12, Y:-31.61, Z:-8.74 [[ 9.85651784e-01 1.65646132e-01 3.24333187e-02 2.07116656e+02] [-1.65552848e-01 9.86185250e-01 -5.55947689e-03 -3.16051268e+01] [-3.29061663e-02 1.10280031e-04 9.99458439e-01 -8.73587383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.15, Y:-31.61, Z:-8.74 [[ 9.86184859e-01 1.62534364e-01 3.19687981e-02 2.07146755e+02] [-1.62441882e-01 9.86702860e-01 -5.48650876e-03 -3.16149982e+01] [-3.24354507e-02 2.17640127e-04 9.99473809e-01 -8.73772859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.18, Y:-31.63, Z:-8.74 [[ 9.87089021e-01 1.57014424e-01 3.16502188e-02 2.07177066e+02] [-1.56920737e-01 9.87596228e-01 -5.43805171e-03 -3.16276627e+01] [-3.21114893e-02 4.01265458e-04 9.99484213e-01 -8.73906313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.21, Y:-31.64, Z:-8.74 [[ 9.87371739e-01 1.55107729e-01 3.22279638e-02 2.07207171e+02] [-1.55009534e-01 9.87897449e-01 -5.53854034e-03 -3.16380589e+01] [-3.26969936e-02 4.72956547e-04 9.99465198e-01 -8.74092112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.24, Y:-31.65, Z:-8.74 [[ 9.87616324e-01 1.53489389e-01 3.24808255e-02 2.07236881e+02] [-1.53388690e-01 9.88150152e-01 -5.58447071e-03 -3.16472550e+01] [-3.29530897e-02 5.33123155e-04 9.99456757e-01 -8.74163962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.27, Y:-31.66, Z:-8.74 [[ 9.87798362e-01 1.52297256e-01 3.25567599e-02 2.07268349e+02] [-1.52195273e-01 9.88334564e-01 -5.60253121e-03 -3.16551488e+01] [-3.30302212e-02 5.79186183e-04 9.99454186e-01 -8.74265710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.30, Y:-31.67, Z:-8.74 [[ 9.88058653e-01 1.50565343e-01 3.27135290e-02 2.07299271e+02] [-1.50461241e-01 9.88599848e-01 -5.63512159e-03 -3.16662424e+01] [-3.31890439e-02 6.45712479e-04 9.99448883e-01 -8.74361888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71264000000002 meters Centerline goodness [0,1] 0.9998283188119662 Centerline is valid? [True, True] Translation: X:207.33, Y:-31.68, Z:-8.74 [[ 9.88079643e-01 1.50510758e-01 3.23284684e-02 2.07329715e+02] [-1.50408877e-01 9.88608161e-01 -5.57445320e-03 -3.16756800e+01] [-3.27992029e-02 6.45515085e-04 9.99461753e-01 -8.74408927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264000000002 meters Centerline goodness [0,1] 0.9998508607465485 Centerline is valid? [True, True] Translation: X:207.36, Y:-31.68, Z:-8.75 [[ 9.88003053e-01 1.50977688e-01 3.24916165e-02 2.07360940e+02] [-1.50874858e-01 9.88536965e-01 -5.60777484e-03 -3.16824478e+01] [-3.29658128e-02 6.38330649e-04 9.99456276e-01 -8.74562995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.39, Y:-31.69, Z:-8.75 [[ 9.87878882e-01 1.51749612e-01 3.26706178e-02 2.07391650e+02] [-1.51645878e-01 9.88418772e-01 -5.64434572e-03 -3.16889122e+01] [-3.31487792e-02 6.21565418e-04 9.99450235e-01 -8.74878162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264000000003 meters Centerline goodness [0,1] 0.9997226784990507 Centerline is valid? [True, True] Translation: X:207.42, Y:-31.70, Z:-8.75 [[ 9.87571831e-01 1.53925760e-01 3.17606591e-02 2.07423527e+02] [-1.53828674e-01 9.88082269e-01 -5.49260131e-03 -3.16960687e+01] [-3.22275970e-02 5.38638251e-04 9.99480411e-01 -8.75067313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.45, Y:-31.70, Z:-8.75 [[ 9.87286484e-01 1.55576206e-01 3.25797820e-02 2.07454591e+02] [-1.55474867e-01 9.87823767e-01 -5.63657643e-03 -3.17017151e+01] [-3.30600002e-02 4.99578429e-04 9.99453244e-01 -8.75299525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.49, Y:-31.71, Z:-8.76 [[ 9.86700547e-01 1.59400574e-01 3.18353322e-02 2.07486592e+02] [-1.59305637e-01 9.87213919e-01 -5.51294494e-03 -3.17059941e+01] [-3.23070497e-02 3.68077905e-04 9.99477923e-01 -8.75609064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.52, Y:-31.71, Z:-8.76 [[ 9.86382829e-01 1.61364456e-01 3.17872080e-02 2.07518920e+02] [-1.61270628e-01 9.86894836e-01 -5.51071449e-03 -3.17108666e+01] [-3.22598649e-02 3.09331147e-04 9.99479467e-01 -8.75721430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.55, Y:-31.71, Z:-8.76 [[ 9.85722935e-01 1.65379228e-01 3.16228644e-02 2.07549565e+02] [-1.65288361e-01 9.86230033e-01 -5.48441666e-03 -3.17142446e+01] [-3.20944272e-02 1.79223856e-04 9.99484825e-01 -8.75995809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.58, Y:-31.72, Z:-8.76 [[ 9.85386760e-01 1.67422315e-01 3.13480691e-02 2.07581153e+02] [-1.67333902e-01 9.85885265e-01 -5.44155307e-03 -3.17181671e+01] [-3.18166369e-02 1.16439618e-04 9.99493716e-01 -8.76168104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.61, Y:-31.72, Z:-8.76 [[ 9.84992550e-01 1.69676241e-01 3.16172309e-02 2.07612954e+02] [-1.69587292e-01 9.85499858e-01 -5.49359137e-03 -3.17212699e+01] [-3.20909086e-02 4.92660018e-05 9.99484953e-01 -8.76123787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.64, Y:-31.72, Z:-8.76 [[ 9.84568648e-01 1.71956906e-01 3.24869178e-02 2.07644586e+02] [-1.71864040e-01 9.85104473e-01 -5.65064950e-03 -3.17248095e+01] [-3.29746762e-02 -1.98805980e-05 9.99456187e-01 -8.76144647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.68, Y:-31.73, Z:-8.76 [[ 9.83760056e-01 1.76407602e-01 3.31135862e-02 2.07676290e+02] [-1.76313437e-01 9.84317190e-01 -5.76556784e-03 -3.17263054e+01] [-3.36113621e-02 -1.66434850e-04 9.99434965e-01 -8.76331269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.71, Y:-31.73, Z:-8.76 [[ 9.83377044e-01 1.78501007e-01 3.32713121e-02 2.07708139e+02] [-1.78406919e-01 9.83939702e-01 -5.79956032e-03 -3.17306312e+01] [-3.37721923e-02 -2.32677796e-04 9.99429530e-01 -8.76364892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.74, Y:-31.74, Z:-8.76 [[ 9.82977955e-01 1.80626420e-01 3.35922098e-02 2.07739741e+02] [-1.80531554e-01 9.83551730e-01 -5.86116832e-03 -3.17352474e+01] [-3.40983579e-02 -3.03054592e-04 9.99418436e-01 -8.76362142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.77, Y:-31.74, Z:-8.77 [[ 9.82445427e-01 1.83564142e-01 3.32443898e-02 2.07771328e+02] [-1.83472692e-01 9.83007655e-01 -5.80698479e-03 -3.17380213e+01] [-3.37454439e-02 -3.94392056e-04 9.99430383e-01 -8.76520717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.80, Y:-31.74, Z:-8.77 [[ 9.82249255e-01 1.84695589e-01 3.27710413e-02 2.07802295e+02] [-1.84607255e-01 9.82795686e-01 -5.72731145e-03 -3.17400680e+01] [-3.32650472e-02 -4.24124559e-04 9.99446475e-01 -8.76917186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.83, Y:-31.75, Z:-8.77 [[ 9.82082566e-01 1.85593637e-01 3.26930390e-02 2.07834185e+02] [-1.85506139e-01 9.82626480e-01 -5.71609728e-03 -3.17453436e+01] [-3.31859171e-02 -4.51079963e-04 9.99449094e-01 -8.77039368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.87, Y:-31.75, Z:-8.77 [[ 9.81951955e-01 1.86310577e-01 3.25380880e-02 2.07865593e+02] [-1.86224118e-01 9.82490789e-01 -5.69454806e-03 -3.17504304e+01] [-3.30293263e-02 -4.67604122e-04 9.99454274e-01 -8.77178079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.90, Y:-31.75, Z:-8.78 [[ 9.81789874e-01 1.87275393e-01 3.18837168e-02 2.07896239e+02] [-1.87192703e-01 9.82307331e-01 -5.58563628e-03 -3.17533708e+01] [-3.23656610e-02 -4.84478002e-04 9.99475977e-01 -8.77543659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.93, Y:-31.76, Z:-8.78 [[ 9.81805306e-01 1.87247321e-01 3.15718425e-02 2.07928894e+02] [-1.87166076e-01 9.82312687e-01 -5.53569685e-03 -3.17608563e+01] [-3.20499659e-02 -4.74201345e-04 9.99486155e-01 -8.77707474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.96, Y:-31.77, Z:-8.78 [[ 9.81911341e-01 1.86721785e-01 3.13861985e-02 2.07959624e+02] [-1.86640995e-01 9.82412731e-01 -5.51037574e-03 -3.17663161e+01] [-3.18631082e-02 -4.47250872e-04 9.99492142e-01 -8.77954729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:207.99, Y:-31.77, Z:-8.78 [[ 9.82073810e-01 1.85850476e-01 3.14743105e-02 2.07991297e+02] [-1.85768710e-01 9.82577949e-01 -5.52813852e-03 -3.17738518e+01] [-3.19533706e-02 -4.17902001e-04 9.99489273e-01 -8.78039535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.02, Y:-31.79, Z:-8.78 [[ 9.82746120e-01 1.82043336e-01 3.27152571e-02 2.08021526e+02] [-1.81952652e-01 9.83290463e-01 -5.75308651e-03 -3.17858618e+01] [-3.32159113e-02 -2.98804347e-04 9.99448155e-01 -8.77983747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.05, Y:-31.80, Z:-8.78 [[ 9.82860914e-01 1.80263124e-01 3.85957260e-02 2.08046168e+02] [-1.80665936e-01 9.83518255e-01 7.18766634e-03 -3.18049410e+01] [-3.66639299e-02 -1.40374093e-02 9.99229057e-01 -8.77860528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.08, Y:-31.80, Z:-8.78 [[ 9.83598458e-01 1.77678405e-01 3.10557180e-02 2.08083853e+02] [-1.77145646e-01 9.83998124e-01 -1.91601651e-02 -3.17988815e+01] [-3.39631159e-02 1.33445236e-02 9.99333993e-01 -8.78299433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.11, Y:-31.82, Z:-8.78 [[ 9.84501040e-01 1.72266549e-01 3.28928381e-02 2.08112943e+02] [-1.72169121e-01 9.85050371e-01 -5.79305855e-03 -3.18218823e+01] [-3.33990526e-02 4.01411633e-05 9.99442095e-01 -8.78395476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49264000000002 meters Centerline goodness [0,1] 0.9999144183658187 Centerline is valid? [True, True] Translation: X:208.14, Y:-31.83, Z:-8.78 [[ 9.84875891e-01 1.70221876e-01 3.23108680e-02 2.08143556e+02] [-1.70126553e-01 9.85405754e-01 -5.69701660e-03 -3.18322506e+01] [-3.28090721e-02 1.13917693e-04 9.99461631e-01 -8.78457996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.17, Y:-31.84, Z:-8.79 [[ 9.85054660e-01 1.69106251e-01 3.27168610e-02 2.08174701e+02] [-1.69007713e-01 9.85597814e-01 -5.77424647e-03 -3.18429081e+01] [-3.32221278e-02 1.58546533e-04 9.99447980e-01 -8.78707784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.21, Y:-31.85, Z:-8.79 [[ 9.85241922e-01 1.68079924e-01 3.23650026e-02 2.08205055e+02] [-1.67982717e-01 9.85773351e-01 -5.71899723e-03 -3.18524453e+01] [-3.28658057e-02 1.97834776e-04 9.99459754e-01 -8.78947635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264000000003 meters Centerline goodness [0,1] 0.9998500042855918 Centerline is valid? [True, True] Translation: X:208.24, Y:-31.86, Z:-8.79 [[ 9.85354308e-01 1.67577540e-01 3.15381496e-02 2.08236154e+02] [-1.67484824e-01 9.85858875e-01 -5.57778386e-03 -3.18610330e+01] [-3.20268760e-02 2.13931940e-04 9.99486985e-01 -8.79081055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61264000000003 meters Centerline goodness [0,1] 0.9999139803445087 Centerline is valid? [True, True] Translation: X:208.27, Y:-31.87, Z:-8.79 [[ 9.85202078e-01 1.68482014e-01 3.14750228e-02 2.08268675e+02] [-1.68389968e-01 9.85704710e-01 -5.57167024e-03 -3.18666971e+01] [-3.19638045e-02 1.89143007e-04 9.99489009e-01 -8.79097489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.30, Y:-31.87, Z:-8.79 [[ 9.84858882e-01 1.70281043e-01 3.25169123e-02 2.08299557e+02] [-1.70183541e-01 9.85395528e-01 -5.76334436e-03 -3.18721320e+01] [-3.30234083e-02 1.42237601e-04 9.99454568e-01 -8.79291158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.33, Y:-31.88, Z:-8.79 [[ 9.83948430e-01 1.74533233e-01 3.71972867e-02 2.08328958e+02] [-1.74595965e-01 9.84638894e-01 -1.58033535e-03 -3.18760730e+01] [-3.69017162e-02 -4.93952768e-03 9.99306692e-01 -8.79458762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.36, Y:-31.87, Z:-8.80 [[ 9.83514091e-01 1.77946915e-01 3.21702932e-02 2.08362917e+02] [-1.77692782e-01 9.84028746e-01 -1.06161419e-02 -3.18732914e+01] [-3.35456029e-02 4.72469624e-03 9.99426020e-01 -8.79570187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.39, Y:-31.88, Z:-8.80 [[ 9.82953478e-01 1.80863776e-01 3.30265806e-02 2.08394250e+02] [-1.80768714e-01 9.83508136e-01 -5.86675899e-03 -3.18783262e+01] [-3.35429949e-02 -2.03421355e-04 9.99437255e-01 -8.79632989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.43, Y:-31.88, Z:-8.80 [[ 9.82351429e-01 1.84022409e-01 3.34876378e-02 2.08426083e+02] [-1.83926285e-01 9.82922000e-01 -5.95521024e-03 -3.18799745e+01] [-3.40116280e-02 -3.09147509e-04 9.99421389e-01 -8.79705719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.46, Y:-31.88, Z:-8.80 [[ 9.81270616e-01 1.89702419e-01 3.34809091e-02 2.08457649e+02] [-1.89609506e-01 9.81841505e-01 -5.95776401e-03 -3.18768020e+01] [-3.40031484e-02 -5.02119883e-04 9.99421600e-01 -8.79888155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.49, Y:-31.88, Z:-8.80 [[ 9.80829027e-01 1.92049053e-01 3.30390687e-02 2.08489093e+02] [-1.91959923e-01 9.81385158e-01 -5.87866763e-03 -3.18804194e+01] [-3.35530442e-02 -5.76209226e-04 9.99436772e-01 -8.79974158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.52, Y:-31.88, Z:-8.80 [[ 9.80430482e-01 1.94193227e-01 3.23273864e-02 2.08520414e+02] [-1.94108892e-01 9.80963095e-01 -5.75716881e-03 -3.18807753e+01] [-3.28299762e-02 -6.30529363e-04 9.99460752e-01 -8.80266507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264000000004 meters Centerline goodness [0,1] 0.9999575362534237 Centerline is valid? [True, True] Translation: X:208.55, Y:-31.88, Z:-8.81 [[ 9.79791076e-01 1.97456927e-01 3.19407092e-02 2.08552639e+02] [-1.97376163e-01 9.80311295e-01 -5.69347238e-03 -3.18795817e+01] [-3.24360536e-02 -7.25921189e-04 9.99473549e-01 -8.80575401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91264000000004 meters Centerline goodness [0,1] 0.9999786132854271 Centerline is valid? [True, True] Translation: X:208.58, Y:-31.88, Z:-8.81 [[ 9.79539193e-01 1.98687628e-01 3.20343037e-02 2.08584024e+02] [-1.98606883e-01 9.80062571e-01 -5.71516890e-03 -3.18837947e+01] [-3.25311554e-02 -7.64001271e-04 9.99470430e-01 -8.80646606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264000000004 meters Centerline goodness [0,1] 0.9999355019026939 Centerline is valid? [True, True] Translation: X:208.62, Y:-31.89, Z:-8.81 [[ 9.79407374e-01 1.99378424e-01 3.17716743e-02 2.08615870e+02] [-1.99299206e-01 9.79922263e-01 -5.67310439e-03 -3.18893057e+01] [-3.22648656e-02 -7.75789197e-04 9.99479053e-01 -8.80659091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97264000000004 meters Centerline goodness [0,1] 0.9999146484583378 Centerline is valid? [True, True] Translation: X:208.65, Y:-31.89, Z:-8.81 [[ 9.79225115e-01 2.00127131e-01 3.26696493e-02 2.08647533e+02] [-2.00043592e-01 9.79769597e-01 -5.83932203e-03 -3.18910655e+01] [-3.31773359e-02 -8.17343220e-04 9.99449146e-01 -8.80777422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.68, Y:-31.90, Z:-8.81 [[ 9.79235611e-01 1.99964127e-01 3.33461597e-02 2.08679683e+02] [-1.99876774e-01 9.79802874e-01 -5.96684524e-03 -3.18971551e+01] [-3.38658181e-02 -8.22175485e-04 9.99426050e-01 -8.80706673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03264000000004 meters Centerline goodness [0,1] 0.9999576208335982 Centerline is valid? [True, True] Translation: X:208.71, Y:-31.90, Z:-8.81 [[ 9.79270977e-01 1.99700089e-01 3.38855053e-02 2.08711039e+02] [-1.99609636e-01 9.79856722e-01 -6.06607565e-03 -3.18991615e+01] [-3.44143360e-02 -8.23541527e-04 9.99407312e-01 -8.80836208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.74, Y:-31.90, Z:-8.81 [[ 9.79654519e-01 1.97910776e-01 3.32918552e-02 2.08742979e+02] [-1.97822257e-01 9.80219758e-01 -5.96496621e-03 -3.19048674e+01] [-3.38138654e-02 -7.42263850e-04 9.99427872e-01 -8.81072805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.77, Y:-31.91, Z:-8.81 [[ 9.79906015e-01 1.96674300e-01 3.32178020e-02 2.08773998e+02] [-1.96585277e-01 9.80468633e-01 -5.95725023e-03 -3.19123780e+01] [-3.37406509e-02 -6.92585465e-04 9.99430382e-01 -8.81209371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.81, Y:-31.92, Z:-8.81 [[ 9.80193695e-01 1.95192409e-01 3.34700344e-02 2.08805006e+02] [-1.95100964e-01 9.80764759e-01 -6.00841494e-03 -3.19179438e+01] [-3.39990272e-02 -6.40625516e-04 9.99421661e-01 -8.81384954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15264000000002 meters Centerline goodness [0,1] 0.9998714294897894 Centerline is valid? [True, True] Translation: X:208.83, Y:-31.93, Z:-8.82 [[ 9.80999209e-01 1.91204555e-01 3.28841980e-02 2.08834417e+02] [-1.91113826e-01 9.81550091e-01 -5.90972186e-03 -3.19255453e+01] [-3.34074533e-02 -4.87192421e-04 9.99441697e-01 -8.81511768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.87, Y:-31.93, Z:-8.82 [[ 9.81277320e-01 1.89711719e-01 3.32307852e-02 2.08865917e+02] [-1.89618245e-01 9.81839737e-01 -5.97100459e-03 -3.19335489e+01] [-3.37600750e-02 -4.41951786e-04 9.99429868e-01 -8.81639495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.90, Y:-31.94, Z:-8.82 [[ 9.81241747e-01 1.89895791e-01 3.32298488e-02 2.08897850e+02] [-1.89802246e-01 9.81804152e-01 -5.97621078e-03 -3.19394883e+01] [-3.37600608e-02 -4.42992423e-04 9.99429869e-01 -8.81778981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264000000002 meters Centerline goodness [0,1] 0.9998508098891731 Centerline is valid? [True, True] Translation: X:208.93, Y:-31.95, Z:-8.82 [[ 9.81659327e-01 1.87734394e-01 3.31777352e-02 2.08928788e+02] [-1.87639686e-01 9.82219765e-01 -5.97341026e-03 -3.19482725e+01] [-3.37092419e-02 -3.61605939e-04 9.99431617e-01 -8.81745735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.96, Y:-31.96, Z:-8.82 [[ 9.82235682e-01 1.84532708e-01 3.40697060e-02 2.08958816e+02] [-1.84430693e-01 9.82826341e-01 -6.14030039e-03 -3.19567754e+01] [-3.46176908e-02 -2.52277365e-04 9.99400596e-01 -8.81840700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:208.99, Y:-31.96, Z:-8.82 [[ 9.82509878e-01 1.83166426e-01 3.35320705e-02 2.08991040e+02] [-1.83066640e-01 9.83081900e-01 -6.04840779e-03 -3.19648706e+01] [-3.40726368e-02 -1.95983070e-04 9.99419340e-01 -8.81971467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.02, Y:-31.97, Z:-8.82 [[ 9.82751610e-01 1.81914525e-01 3.32622811e-02 2.09022090e+02] [-1.81815395e-01 9.83314337e-01 -6.00645593e-03 -3.19720282e+01] [-3.37999395e-02 -1.44740539e-04 9.99428608e-01 -8.82235247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.05, Y:-31.98, Z:-8.82 [[ 9.82987412e-01 1.80737875e-01 3.27042432e-02 2.09052939e+02] [-1.80641192e-01 9.83531296e-01 -5.91173190e-03 -3.19793913e+01] [-3.32341206e-02 -9.65754388e-05 9.99447589e-01 -8.82497665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39264000000003 meters Centerline goodness [0,1] 0.9999571137557628 Centerline is valid? [True, True] Translation: X:209.08, Y:-31.99, Z:-8.83 [[ 9.83397871e-01 1.78566723e-01 3.22885822e-02 2.09084635e+02] [-1.78471091e-01 9.83927805e-01 -5.84331440e-03 -3.19878989e+01] [-3.28130553e-02 -1.62755473e-05 9.99461507e-01 -8.82636418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.12, Y:-32.00, Z:-8.83 [[ 9.83492931e-01 1.78031560e-01 3.23483969e-02 2.09117344e+02] [-1.77935229e-01 9.84024778e-01 -5.85583034e-03 -3.19950352e+01] [-3.28741466e-02 3.24834317e-06 9.99459499e-01 -8.82772202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.15, Y:-32.00, Z:-8.83 [[ 9.83634610e-01 1.77220427e-01 3.24942243e-02 2.09148660e+02] [-1.77122559e-01 9.84171184e-01 -5.88899902e-03 -3.20021593e+01] [-3.30235301e-02 3.71630987e-05 9.99454574e-01 -8.82975166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.18, Y:-32.01, Z:-8.83 [[ 9.83748372e-01 1.76556899e-01 3.26619203e-02 2.09181109e+02] [-1.76457449e-01 9.84290433e-01 -5.92551653e-03 -3.20095636e+01] [-3.31950065e-02 6.57781116e-05 9.99448892e-01 -8.83023895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.21, Y:-32.02, Z:-8.83 [[ 9.84022213e-01 1.74920145e-01 3.32148552e-02 2.09212319e+02] [-1.74816134e-01 9.84582615e-01 -6.03269878e-03 -3.20191034e+01] [-3.37580095e-02 1.29817052e-04 9.99430028e-01 -8.83155056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.24, Y:-32.03, Z:-8.83 [[ 9.84167338e-01 1.74121468e-01 3.31114210e-02 2.09244556e+02] [-1.74017452e-01 9.84724169e-01 -6.01984326e-03 -3.20266410e+01] [-3.36538005e-02 1.62568014e-04 9.99433537e-01 -8.83141717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.28, Y:-32.04, Z:-8.83 [[ 9.84497453e-01 1.72405467e-01 3.22663853e-02 2.09275420e+02] [-1.72305555e-01 9.85026043e-01 -5.87283832e-03 -3.20368170e+01] [-3.27957392e-02 2.22116951e-04 9.99462050e-01 -8.83387429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264000000004 meters Centerline goodness [0,1] 0.9999786516374194 Centerline is valid? [True, True] Translation: X:209.31, Y:-32.05, Z:-8.84 [[ 9.84648860e-01 1.71606593e-01 3.19029887e-02 2.09305502e+02] [-1.71508311e-01 9.85165526e-01 -5.81250893e-03 -3.20458297e+01] [-3.24271895e-02 2.51652584e-04 9.99474069e-01 -8.83743491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.34, Y:-32.05, Z:-8.84 [[ 9.84783742e-01 1.70910062e-01 3.14758886e-02 2.09336985e+02] [-1.70813879e-01 9.85286595e-01 -5.73970414e-03 -3.20523972e+01] [-3.19937443e-02 2.75848712e-04 9.99488031e-01 -8.83790462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.37, Y:-32.06, Z:-8.84 [[ 9.84895258e-01 1.70283644e-01 3.13816960e-02 2.09366550e+02] [-1.70187534e-01 9.85395043e-01 -5.72826557e-03 -3.20608603e+01] [-3.18987976e-02 3.00968128e-04 9.99491059e-01 -8.84106753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.40, Y:-32.07, Z:-8.84 [[ 9.85109098e-01 1.69108843e-01 3.10203985e-02 2.09397537e+02] [-1.69014197e-01 9.85597323e-01 -5.66725293e-03 -3.20710976e+01] [-3.15320044e-02 3.39974679e-04 9.99502685e-01 -8.84220618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.43, Y:-32.08, Z:-8.84 [[ 9.85206089e-01 1.68547508e-01 3.09951568e-02 2.09428747e+02] [-1.68452567e-01 9.85693464e-01 -5.66805801e-03 -3.20802376e+01] [-3.15070606e-02 3.62991529e-04 9.99503463e-01 -8.84333286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.46, Y:-32.09, Z:-8.84 [[ 9.85259229e-01 1.68236543e-01 3.09954258e-02 2.09460615e+02] [-1.68141285e-01 9.85746581e-01 -5.67324426e-03 -3.20886332e+01] [-3.15080820e-02 3.78005552e-04 9.99503426e-01 -8.84374800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.49, Y:-32.10, Z:-8.85 [[ 9.85327320e-01 1.67891171e-01 3.07022472e-02 2.09490545e+02] [-1.67797327e-01 9.85805458e-01 -5.62634835e-03 -3.20970444e+01] [-3.12110571e-02 3.92039710e-04 9.99512739e-01 -8.84536420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.52, Y:-32.11, Z:-8.85 [[ 9.85308951e-01 1.67930734e-01 3.10731315e-02 2.09521245e+02] [-1.67834469e-01 9.85798716e-01 -5.69937069e-03 -3.21071078e+01] [-3.15889527e-02 4.00498411e-04 9.99500864e-01 -8.84779091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.55, Y:-32.11, Z:-8.85 [[ 9.85164537e-01 1.68765681e-01 3.11284565e-02 2.09552026e+02] [-1.68669287e-01 9.85656127e-01 -5.71588421e-03 -3.21142549e+01] [-3.16465990e-02 3.80671842e-04 9.99499048e-01 -8.84919066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.58, Y:-32.12, Z:-8.85 [[ 9.84919740e-01 1.70200844e-01 3.10608714e-02 2.09583646e+02] [-1.70105431e-01 9.85409335e-01 -5.70826455e-03 -3.21179660e+01] [-3.15792241e-02 3.38559525e-04 9.99501195e-01 -8.84896107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.61, Y:-32.12, Z:-8.85 [[ 9.84265806e-01 1.73872358e-01 3.14519608e-02 2.09614827e+02] [-1.73776213e-01 9.84768171e-01 -5.78595271e-03 -3.21220670e+01] [-3.19789072e-02 2.29312773e-04 9.99488518e-01 -8.85037331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.65, Y:-32.13, Z:-8.85 [[ 9.83822336e-01 1.76325971e-01 3.16664285e-02 2.09646854e+02] [-1.76229615e-01 9.84331818e-01 -5.83052824e-03 -3.21256779e+01] [-3.21983467e-02 1.55641414e-04 9.99481487e-01 -8.85024476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.68, Y:-32.13, Z:-8.85 [[ 9.83347104e-01 1.78930818e-01 3.18156535e-02 2.09678772e+02] [-1.78834731e-01 9.83861655e-01 -5.86365977e-03 -3.21296023e+01] [-3.23513909e-02 7.62690200e-05 9.99476554e-01 -8.85149710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.71, Y:-32.13, Z:-8.85 [[ 9.82897018e-01 1.81362686e-01 3.19535154e-02 2.09711302e+02] [-1.81266872e-01 9.83416278e-01 -5.89449611e-03 -3.21335815e+01] [-3.24926488e-02 1.56887440e-06 9.99471974e-01 -8.85236534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.74, Y:-32.14, Z:-8.85 [[ 9.82089560e-01 1.85587471e-01 3.25174907e-02 2.09742920e+02] [-1.85490332e-01 9.82627739e-01 -6.00534360e-03 -3.21358022e+01] [-3.30671049e-02 -1.33894897e-04 9.99453125e-01 -8.85420553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.77, Y:-32.14, Z:-8.86 [[ 9.81762239e-01 1.87264049e-01 3.27884405e-02 2.09774533e+02] [-1.87166008e-01 9.82309596e-01 -6.06166562e-03 -3.21409743e+01] [-3.33435317e-02 -1.85767110e-04 9.99443933e-01 -8.85521479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.81, Y:-32.15, Z:-8.85 [[ 9.81458707e-01 1.88796358e-01 3.30868849e-02 2.09806846e+02] [-1.88697199e-01 9.82016232e-01 -6.12264437e-03 -3.21468471e+01] [-3.36477910e-02 -2.34279874e-04 9.99433725e-01 -8.85462704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.84, Y:-32.15, Z:-8.86 [[ 9.81216919e-01 1.89984707e-01 3.34539757e-02 2.09839132e+02] [-1.89883798e-01 9.81787012e-01 -6.19725170e-03 -3.21516854e+01] [-3.40220619e-02 -2.71519722e-04 9.99421045e-01 -8.85534050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.87, Y:-32.16, Z:-8.86 [[ 9.80774094e-01 1.92165366e-01 3.39801092e-02 2.09869816e+02] [-1.92062319e-01 9.81362498e-01 -6.30181222e-03 -3.21554575e+01] [-3.45577949e-02 -3.45644413e-04 9.99402641e-01 -8.85551311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.90, Y:-32.16, Z:-8.86 [[ 9.80516584e-01 1.93526493e-01 3.36856810e-02 2.09901334e+02] [-1.93425848e-01 9.81094974e-01 -6.25242165e-03 -3.21598815e+01] [-3.42588616e-02 -3.85078317e-04 9.99412919e-01 -8.85695835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.93, Y:-32.16, Z:-8.86 [[ 9.80212731e-01 1.95172457e-01 3.30259596e-02 2.09933765e+02] [-1.95076468e-01 9.80768846e-01 -6.13540791e-03 -3.21631474e+01] [-3.35882949e-02 -4.28582597e-04 9.99435662e-01 -8.85971883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:209.97, Y:-32.16, Z:-8.86 [[ 9.79596292e-01 1.98432253e-01 3.18707750e-02 2.09965321e+02] [-1.98344417e-01 9.80114470e-01 -5.92604086e-03 -3.21624457e+01] [-3.24129254e-02 -5.16262628e-04 9.99474430e-01 -8.86400250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264000000003 meters Centerline goodness [0,1] 0.9999789871821811 Centerline is valid? [True, True] Translation: X:210.00, Y:-32.16, Z:-8.87 [[ 9.79292874e-01 1.99942485e-01 3.17563987e-02 2.09996350e+02] [-1.99855890e-01 9.79807476e-01 -5.91039058e-03 -3.21645865e+01] [-3.22968950e-02 -5.58699953e-04 9.99478163e-01 -8.86708418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29264000000003 meters Centerline goodness [0,1] 0.9999786137428088 Centerline is valid? [True, True] Translation: X:210.03, Y:-32.17, Z:-8.87 [[ 9.79054360e-01 2.01200191e-01 3.11615719e-02 2.10028234e+02] [-2.01117387e-01 9.79549967e-01 -5.80154040e-03 -3.21704162e+01] [-3.16915878e-02 -5.87110513e-04 9.99497523e-01 -8.86793991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264000000004 meters Centerline goodness [0,1] 0.9999786657564056 Centerline is valid? [True, True] Translation: X:210.06, Y:-32.17, Z:-8.87 [[ 9.78796118e-01 2.02625130e-01 3.00202448e-02 2.10059680e+02] [-2.02548779e-01 9.79256193e-01 -5.59472538e-03 -3.21729321e+01] [-3.05311426e-02 -6.04468456e-04 9.99533633e-01 -8.87159750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35264000000004 meters Centerline goodness [0,1] 0.9999361131223646 Centerline is valid? [True, True] Translation: X:210.09, Y:-32.18, Z:-8.87 [[ 9.78740675e-01 2.02958589e-01 2.95719939e-02 2.10091297e+02] [-2.02884607e-01 9.79187135e-01 -5.51271364e-03 -3.21779345e+01] [-3.00753686e-02 -6.04185299e-04 9.99547451e-01 -8.87439893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264000000004 meters Centerline goodness [0,1] 0.9999573542581773 Centerline is valid? [True, True] Translation: X:210.12, Y:-32.18, Z:-8.88 [[ 9.78812656e-01 2.02681629e-01 2.90850809e-02 2.10122807e+02] [-2.02609809e-01 9.79244514e-01 -5.42643865e-03 -3.21835291e+01] [-2.95812453e-02 -5.81455850e-04 9.99562210e-01 -8.87672768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.15, Y:-32.19, Z:-8.88 [[ 9.78877210e-01 2.02337749e-01 2.93060446e-02 2.10154748e+02] [-2.02264520e-01 9.79315634e-01 -5.47299776e-03 -3.21893843e+01] [-2.98072617e-02 -5.70180266e-04 9.99555502e-01 -8.87786027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.19, Y:-32.20, Z:-8.88 [[ 9.78980384e-01 2.01832999e-01 2.93402131e-02 2.10186272e+02] [-2.01759230e-01 9.79419796e-01 -5.48413108e-03 -3.21952810e+01] [-2.98432642e-02 -5.50802061e-04 9.99554439e-01 -8.87919752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.22, Y:-32.20, Z:-8.88 [[ 9.79097573e-01 2.01078327e-01 3.05851275e-02 2.10216374e+02] [-2.00997630e-01 9.79575015e-01 -5.72215858e-03 -3.22027418e+01] [-3.11110288e-02 -5.44986577e-04 9.99515786e-01 -8.87767690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264000000004 meters Centerline goodness [0,1] 0.9999789858574821 Centerline is valid? [True, True] Translation: X:210.25, Y:-32.21, Z:-8.88 [[ 9.79062590e-01 2.01158324e-01 3.11732919e-02 2.10246884e+02] [-2.01074383e-01 9.79558585e-01 -5.83696173e-03 -3.22079215e+01] [-3.17102192e-02 -5.53399575e-04 9.99496951e-01 -8.87817232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.28, Y:-32.21, Z:-8.88 [[ 9.79081147e-01 2.01200918e-01 3.03034383e-02 2.10278963e+02] [-2.01121489e-01 9.79549848e-01 -5.67824933e-03 -3.22135266e+01] [-3.08261974e-02 -5.35205767e-04 9.99524617e-01 -8.88016909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000004 meters Centerline goodness [0,1] 0.9999787234042553 Centerline is valid? [True, True] Translation: X:210.31, Y:-32.22, Z:-8.88 [[ 9.78978889e-01 2.01700267e-01 3.02875649e-02 2.10310770e+02] [-2.01621016e-01 9.79447142e-01 -5.67995762e-03 -3.22174501e+01] [-3.08107179e-02 -5.46051004e-04 9.99525088e-01 -8.88194912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59264000000002 meters Centerline goodness [0,1] 0.9999787057345457 Centerline is valid? [True, True] Translation: X:210.34, Y:-32.22, Z:-8.88 [[ 9.78797457e-01 2.02710064e-01 2.93967315e-02 2.10343343e+02] [-2.02635715e-01 9.79238643e-01 -5.51781911e-03 -3.22200358e+01] [-2.99049329e-02 -5.56000386e-04 9.99552593e-01 -8.88483737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters Centerline goodness [0,1] 0.9999359439723278 Centerline is valid? [True, True] Translation: X:210.37, Y:-32.23, Z:-8.88 [[ 9.78721648e-01 2.03128900e-01 2.90273303e-02 2.10374772e+02] [-2.03056461e-01 9.79151847e-01 -5.45288289e-03 -3.22274957e+01] [-2.95298022e-02 -5.57332447e-04 9.99563745e-01 -8.88445910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65264000000002 meters Centerline goodness [0,1] 0.9999366179328996 Centerline is valid? [True, True] Translation: X:210.41, Y:-32.23, Z:-8.89 [[ 9.78696437e-01 2.03137217e-01 2.98086582e-02 2.10406338e+02] [-2.03060647e-01 9.79150116e-01 -5.60568228e-03 -3.22296845e+01] [-3.03258739e-02 -5.66704168e-04 9.99539904e-01 -8.88699136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264000000002 meters Centerline goodness [0,1] 0.9999363543788188 Centerline is valid? [True, True] Translation: X:210.44, Y:-32.24, Z:-8.89 [[ 9.78758308e-01 2.02826206e-01 2.98948766e-02 2.10437625e+02] [-2.02748988e-01 9.79214593e-01 -5.62387209e-03 -3.22379367e+01] [-3.04141681e-02 -5.56744440e-04 9.99537227e-01 -8.88593486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71264000000002 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:210.47, Y:-32.25, Z:-8.89 [[ 9.79043048e-01 2.01521284e-01 2.93918608e-02 2.10468524e+02] [-2.01445915e-01 9.79484007e-01 -5.53390918e-03 -3.22464814e+01] [-2.99040580e-02 -5.02934979e-04 9.99552647e-01 -8.88656372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.50, Y:-32.25, Z:-8.89 [[ 9.79181083e-01 2.00869871e-01 2.92523840e-02 2.10499804e+02] [-2.00794751e-01 9.79617818e-01 -5.51352658e-03 -3.22505841e+01] [-2.97636579e-02 -4.74984217e-04 9.99556851e-01 -8.88917913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77264000000002 meters Centerline goodness [0,1] 0.9999785481379784 Centerline is valid? [True, True] Translation: X:210.53, Y:-32.26, Z:-8.89 [[ 9.79460711e-01 1.99526080e-01 2.90870859e-02 2.10531527e+02] [-1.99451161e-01 9.79892422e-01 -5.48412273e-03 -3.22582781e+01] [-2.95964406e-02 -4.29970327e-04 9.99561837e-01 -8.88820362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.56, Y:-32.26, Z:-8.89 [[ 9.79576502e-01 1.98873656e-01 2.96503932e-02 2.10562627e+02] [-1.98795320e-01 9.80025050e-01 -5.59655608e-03 -3.22628258e+01] [-3.01711356e-02 -4.12104576e-04 9.99544663e-01 -8.89054363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.59, Y:-32.27, Z:-8.89 [[ 9.79770552e-01 1.97950279e-01 2.94168823e-02 2.10593722e+02] [-1.97872697e-01 9.80211989e-01 -5.55447671e-03 -3.22708674e+01] [-2.99342909e-02 -3.78685116e-04 9.99551797e-01 -8.89068805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.63, Y:-32.28, Z:-8.89 [[ 9.80038245e-01 1.96646137e-01 2.92461262e-02 2.10625534e+02] [-1.96568696e-01 9.80474471e-01 -5.52815950e-03 -3.22785858e+01] [-2.97621713e-02 -3.31065138e-04 9.99556954e-01 -8.89153889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.66, Y:-32.28, Z:-8.90 [[ 9.80306515e-01 1.95313806e-01 2.91831122e-02 2.10656168e+02] [-1.95236027e-01 9.80740758e-01 -5.51895491e-03 -3.22812130e+01] [-2.96989957e-02 -2.87327444e-04 9.99558846e-01 -8.89870072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264000000003 meters Centerline goodness [0,1] 0.9998282524688707 Centerline is valid? [True, True] Translation: X:210.69, Y:-32.30, Z:-8.90 [[ 9.81097696e-01 1.91323388e-01 2.90288045e-02 2.10686882e+02] [-1.91244583e-01 9.81527042e-01 -5.49316099e-03 -3.22954911e+01] [-2.95435268e-02 -1.62274012e-04 9.99563482e-01 -8.89680265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.72, Y:-32.30, Z:-8.90 [[ 9.81405221e-01 1.89741546e-01 2.90161690e-02 2.10717162e+02] [-1.89662103e-01 9.81834066e-01 -5.49126382e-03 -3.23033891e+01] [-2.95309840e-02 -1.14112634e-04 9.99563859e-01 -8.90333914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.75, Y:-32.31, Z:-8.90 [[ 9.81820040e-01 1.87627892e-01 2.87260051e-02 2.10748699e+02] [-1.87548968e-01 9.82240181e-01 -5.44170996e-03 -3.23149129e+01] [-2.92368531e-02 -4.47527457e-05 9.99572511e-01 -8.89755721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01264000000003 meters Centerline goodness [0,1] 0.9998714845674385 Centerline is valid? [True, True] Translation: X:210.78, Y:-32.33, Z:-8.90 [[ 9.82381267e-01 1.84580127e-01 2.92783760e-02 2.10778102e+02] [-1.84496733e-01 9.82817468e-01 -5.54807513e-03 -3.23268838e+01] [-2.97993638e-02 4.85603631e-05 9.99555899e-01 -8.89950902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.81, Y:-32.34, Z:-8.90 [[ 9.82614485e-01 1.83376427e-01 2.90148052e-02 2.10807716e+02] [-1.83293836e-01 9.83042765e-01 -5.50381105e-03 -3.23361685e+01] [-2.95320635e-02 8.98895326e-05 9.99563829e-01 -8.90070759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.84, Y:-32.35, Z:-8.90 [[ 9.82718528e-01 1.82775338e-01 2.92825841e-02 2.10838493e+02] [-1.82690870e-01 9.83154700e-01 -5.55719412e-03 -3.23453012e+01] [-2.98050282e-02 1.11496850e-04 9.99555725e-01 -8.90239173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.87, Y:-32.35, Z:-8.90 [[ 9.82683781e-01 1.82962144e-01 2.92820845e-02 2.10870358e+02] [-1.82877681e-01 9.83119953e-01 -5.55982537e-03 -3.23515539e+01] [-2.98050391e-02 1.08510501e-04 9.99555725e-01 -8.90378631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13264000000004 meters Centerline goodness [0,1] 0.9999571587695999 Centerline is valid? [True, True] Translation: X:210.90, Y:-32.36, Z:-8.91 [[ 9.82706705e-01 1.82832029e-01 2.93254226e-02 2.10901137e+02] [-1.82747080e-01 9.83144158e-01 -5.57401324e-03 -3.23604944e+01] [-2.98502261e-02 1.18484829e-04 9.99554376e-01 -8.90718158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.93, Y:-32.37, Z:-8.91 [[ 9.82564041e-01 1.83656308e-01 2.89528402e-02 2.10933702e+02] [-1.83573717e-01 9.82990514e-01 -5.50811423e-03 -3.23653016e+01] [-2.94719672e-02 9.70944930e-05 9.99565603e-01 -8.90528327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:210.96, Y:-32.37, Z:-8.91 [[ 9.82311704e-01 1.84975101e-01 2.91192004e-02 2.10964285e+02] [-1.84891942e-01 9.82743205e-01 -5.54635539e-03 -3.23707928e+01] [-2.96426340e-02 6.43443176e-05 9.99560559e-01 -8.90833380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.00, Y:-32.38, Z:-8.91 [[ 9.81948807e-01 1.86884996e-01 2.91639871e-02 2.10996313e+02] [-1.86802284e-01 9.82381799e-01 -5.55954208e-03 -3.23755922e+01] [-2.96891651e-02 1.12863076e-05 9.99559180e-01 -8.91024220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.03, Y:-32.38, Z:-8.91 [[ 9.81110250e-01 1.91337336e-01 2.85079227e-02 2.11029025e+02] [-1.91260030e-01 9.81524330e-01 -5.43969961e-03 -3.23777503e+01] [-2.90220374e-02 -1.15481113e-04 9.99578765e-01 -8.91249381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.06, Y:-32.38, Z:-8.91 [[ 9.80662399e-01 1.93711127e-01 2.78793447e-02 2.11060901e+02] [-1.93638022e-01 9.81058596e-01 -5.32432639e-03 -3.23822788e+01] [-2.83826521e-02 -1.77134483e-04 9.99597116e-01 -8.91309930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31264000000004 meters Centerline goodness [0,1] 0.9999786925764936 Centerline is valid? [True, True] Translation: X:211.09, Y:-32.38, Z:-8.92 [[ 9.80201950e-01 1.96070572e-01 2.75765879e-02 2.11091589e+02] [-1.95999808e-01 9.80589759e-01 -5.27260655e-03 -3.23845667e+01] [-2.80751226e-02 -2.36786702e-04 9.99605788e-01 -8.91776485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters Centerline goodness [0,1] 0.999978416179232 Centerline is valid? [True, True] Translation: X:211.12, Y:-32.39, Z:-8.92 [[ 9.79373379e-01 2.00219421e-01 2.72023478e-02 2.11124192e+02] [-2.00152126e-01 9.79751020e-01 -5.20243325e-03 -3.23859779e+01] [-2.76931562e-02 -3.49483115e-04 9.99616410e-01 -8.91784368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.16, Y:-32.39, Z:-8.92 [[ 9.78929580e-01 2.02365097e-01 2.72991756e-02 2.11156084e+02] [-2.02298020e-01 9.79310064e-01 -5.22582443e-03 -3.23883572e+01] [-2.77918819e-02 -4.06855071e-04 9.99613648e-01 -8.91843683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters Centerline goodness [0,1] 0.9998933583585718 Centerline is valid? [True, True] Translation: X:211.19, Y:-32.39, Z:-8.92 [[ 9.78422007e-01 2.04774751e-01 2.75259549e-02 2.11187353e+02] [-2.04707362e-01 9.78809009e-01 -5.27441623e-03 -3.23884294e+01] [-2.80227199e-02 -4.74160699e-04 9.99607174e-01 -8.92205508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43264000000002 meters Centerline goodness [0,1] 0.9999785972647305 Centerline is valid? [True, True] Translation: X:211.22, Y:-32.39, Z:-8.92 [[ 9.77951695e-01 2.06956508e-01 2.79192842e-02 2.11218797e+02] [-2.06887932e-01 9.78349995e-01 -5.35454677e-03 -3.23933491e+01] [-2.84229898e-02 -5.39674869e-04 9.99595840e-01 -8.92136425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264000000002 meters Centerline goodness [0,1] 0.9999356761508609 Centerline is valid? [True, True] Translation: X:211.25, Y:-32.40, Z:-8.92 [[ 9.77063403e-01 2.11012364e-01 2.86511503e-02 2.11251007e+02] [-2.10941747e-01 9.77483163e-01 -5.49967665e-03 -3.23950774e+01] [-2.91665168e-02 -6.70190906e-04 9.99574342e-01 -8.92045038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49264000000002 meters Centerline goodness [0,1] 0.9998927958833619 Centerline is valid? [True, True] Translation: X:211.28, Y:-32.40, Z:-8.92 [[ 9.76624792e-01 2.13027861e-01 2.86905134e-02 2.11282543e+02] [-2.12957780e-01 9.77045855e-01 -5.51195628e-03 -3.23954144e+01] [-2.92061475e-02 -7.26754884e-04 9.99573145e-01 -8.92298899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264000000002 meters Centerline goodness [0,1] 0.9998928808620948 Centerline is valid? [True, True] Translation: X:211.31, Y:-32.39, Z:-8.92 [[ 9.75953089e-01 2.16109936e-01 2.84967198e-02 2.11314126e+02] [-2.16041928e-01 9.76368703e-01 -5.48102972e-03 -3.23947686e+01] [-2.90078103e-02 -8.07258391e-04 9.99578859e-01 -8.92423803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55264000000003 meters Centerline goodness [0,1] 0.999893481039625 Centerline is valid? [True, True] Translation: X:211.34, Y:-32.39, Z:-8.93 [[ 9.75714125e-01 2.17238944e-01 2.80924709e-02 2.11344866e+02] [-2.17173281e-01 9.76118106e-01 -5.40462917e-03 -3.23942607e+01] [-2.85956655e-02 -8.27561051e-04 9.99590718e-01 -8.92768596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.38, Y:-32.40, Z:-8.93 [[ 9.75538302e-01 2.18039921e-01 2.79931118e-02 2.11375216e+02] [-2.17975036e-01 9.75939483e-01 -5.38603027e-03 -3.23998349e+01] [-2.84939527e-02 -8.47520725e-04 9.99593606e-01 -8.92805779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61264000000003 meters Centerline goodness [0,1] 0.9999576028660463 Centerline is valid? [True, True] Translation: X:211.40, Y:-32.40, Z:-8.93 [[ 9.75360835e-01 2.18780049e-01 2.83995063e-02 2.11404422e+02] [-2.18713565e-01 9.75773802e-01 -5.46472596e-03 -3.23987828e+01] [-2.89070672e-02 -8.81277577e-04 9.99581715e-01 -8.92974134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264000000003 meters Centerline goodness [0,1] 0.9998295914454906 Centerline is valid? [True, True] Translation: X:211.43, Y:-32.41, Z:-8.93 [[ 9.75398105e-01 2.18568435e-01 2.87467484e-02 2.11433638e+02] [-2.18500259e-01 9.75821220e-01 -5.53030580e-03 -3.24053751e+01] [-2.92604373e-02 -8.86922167e-04 9.99571428e-01 -8.92938771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67264000000003 meters Centerline goodness [0,1] 0.9999570870703343 Centerline is valid? [True, True] Translation: X:211.46, Y:-32.41, Z:-8.93 [[ 9.75540399e-01 2.17911612e-01 2.89043263e-02 2.11463121e+02] [-2.17842419e-01 9.75968118e-01 -5.55991197e-03 -3.24114562e+01] [-2.94212703e-02 -8.72669628e-04 9.99566720e-01 -8.92979538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264000000003 meters Centerline goodness [0,1] 0.9997452932311676 Centerline is valid? [True, True] Translation: X:211.49, Y:-32.41, Z:-8.93 [[ 9.75690018e-01 2.17161222e-01 2.94956443e-02 2.11491720e+02] [-2.17088844e-01 9.76135365e-01 -5.67306196e-03 -3.24123432e+01] [-3.00237106e-02 -8.68025416e-04 9.99548810e-01 -8.93255252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73264000000003 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:211.52, Y:-32.42, Z:-8.93 [[ 9.76146411e-01 2.14975814e-01 3.03905305e-02 2.11520750e+02] [-2.14897963e-01 9.76619023e-01 -5.84373107e-03 -3.24215230e+01] [-3.09362310e-02 -8.26525972e-04 9.99521019e-01 -8.93038534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264000000003 meters Centerline goodness [0,1] 0.9999360272950208 Centerline is valid? [True, True] Translation: X:211.55, Y:-32.43, Z:-8.93 [[ 9.76354613e-01 2.13997001e-01 3.06096977e-02 2.11549722e+02] [-2.13917554e-01 9.76833988e-01 -5.88549849e-03 -3.24251921e+01] [-3.11600721e-02 -8.01618069e-04 9.99514086e-01 -8.93194825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79264000000003 meters Centerline goodness [0,1] 0.9998933992836432 Centerline is valid? [True, True] Translation: X:211.58, Y:-32.43, Z:-8.93 [[ 9.76769996e-01 2.12217644e-01 2.97329329e-02 2.11579501e+02] [-2.12141875e-01 9.77222159e-01 -5.71642237e-03 -3.24293103e+01] [-3.02688065e-02 -7.23970281e-04 9.99541533e-01 -8.93489826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264000000004 meters Centerline goodness [0,1] 0.9998498756112207 Centerline is valid? [True, True] Translation: X:211.61, Y:-32.44, Z:-8.94 [[ 9.77000096e-01 2.11252772e-01 2.90358094e-02 2.11609524e+02] [-2.11180088e-01 9.77431229e-01 -5.58239414e-03 -3.24356405e+01] [-2.95598031e-02 -6.77785183e-04 9.99562784e-01 -8.93715892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85264000000004 meters Centerline goodness [0,1] 0.9998497434906733 Centerline is valid? [True, True] Translation: X:211.64, Y:-32.44, Z:-8.94 [[ 9.77237056e-01 2.10215486e-01 2.85864796e-02 2.11639205e+02] [-2.10144591e-01 9.77654870e-01 -5.49600647e-03 -3.24423337e+01] [-2.91030567e-02 -6.36392896e-04 9.99576214e-01 -8.93893234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264000000004 meters Centerline goodness [0,1] 0.9998718249983978 Centerline is valid? [True, True] Translation: X:211.67, Y:-32.45, Z:-8.94 [[ 9.77714650e-01 2.08003561e-01 2.84355744e-02 2.11668883e+02] [-2.07932473e-01 9.78127904e-01 -5.46715966e-03 -3.24453818e+01] [-2.89508174e-02 -5.67357218e-04 9.99580676e-01 -8.94194352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91264000000004 meters Centerline goodness [0,1] 0.9999578397065644 Centerline is valid? [True, True] Translation: X:211.70, Y:-32.45, Z:-8.94 [[ 9.78013051e-01 2.06507131e-01 2.90736371e-02 2.11698135e+02] [-2.06432167e-01 9.78444949e-01 -5.58947091e-03 -3.24527401e+01] [-2.96012190e-02 -5.35158404e-04 9.99561645e-01 -8.94144070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.73, Y:-32.46, Z:-8.94 [[ 9.78392070e-01 2.04667334e-01 2.93298464e-02 2.11726917e+02] [-2.04590240e-01 9.78831470e-01 -5.63793971e-03 -3.24584373e+01] [-2.98628788e-02 -4.84484806e-04 9.99553887e-01 -8.94246022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.76, Y:-32.47, Z:-8.94 [[ 9.79174860e-01 2.00788103e-01 3.00121947e-02 2.11757188e+02] [-2.00705536e-01 9.79634625e-01 -5.76974456e-03 -3.24673329e+01] [-3.05594811e-02 -3.74024800e-04 9.99532880e-01 -8.94289511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.79, Y:-32.48, Z:-8.94 [[ 9.79540442e-01 1.98989577e-01 3.00611236e-02 2.11787891e+02] [-1.98905872e-01 9.80001555e-01 -5.77987423e-03 -3.24750415e+01] [-3.06100826e-02 -3.17713433e-04 9.99531351e-01 -8.94394151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03264000000004 meters Centerline goodness [0,1] 0.9998935082637588 Centerline is valid? [True, True] Translation: X:211.82, Y:-32.48, Z:-8.94 [[ 9.79854994e-01 1.97481001e-01 2.97564135e-02 2.11819574e+02] [-1.97398322e-01 9.80306678e-01 -5.72019778e-03 -3.24822263e+01] [-3.03000413e-02 -2.68901720e-04 9.99540812e-01 -8.94459460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.85, Y:-32.49, Z:-8.94 [[ 9.80222858e-01 1.95522597e-01 3.05624462e-02 2.11851249e+02] [-1.95434259e-01 9.80699174e-01 -5.88046642e-03 -3.24891920e+01] [-3.11223298e-02 -2.08781418e-04 9.99515561e-01 -8.94452612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.88, Y:-32.49, Z:-8.95 [[ 9.80340558e-01 1.94919450e-01 3.06398049e-02 2.11884113e+02] [-1.94830208e-01 9.80819236e-01 -5.90053055e-03 -3.24948228e+01] [-3.12022382e-02 -1.85030139e-04 9.99513074e-01 -8.94578903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.92, Y:-32.50, Z:-8.95 [[ 9.80533445e-01 1.93973556e-01 3.04700446e-02 2.11915749e+02] [-1.93884649e-01 9.81006747e-01 -5.87410598e-03 -3.24992263e+01] [-3.10307405e-02 -1.47916533e-04 9.99518420e-01 -8.94831354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.95, Y:-32.50, Z:-8.95 [[ 9.80664238e-01 1.93350728e-01 3.02183448e-02 2.11946691e+02] [-1.93262813e-01 9.81129696e-01 -5.83126976e-03 -3.25049987e+01] [-3.07755957e-02 -1.21564610e-04 9.99526312e-01 -8.95074280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:211.98, Y:-32.51, Z:-8.95 [[ 9.80826273e-01 1.92564022e-01 2.99819856e-02 2.11978892e+02] [-1.92476947e-01 9.81284408e-01 -5.79099800e-03 -3.25114655e+01] [-3.05359929e-02 -9.08780602e-05 9.99533664e-01 -8.95198946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.01, Y:-32.52, Z:-8.95 [[ 9.81030094e-01 1.91534804e-01 2.99060754e-02 2.12011684e+02] [-1.91447466e-01 9.81485821e-01 -5.78373771e-03 -3.25182041e+01] [-3.04601760e-02 -5.14215965e-05 9.99535980e-01 -8.95327901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.04, Y:-32.53, Z:-8.95 [[ 9.81685532e-01 1.88006043e-01 3.07773317e-02 2.12041440e+02] [-1.87911720e-01 9.82167870e-01 -5.95496410e-03 -3.25269633e+01] [-3.13480755e-02 6.24807847e-05 9.99508526e-01 -8.95331230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.07, Y:-32.54, Z:-8.95 [[ 9.82040284e-01 1.86057257e-01 3.12982098e-02 2.12072231e+02] [-1.85958652e-01 9.82538895e-01 -6.05800136e-03 -3.25353094e+01] [-3.18788436e-02 1.29028472e-04 9.99491732e-01 -8.95435390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.10, Y:-32.54, Z:-8.95 [[ 9.82390489e-01 1.84105861e-01 3.18427077e-02 2.12103773e+02] [-1.84002573e-01 9.82906400e-01 -6.16943215e-03 -3.25436755e+01] [-3.24342298e-02 2.01651325e-04 9.99473852e-01 -8.95450517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.13, Y:-32.55, Z:-8.96 [[ 9.82793029e-01 1.81857717e-01 3.23362617e-02 2.12133466e+02] [-1.81749733e-01 9.83324813e-01 -6.27266680e-03 -3.25525177e+01] [-3.29377814e-02 2.87626246e-04 9.99457363e-01 -8.95604024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.17, Y:-32.56, Z:-8.95 [[ 9.83758867e-01 1.76596066e-01 3.21297447e-02 2.12165365e+02] [-1.76594879e-01 9.84279358e-01 -2.89714793e-03 -3.25627414e+01] [-3.21362694e-02 -2.82385341e-03 9.99479508e-01 -8.95412920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.19, Y:-32.57, Z:-8.96 [[ 9.83894607e-01 1.75924749e-01 3.16525802e-02 2.12193857e+02] [-1.75705259e-01 9.84395921e-01 -9.60896655e-03 -3.25726962e+01] [-3.28491258e-02 3.89268557e-03 9.99452741e-01 -8.95927835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.22, Y:-32.58, Z:-8.96 [[ 9.84185051e-01 1.74184143e-01 3.22439214e-02 2.12223787e+02] [-1.74072338e-01 9.84712942e-01 -6.26436139e-03 -3.25842730e+01] [-3.28421592e-02 5.52516055e-04 9.99460398e-01 -8.96077259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.25, Y:-32.60, Z:-8.96 [[ 9.84716285e-01 1.71205726e-01 3.19755627e-02 2.12252928e+02] [-1.71094043e-01 9.85235086e-01 -6.21719423e-03 -3.25976304e+01] [-3.25678655e-02 6.51344116e-04 9.99469314e-01 -8.96306009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.28, Y:-32.61, Z:-8.96 [[ 9.84935511e-01 1.69977572e-01 3.17752298e-02 2.12283256e+02] [-1.69866486e-01 9.85447688e-01 -6.18315311e-03 -3.26073409e+01] [-3.23638241e-02 6.92460445e-04 9.99475914e-01 -8.96474042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.32, Y:-32.61, Z:-8.97 [[ 9.85119559e-01 1.69000219e-01 3.12790743e-02 2.12315122e+02] [-1.68891938e-01 9.85615752e-01 -6.09117622e-03 -3.26135489e+01] [-3.18585585e-02 7.17753354e-04 9.99492130e-01 -8.96502642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264000000003 meters Centerline goodness [0,1] 0.9998919292785199 Centerline is valid? [True, True] Translation: X:212.34, Y:-32.63, Z:-8.97 [[ 9.85292275e-01 1.68178383e-01 3.02516728e-02 2.12343984e+02] [-1.68076547e-01 9.85756312e-01 -5.89648283e-03 -3.26286349e+01] [-3.08124384e-02 7.25162262e-04 9.99524921e-01 -8.96845382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57264000000004 meters Centerline goodness [0,1] 0.9999781768980643 Centerline is valid? [True, True] Translation: X:212.38, Y:-32.63, Z:-8.97 [[ 9.85211017e-01 1.68649755e-01 3.02739386e-02 2.12376028e+02] [-1.68547840e-01 9.85675782e-01 -5.90573810e-03 -3.26334873e+01] [-3.08362894e-02 7.15791285e-04 9.99524192e-01 -8.96888470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264000000004 meters Centerline goodness [0,1] 0.9999784798140656 Centerline is valid? [True, True] Translation: X:212.41, Y:-32.64, Z:-8.97 [[ 9.85051314e-01 1.69587087e-01 3.02345663e-02 2.12406545e+02] [-1.69485711e-01 9.85514963e-01 -5.90348247e-03 -3.26421276e+01] [-3.07977719e-02 6.90906198e-04 9.99525397e-01 -8.97128391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.44, Y:-32.65, Z:-8.97 [[ 9.84878007e-01 1.70606723e-01 3.01439423e-02 2.12436222e+02] [-1.70506239e-01 9.85338980e-01 -5.89205178e-03 -3.26515202e+01] [-3.07072250e-02 6.63221981e-04 9.99528202e-01 -8.97395423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.47, Y:-32.66, Z:-8.98 [[ 9.84431199e-01 1.73158660e-01 3.01876394e-02 2.12466176e+02] [-1.73059010e-01 9.84893768e-01 -5.90297881e-03 -3.26615347e+01] [-3.07537698e-02 5.86833517e-04 9.99526819e-01 -8.97658380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.50, Y:-32.67, Z:-8.98 [[ 9.84093652e-01 1.75018186e-01 3.04683107e-02 2.12498877e+02] [-1.74917376e-01 9.84565053e-01 -5.96389479e-03 -3.26651502e+01] [-3.10418240e-02 5.39594035e-04 9.99517941e-01 -8.97526470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.53, Y:-32.67, Z:-8.98 [[ 9.83715545e-01 1.77101362e-01 3.06404158e-02 2.12529634e+02] [-1.77000372e-01 9.84192501e-01 -5.99908440e-03 -3.26710996e+01] [-3.12185134e-02 4.78027585e-04 9.99512469e-01 -8.97657611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75264000000004 meters Centerline goodness [0,1] 0.9999135789132548 Centerline is valid? [True, True] Translation: X:212.56, Y:-32.67, Z:-8.98 [[ 9.82835167e-01 1.81873343e-01 3.09373962e-02 2.12560378e+02] [-1.81772622e-01 9.83321909e-01 -6.06119269e-03 -3.26746631e+01] [-3.15237889e-02 3.33581705e-04 9.99502946e-01 -8.97576162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.59, Y:-32.68, Z:-8.98 [[ 9.82184969e-01 1.85192460e-01 3.18816412e-02 2.12592572e+02] [-1.85087264e-01 9.82702243e-01 -6.24550544e-03 -3.26788442e+01] [-3.24867809e-02 2.33355814e-04 9.99472138e-01 -8.97695068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.63, Y:-32.68, Z:-8.98 [[ 9.81561130e-01 1.88469111e-01 3.18926757e-02 2.12625085e+02] [-1.88365355e-01 9.82079109e-01 -6.25428922e-03 -3.26827876e+01] [-3.24998708e-02 1.31492017e-04 9.99471731e-01 -8.97701998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.66, Y:-32.68, Z:-8.98 [[ 9.80237643e-01 1.95176492e-01 3.22536838e-02 2.12656218e+02] [-1.95073963e-01 9.80768132e-01 -6.32616773e-03 -3.26843513e+01] [-3.28681044e-02 -9.07061688e-05 9.99459694e-01 -8.97804297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.69, Y:-32.69, Z:-8.98 [[ 9.79551540e-01 1.98588927e-01 3.22679153e-02 2.12688052e+02] [-1.98487989e-01 9.80082853e-01 -6.33406602e-03 -3.26878773e+01] [-3.28831058e-02 -2.00249491e-04 9.99459184e-01 -8.97889097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.72, Y:-32.69, Z:-8.98 [[ 9.78567557e-01 2.03522863e-01 3.13684530e-02 2.12719786e+02] [-2.03429807e-01 9.79070131e-01 -6.16375619e-03 -3.26869805e+01] [-3.19663807e-02 -3.49626486e-04 9.99488884e-01 -8.98334635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.75, Y:-32.69, Z:-8.98 [[ 9.78170404e-01 2.05496171e-01 3.08866423e-02 2.12751595e+02] [-2.05406877e-01 9.78657835e-01 -6.07091421e-03 -3.26920007e+01] [-3.14750041e-02 -4.05940135e-04 9.99504457e-01 -8.98441921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.78, Y:-32.70, Z:-8.99 [[ 9.77923065e-01 2.06674921e-01 3.08537892e-02 2.12782569e+02] [-2.06586208e-01 9.78409570e-01 -6.07066332e-03 -3.26973720e+01] [-3.14422965e-02 -4.37325627e-04 9.99505473e-01 -8.98616249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99264000000002 meters Centerline goodness [0,1] 0.9998930138012196 Centerline is valid? [True, True] Translation: X:212.81, Y:-32.71, Z:-8.99 [[ 9.77786771e-01 2.07286113e-01 3.10724704e-02 2.12814945e+02] [-2.07196390e-01 9.78280255e-01 -6.11544983e-03 -3.27051822e+01] [-3.16652321e-02 -4.58497759e-04 9.99498426e-01 -8.98551212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264000000002 meters Centerline goodness [0,1] 0.9998930138012196 Centerline is valid? [True, True] Translation: X:212.85, Y:-32.71, Z:-8.99 [[ 9.77746776e-01 2.07474857e-01 3.10712900e-02 2.12846777e+02] [-2.07385039e-01 9.78240243e-01 -6.12144053e-03 -3.27116419e+01] [-3.16652312e-02 -4.58501932e-04 9.99498426e-01 -8.98690715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05264000000003 meters Centerline goodness [0,1] 0.9999572658703874 Centerline is valid? [True, True] Translation: X:212.88, Y:-32.72, Z:-8.99 [[ 9.77759260e-01 2.07397484e-01 3.11947703e-02 2.12877590e+02] [-2.07306706e-01 9.78256653e-01 -6.15220082e-03 -3.27188164e+01] [-3.17924426e-02 -4.51513773e-04 9.99494391e-01 -8.98939923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264000000003 meters Centerline goodness [0,1] 0.9999786748555222 Centerline is valid? [True, True] Translation: X:212.91, Y:-32.73, Z:-8.99 [[ 9.77845285e-01 2.07015983e-01 3.10319314e-02 2.12908477e+02] [-2.06925771e-01 9.78337466e-01 -6.12604274e-03 -3.27269242e+01] [-3.16278898e-02 -4.30984299e-04 9.99499620e-01 -8.99111404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.94, Y:-32.74, Z:-8.99 [[ 9.78064950e-01 2.05986396e-01 3.09605942e-02 2.12939257e+02] [-2.05895917e-01 9.78554777e-01 -6.11718343e-03 -3.27379517e+01] [-3.15566939e-02 -3.91657226e-04 9.99501887e-01 -8.99267211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:212.97, Y:-32.75, Z:-8.99 [[ 9.78095317e-01 2.05859218e-01 3.08469349e-02 2.12971368e+02] [-2.05769187e-01 9.78581543e-01 -6.09960116e-03 -3.27467801e+01] [-3.14419003e-02 -3.81357365e-04 9.99505508e-01 -8.99388034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.00, Y:-32.75, Z:-9.00 [[ 9.78043731e-01 2.06197236e-01 3.02185301e-02 2.13001927e+02] [-2.06110803e-01 9.78510376e-01 -5.98162609e-03 -3.27527352e+01] [-3.08025400e-02 -3.78073618e-04 9.99525418e-01 -8.99607539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.03, Y:-32.76, Z:-9.00 [[ 9.77929787e-01 2.06770683e-01 2.99869452e-02 2.13033920e+02] [-2.06685709e-01 9.78389357e-01 -5.94005539e-03 -3.27589954e+01] [-3.05671374e-02 -3.88915938e-04 9.99532640e-01 -8.99746450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.07, Y:-32.77, Z:-9.00 [[ 9.77743479e-01 2.07629242e-01 3.01295095e-02 2.13066557e+02] [-2.07543680e-01 9.78207508e-01 -5.97431734e-03 -3.27651790e+01] [-3.07133553e-02 -4.11839457e-04 9.99528149e-01 -8.99864118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.10, Y:-32.77, Z:-9.00 [[ 9.77530802e-01 2.08589029e-01 3.03998020e-02 2.13097701e+02] [-2.08502185e-01 9.78003284e-01 -6.03448872e-03 -3.27702258e+01] [-3.09898344e-02 -4.39526558e-04 9.99519603e-01 -9.00018851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.13, Y:-32.77, Z:-9.00 [[ 9.77123314e-01 2.10586816e-01 2.97190509e-02 2.13129002e+02] [-2.10504602e-01 9.77575038e-01 -5.90398547e-03 -3.27724512e+01] [-3.02959038e-02 -4.87075120e-04 9.99540855e-01 -9.00293370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264000000004 meters Centerline goodness [0,1] 0.9998278236914601 Centerline is valid? [True, True] Translation: X:213.16, Y:-32.78, Z:-9.00 [[ 9.77001143e-01 2.11220064e-01 2.92378333e-02 2.13160729e+02] [-2.11140646e-01 9.77438407e-01 -5.81270765e-03 -3.27787848e+01] [-2.98059417e-02 -4.94272970e-04 9.99555582e-01 -9.00252600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.19, Y:-32.78, Z:-9.01 [[ 9.76841844e-01 2.11824998e-01 3.01692241e-02 2.13192253e+02] [-2.11740560e-01 9.77307473e-01 -6.00327576e-03 -3.27836145e+01] [-3.07562520e-02 -5.23797431e-04 9.99526777e-01 -9.00512388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264000000004 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:213.22, Y:-32.79, Z:-9.01 [[ 9.76824647e-01 2.11809503e-01 3.08276299e-02 2.13223927e+02] [-2.11721136e-01 9.77310828e-01 -6.14047583e-03 -3.27896685e+01] [-3.14287876e-02 -5.28692685e-04 9.99505854e-01 -9.00533122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.26, Y:-32.79, Z:-9.00 [[ 9.76886478e-01 2.11319081e-01 3.22033282e-02 2.13255040e+02] [-2.11222189e-01 9.77416986e-01 -6.42042027e-03 -3.27934740e+01] [-3.28328373e-02 -5.30035709e-04 9.99460717e-01 -9.00413031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264000000004 meters Centerline goodness [0,1] 0.9999784157133607 Centerline is valid? [True, True] Translation: X:213.29, Y:-32.80, Z:-9.00 [[ 9.76990948e-01 2.10801335e-01 3.24266146e-02 2.13286277e+02] [-2.10702645e-01 9.77528790e-01 -6.46989555e-03 -3.28014307e+01] [-3.30618119e-02 -5.11344069e-04 9.99453178e-01 -9.00362415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47264000000004 meters Centerline goodness [0,1] 0.9999784366576819 Centerline is valid? [True, True] Translation: X:213.32, Y:-32.81, Z:-9.00 [[ 9.77214654e-01 2.09642506e-01 3.31894403e-02 2.13317359e+02] [-2.09538243e-01 9.77777987e-01 -6.62817555e-03 -3.28081838e+01] [-3.38414514e-02 -4.77306710e-04 9.99427100e-01 -9.00421721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264000000004 meters Centerline goodness [0,1] 0.9998922460238783 Centerline is valid? [True, True] Translation: X:213.35, Y:-32.82, Z:-9.00 [[ 9.77408880e-01 2.08876984e-01 3.22844623e-02 2.13349470e+02] [-2.08777740e-01 9.77941827e-01 -6.45269673e-03 -3.28160404e+01] [-3.29201459e-02 -4.33354009e-04 9.99457891e-01 -9.00480901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53264000000004 meters Centerline goodness [0,1] 0.9998716083197808 Centerline is valid? [True, True] Translation: X:213.38, Y:-32.82, Z:-9.01 [[ 9.77569510e-01 2.08237382e-01 3.15443501e-02 2.13381156e+02] [-2.08142076e-01 9.78078236e-01 -6.31186487e-03 -3.28220283e+01] [-3.21672085e-02 -3.95419867e-04 9.99482423e-01 -9.00864921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000004 meters Centerline goodness [0,1] 0.9998513989725301 Centerline is valid? [True, True] Translation: X:213.41, Y:-32.83, Z:-9.01 [[ 9.77737547e-01 2.07536376e-01 3.09506519e-02 2.13412128e+02] [-2.07444172e-01 9.78227234e-01 -6.19627760e-03 -3.28282148e+01] [-3.15627236e-02 -3.62199118e-04 9.99501707e-01 -9.01221127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.44, Y:-32.84, Z:-9.02 [[ 9.78071950e-01 2.06014871e-01 3.05472273e-02 2.13442717e+02] [-2.05924137e-01 9.78548814e-01 -6.12119576e-03 -3.28373404e+01] [-3.11530104e-02 -3.03441529e-04 9.99514581e-01 -9.01517089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.47, Y:-32.84, Z:-9.02 [[ 9.78228680e-01 2.05248140e-01 3.06895926e-02 2.13473285e+02] [-2.05156006e-01 9.78709929e-01 -6.15530859e-03 -3.28429236e+01] [-3.12995747e-02 -2.74854845e-04 9.99510010e-01 -9.01819541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.50, Y:-32.85, Z:-9.02 [[ 9.78447810e-01 2.04275034e-01 3.01926153e-02 2.13504521e+02] [-2.04185255e-01 9.78913507e-01 -6.06023489e-03 -3.28496791e+01] [-3.07939136e-02 -2.35263310e-04 9.99525727e-01 -9.02104442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.53, Y:-32.86, Z:-9.02 [[ 9.78621513e-01 2.03433539e-01 3.02445026e-02 2.13534768e+02] [-2.03342869e-01 9.79088736e-01 -6.07648791e-03 -3.28569493e+01] [-3.08482133e-02 -2.03422147e-04 9.99524060e-01 -9.02370146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.56, Y:-32.87, Z:-9.02 [[ 9.78753035e-01 2.02975539e-01 2.90418074e-02 2.13564695e+02] [-2.02756078e-01 9.79174651e-01 -1.03428667e-02 -3.28664945e+01] [-3.05363505e-02 4.23470918e-03 9.99524686e-01 -9.02212985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.59, Y:-32.88, Z:-9.02 [[ 9.79022571e-01 2.01404823e-01 3.08366992e-02 2.13594901e+02] [-2.01450902e-01 9.79497245e-01 -1.63729936e-03 -3.28773510e+01] [-3.05342219e-02 -4.60912784e-03 9.99523095e-01 -9.02365604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.63, Y:-32.88, Z:-9.03 [[ 9.78720103e-01 2.03153976e-01 2.89036692e-02 2.13626836e+02] [-2.02875987e-01 9.79127481e-01 -1.22764099e-02 -3.28771057e+01] [-3.07943783e-02 6.15130875e-03 9.99506812e-01 -9.02589065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264000000003 meters Centerline goodness [0,1] 0.9999359863437534 Centerline is valid? [True, True] Translation: X:213.66, Y:-32.89, Z:-9.02 [[ 9.78679078e-01 2.02871002e-01 3.21032456e-02 2.13657723e+02] [-2.02977288e-01 9.79183444e-01 5.29129070e-05 -3.28882501e+01] [-3.14242321e-02 -6.56801446e-03 9.99484557e-01 -9.02254033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.69, Y:-32.89, Z:-9.03 [[ 9.78257098e-01 2.05018888e-01 3.13098218e-02 2.13691063e+02] [-2.04921998e-01 9.78757986e-01 -6.30712339e-03 -3.28890473e+01] [-3.19378176e-02 -2.46083023e-04 9.99489827e-01 -9.02514210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.72, Y:-32.89, Z:-9.03 [[ 9.77900821e-01 2.06689038e-01 3.14583185e-02 2.13722632e+02] [-2.06591877e-01 9.78406641e-01 -6.34367407e-03 -3.28923610e+01] [-3.20901956e-02 -2.95548977e-04 9.99484933e-01 -9.02679745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.76, Y:-32.89, Z:-9.03 [[ 9.77217605e-01 2.09969899e-01 3.09579530e-02 2.13755190e+02] [-2.09877301e-01 9.77707772e-01 -6.24747631e-03 -3.28926433e+01] [-3.15796132e-02 -3.92227781e-04 9.99501163e-01 -9.02835644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264000000003 meters Centerline goodness [0,1] 0.9999784631288766 Centerline is valid? [True, True] Translation: X:213.79, Y:-32.90, Z:-9.03 [[ 9.76929238e-01 2.11340438e-01 3.07324368e-02 2.13787069e+02] [-2.11249700e-01 9.77412418e-01 -6.20715165e-03 -3.28975490e+01] [-3.13500876e-02 -4.28270114e-04 9.99508373e-01 -9.02975375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.82, Y:-32.90, Z:-9.03 [[ 9.76716280e-01 2.12426528e-01 3.00046418e-02 2.13818367e+02] [-2.12340389e-01 9.77176939e-01 -6.06539167e-03 -3.29011073e+01] [-3.06082941e-02 -4.47030518e-04 9.99531356e-01 -9.03296029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.85, Y:-32.90, Z:-9.04 [[ 9.76502132e-01 2.13588400e-01 2.86981032e-02 2.13849603e+02] [-2.13509920e-01 9.76923634e-01 -5.80746475e-03 -3.29033964e+01] [-2.92762624e-02 -4.56328021e-04 9.99571254e-01 -9.03700272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.88, Y:-32.91, Z:-9.04 [[ 9.76536946e-01 2.13488729e-01 2.82516574e-02 2.13880438e+02] [-2.13412612e-01 9.76945425e-01 -5.71778280e-03 -3.29101517e+01] [-2.88210096e-02 -4.45633839e-04 9.99584489e-01 -9.03829033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.91, Y:-32.92, Z:-9.04 [[ 9.76615338e-01 2.13162344e-01 2.80053046e-02 2.13910834e+02] [-2.13087396e-01 9.77016698e-01 -5.66860906e-03 -3.29172271e+01] [-2.85699842e-02 -4.31526864e-04 9.99591702e-01 -9.03938291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.94, Y:-32.92, Z:-9.04 [[ 9.76649976e-01 2.12960436e-01 2.83315545e-02 2.13942206e+02] [-2.12883686e-01 9.77060728e-01 -5.73327748e-03 -3.29247724e+01] [-2.89026105e-02 -4.31920426e-04 9.99582139e-01 -9.03939512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:213.97, Y:-32.93, Z:-9.04 [[ 9.76782104e-01 2.12299903e-01 2.87310496e-02 2.13973960e+02] [-2.12220533e-01 9.77204472e-01 -5.81935777e-03 -3.29319874e+01] [-2.93115593e-02 -4.13074139e-04 9.99570239e-01 -9.04023836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.01, Y:-32.94, Z:-9.04 [[ 9.76752857e-01 2.12366024e-01 2.92323027e-02 2.14005135e+02] [-2.12283725e-01 9.77190103e-01 -5.92636226e-03 -3.29361101e+01] [-2.98240749e-02 -4.16950842e-04 9.99555076e-01 -9.04230533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.04, Y:-32.94, Z:-9.04 [[ 9.76693350e-01 2.12587473e-01 2.96085555e-02 2.14036390e+02] [-2.12502942e-01 9.77141949e-01 -6.00931733e-03 -3.29422432e+01] [-3.02092672e-02 -4.22644870e-04 9.99543507e-01 -9.04192980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19264000000004 meters Centerline goodness [0,1] 0.9999786288254402 Centerline is valid? [True, True] Translation: X:214.07, Y:-32.95, Z:-9.04 [[ 9.76585955e-01 2.12997619e-01 3.01974575e-02 2.14066368e+02] [-2.12909859e-01 9.77052618e-01 -6.12976412e-03 -3.29453740e+01] [-3.08101301e-02 -4.43094877e-04 9.99525157e-01 -9.04302913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.10, Y:-32.95, Z:-9.04 [[ 9.76532643e-01 2.13228528e-01 3.02917815e-02 2.14096345e+02] [-2.13140318e-01 9.77002247e-01 -6.14928941e-03 -3.29494659e+01] [-3.09063425e-02 -4.51418092e-04 9.99522183e-01 -9.04475728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.13, Y:-32.95, Z:-9.05 [[ 9.76539315e-01 2.13279644e-01 2.97112808e-02 2.14126779e+02] [-2.13194800e-01 9.76991093e-01 -6.03164799e-03 -3.29546408e+01] [-3.03140845e-02 -4.44149183e-04 9.99540324e-01 -9.04715774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.16, Y:-32.96, Z:-9.05 [[ 9.76662896e-01 2.13012071e-01 2.74853648e-02 2.14157588e+02] [-2.12939344e-01 9.77049485e-01 -5.58036094e-03 -3.29587649e+01] [-2.80432457e-02 -4.02584058e-04 9.99606630e-01 -9.05099068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.19, Y:-32.96, Z:-9.05 [[ 9.76720762e-01 2.12756144e-01 2.74112254e-02 2.14187407e+02] [-2.12683705e-01 9.77105249e-01 -5.56541651e-03 -3.29617932e+01] [-2.79677288e-02 -3.94063123e-04 9.99608749e-01 -9.05495947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.22, Y:-32.97, Z:-9.06 [[ 9.76843001e-01 2.12218635e-01 2.72213710e-02 2.14216704e+02] [-2.12146902e-01 9.77222140e-01 -5.52994992e-03 -3.29678364e+01] [-2.77748849e-02 -3.73036668e-04 9.99614134e-01 -9.05587434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.25, Y:-32.98, Z:-9.06 [[ 9.77176331e-01 2.10567044e-01 2.80702193e-02 2.14246686e+02] [-2.10490115e-01 9.77579361e-01 -5.70134035e-03 -3.29754050e+01] [-2.86413815e-02 -3.37288848e-04 9.99589695e-01 -9.05555574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.28, Y:-32.98, Z:-9.05 [[ 9.77388636e-01 2.09492093e-01 2.87144183e-02 2.14276736e+02] [-2.09411138e-01 9.77810291e-01 -5.83184578e-03 -3.29834605e+01] [-2.92989792e-02 -3.13139216e-04 9.99570644e-01 -9.05430020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43264000000002 meters Centerline goodness [0,1] 0.9999785600960508 Centerline is valid? [True, True] Translation: X:214.31, Y:-32.99, Z:-9.05 [[ 9.77535336e-01 2.08749044e-01 2.91290981e-02 2.14307970e+02] [-2.08665440e-01 9.77969196e-01 -5.91482278e-03 -3.29909706e+01] [-2.97220743e-02 -2.96287804e-04 9.99558158e-01 -9.05398692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264000000002 meters Centerline goodness [0,1] 0.999957127545552 Centerline is valid? [True, True] Translation: X:214.34, Y:-33.00, Z:-9.05 [[ 9.77719542e-01 2.07831341e-01 2.95064605e-02 2.14338433e+02] [-2.07744970e-01 9.78164640e-01 -5.99703706e-03 -3.29973794e+01] [-3.01085486e-02 -2.66398436e-04 9.99546599e-01 -9.05448744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49264000000002 meters Centerline goodness [0,1] 0.9998925401362591 Centerline is valid? [True, True] Translation: X:214.37, Y:-33.00, Z:-9.05 [[ 9.77958301e-01 2.06699199e-01 2.95466347e-02 2.14369897e+02] [-2.06611932e-01 9.78404512e-01 -6.00997715e-03 -3.30048058e+01] [-3.01508182e-02 -2.27180233e-04 9.99545335e-01 -9.05451470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.40, Y:-33.01, Z:-9.06 [[ 9.77964965e-01 2.06562580e-01 3.02725522e-02 2.14399954e+02] [-2.06470729e-01 9.78433366e-01 -6.16340289e-03 -3.30109951e+01] [-3.08928035e-02 -2.22803809e-04 9.99522679e-01 -9.05710904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.43, Y:-33.02, Z:-9.06 [[ 9.78200453e-01 2.05536299e-01 2.96429370e-02 2.14431239e+02] [-2.05447622e-01 9.78649476e-01 -6.03969561e-03 -3.30175875e+01] [-3.02514214e-02 -1.82037934e-04 9.99542304e-01 -9.06088333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.46, Y:-33.02, Z:-9.06 [[ 9.78377717e-01 2.04732262e-01 2.93554753e-02 2.14461954e+02] [-2.04644708e-01 9.78818001e-01 -5.98867840e-03 -3.30247601e+01] [-2.99597434e-02 -1.48253184e-04 9.99551095e-01 -9.06252635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.49, Y:-33.03, Z:-9.06 [[ 9.78453073e-01 2.04387891e-01 2.92433665e-02 2.14492945e+02] [-2.04300830e-01 9.78889969e-01 -5.96652769e-03 -3.30314020e+01] [-2.98455241e-02 -1.36476682e-04 9.99554514e-01 -9.06440915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.52, Y:-33.04, Z:-9.06 [[ 9.78245974e-01 2.05254600e-01 3.00892743e-02 2.14524274e+02] [-2.05162815e-01 9.78708599e-01 -6.13988367e-03 -3.30356914e+01] [-3.07088709e-02 -1.66883729e-04 9.99528357e-01 -9.06369118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.56, Y:-33.04, Z:-9.06 [[ 9.77983191e-01 2.06494524e-01 3.01477844e-02 2.14555142e+02] [-2.06402947e-01 9.78447735e-01 -6.15257711e-03 -3.30390303e+01] [-3.07685049e-02 -2.05474539e-04 9.99526516e-01 -9.06438308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.59, Y:-33.04, Z:-9.07 [[ 9.77593178e-01 2.08321009e-01 3.02313520e-02 2.14586020e+02] [-2.08229768e-01 9.78060473e-01 -6.17053448e-03 -3.30407956e+01] [-3.08535424e-02 -2.62795017e-04 9.99523882e-01 -9.06645686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.62, Y:-33.04, Z:-9.07 [[ 9.77111265e-01 2.10611222e-01 2.99414090e-02 2.14616205e+02] [-2.10522773e-01 9.77569846e-01 -6.11216806e-03 -3.30430271e+01] [-3.05571098e-02 -3.31080184e-04 9.99532968e-01 -9.06745772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.65, Y:-33.04, Z:-9.07 [[ 9.76001762e-01 2.15729826e-01 2.96850416e-02 2.14647693e+02] [-2.15645281e-01 9.76452971e-01 -6.05880524e-03 -3.30412038e+01] [-3.02931121e-02 -4.88034540e-04 9.99540939e-01 -9.06765537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.68, Y:-33.04, Z:-9.07 [[ 9.75419126e-01 2.18320127e-01 2.98973234e-02 2.14677865e+02] [-2.18235574e-01 9.75877039e-01 -6.10244491e-03 -3.30421317e+01] [-3.05083980e-02 -5.72218038e-04 9.99534347e-01 -9.06791357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.70, Y:-33.04, Z:-9.07 [[ 9.74437932e-01 2.22217997e-01 3.30133027e-02 2.14704680e+02] [-2.22203636e-01 9.74991448e-01 -4.14969887e-03 -3.30423630e+01] [-3.31098255e-02 -3.29205190e-03 9.99446298e-01 -9.06929391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.74, Y:-33.03, Z:-9.07 [[ 9.73784098e-01 2.25471310e-01 3.01200872e-02 2.14737868e+02] [-2.25312750e-01 9.74248509e-01 -8.60272348e-03 -3.30349577e+01] [-3.12841173e-02 1.59075565e-03 9.99509266e-01 -9.06976201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264000000004 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:214.77, Y:-33.04, Z:-9.07 [[ 9.73333336e-01 2.27368516e-01 3.04265376e-02 2.14767022e+02] [-2.27285435e-01 9.73808398e-01 -6.20774158e-03 -3.30358008e+01] [-3.10410629e-02 -8.73307016e-04 9.99517729e-01 -9.07187733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91264000000004 meters Centerline goodness [0,1] 0.9999785001719986 Centerline is valid? [True, True] Translation: X:214.79, Y:-33.04, Z:-9.07 [[ 9.73349487e-01 2.27299350e-01 3.04266795e-02 2.14793976e+02] [-2.27216256e-01 9.73824546e-01 -6.20704606e-03 -3.30411643e+01] [-3.10411049e-02 -8.71811110e-04 9.99517729e-01 -9.07305710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264000000004 meters Centerline goodness [0,1] 0.9999579204275284 Centerline is valid? [True, True] Translation: X:214.82, Y:-33.04, Z:-9.08 [[ 9.72994675e-01 2.28803922e-01 3.04979969e-02 2.14823185e+02] [-2.28721252e-01 9.73472090e-01 -6.21918339e-03 -3.30385104e+01] [-3.11119224e-02 -9.24307704e-04 9.99515480e-01 -9.07595860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97264000000004 meters Centerline goodness [0,1] 0.9999572274856178 Centerline is valid? [True, True] Translation: X:214.85, Y:-33.04, Z:-9.08 [[ 9.72825429e-01 2.29614076e-01 2.98003441e-02 2.14851981e+02] [-2.29535583e-01 9.73281311e-01 -6.07499445e-03 -3.30420944e+01] [-3.03990222e-02 -9.30330285e-04 9.99537410e-01 -9.07702471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264000000004 meters Centerline goodness [0,1] 0.9998505901688332 Centerline is valid? [True, True] Translation: X:214.88, Y:-33.04, Z:-9.08 [[ 9.72776645e-01 2.29914908e-01 2.90643145e-02 2.14881131e+02] [-2.29840420e-01 9.73210302e-01 -5.92358915e-03 -3.30441569e+01] [-2.96476118e-02 -9.17825070e-04 9.99559992e-01 -9.08007471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03264000000004 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:214.91, Y:-33.05, Z:-9.08 [[ 9.72914397e-01 2.29382283e-01 2.86590975e-02 2.14909147e+02] [-2.29309662e-01 9.73336004e-01 -5.83976727e-03 -3.30469605e+01] [-2.92344706e-02 -8.90214322e-04 9.99572185e-01 -9.08245746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000004 meters Centerline goodness [0,1] 0.9999363705777552 Centerline is valid? [True, True] Translation: X:214.94, Y:-33.05, Z:-9.08 [[ 9.73120229e-01 2.28527419e-01 2.84998138e-02 2.14937812e+02] [-2.28455298e-01 9.73537096e-01 -5.80522702e-03 -3.30527351e+01] [-2.90722795e-02 -8.61749603e-04 9.99576940e-01 -9.08408459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09264000000002 meters Centerline goodness [0,1] 0.9997851079832384 Centerline is valid? [True, True] Translation: X:214.97, Y:-33.06, Z:-9.08 [[ 9.73836474e-01 2.25530958e-01 2.78981942e-02 2.14966340e+02] [-2.25460649e-01 9.74235708e-01 -5.68169800e-03 -3.30595811e+01] [-2.84608157e-02 -7.56900210e-04 9.99594622e-01 -9.08402285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:214.99, Y:-33.06, Z:-9.09 [[ 9.74191760e-01 2.23888677e-01 2.87101729e-02 2.14993651e+02] [-2.23813526e-01 9.74614450e-01 -5.84628497e-03 -3.30637328e+01] [-2.92902664e-02 -7.30322368e-04 9.99570681e-01 -9.08656030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15264000000002 meters Centerline goodness [0,1] 0.9999785366272456 Centerline is valid? [True, True] Translation: X:215.02, Y:-33.07, Z:-9.09 [[ 9.74604364e-01 2.22042221e-01 2.90445558e-02 2.15021602e+02] [-2.21964548e-01 9.75036811e-01 -5.91239247e-03 -3.30715577e+01] [-2.96323119e-02 -6.84618190e-04 9.99560632e-01 -9.08581223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.05, Y:-33.08, Z:-9.09 [[ 9.75417992e-01 2.18428401e-01 2.91337401e-02 2.15050179e+02] [-2.18348686e-01 9.75852806e-01 -5.92889607e-03 -3.30778825e+01] [-2.97252813e-02 -5.78161984e-04 9.99557939e-01 -9.08680220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.08, Y:-33.08, Z:-9.09 [[ 9.75727302e-01 2.17018474e-01 2.93123633e-02 2.15078205e+02] [-2.16937166e-01 9.76167348e-01 -5.96445717e-03 -3.30810131e+01] [-2.99081693e-02 -5.39257314e-04 9.99552505e-01 -9.09017721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.11, Y:-33.09, Z:-9.09 [[ 9.76061341e-01 2.15520220e-01 2.92454050e-02 2.15106417e+02] [-2.15438671e-01 9.76499253e-01 -5.94880190e-03 -3.30878628e+01] [-2.98402032e-02 -4.94195646e-04 9.99554560e-01 -9.09072465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.13, Y:-33.09, Z:-9.09 [[ 9.76343169e-01 2.14236018e-01 2.92736160e-02 2.15134730e+02] [-2.14153778e-01 9.76781818e-01 -5.95310558e-03 -3.30935599e+01] [-2.98693055e-02 -4.56781495e-04 9.99553708e-01 -9.09203053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264000000003 meters Centerline goodness [0,1] 0.9997429416049013 Centerline is valid? [True, True] Translation: X:215.16, Y:-33.10, Z:-9.09 [[ 9.76836617e-01 2.11998623e-01 2.90999769e-02 2.15163036e+02] [-2.11916404e-01 9.77269888e-01 -5.91641114e-03 -3.30992989e+01] [-2.96928022e-02 -3.87395412e-04 9.99558996e-01 -9.09082169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.19, Y:-33.10, Z:-9.09 [[ 9.77100854e-01 2.10773666e-01 2.91270032e-02 2.15190338e+02] [-2.10690790e-01 9.77534827e-01 -5.92058518e-03 -3.31029727e+01] [-2.97205634e-02 -3.51782455e-04 9.99558185e-01 -9.09407798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.22, Y:-33.11, Z:-9.09 [[ 9.77368607e-01 2.09487300e-01 2.94223931e-02 2.15218707e+02] [-2.09402213e-01 9.77811316e-01 -5.97855990e-03 -3.31083552e+01] [-3.00219813e-02 -3.17857477e-04 9.99549188e-01 -9.09446901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.25, Y:-33.12, Z:-9.09 [[ 9.78089607e-01 2.06054878e-01 2.97003126e-02 2.15246707e+02] [-2.05966637e-01 9.78540413e-01 -6.03356504e-03 -3.31162134e+01] [-3.03062017e-02 -2.15906254e-04 9.99540638e-01 -9.09420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.27, Y:-33.12, Z:-9.10 [[ 9.78579269e-01 2.03755495e-01 2.94332063e-02 2.15273233e+02] [-2.03667833e-01 9.79021796e-01 -5.97797978e-03 -3.31236100e+01] [-3.00337967e-02 -1.44670267e-04 9.99548873e-01 -9.09838777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45264000000003 meters Centerline goodness [0,1] 0.9998496950957657 Centerline is valid? [True, True] Translation: X:215.30, Y:-33.13, Z:-9.10 [[ 9.79131974e-01 2.01134894e-01 2.90745885e-02 2.15301037e+02] [-2.01048258e-01 9.79563551e-01 -5.90317668e-03 -3.31331997e+01] [-2.96677420e-02 -6.54063407e-05 9.99559814e-01 -9.09671952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.33, Y:-33.15, Z:-9.10 [[ 9.80188479e-01 1.95881554e-01 2.93421631e-02 2.15326913e+02] [-1.95791011e-01 9.80627558e-01 -5.95582404e-03 -3.31474291e+01] [-2.99403698e-02 9.28983325e-05 9.99551682e-01 -9.10199454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.36, Y:-33.16, Z:-9.10 [[ 9.80677601e-01 1.93384961e-01 2.95583993e-02 2.15355125e+02] [-1.93291983e-01 9.81122942e-01 -5.99842057e-03 -3.31560752e+01] [-3.01604280e-02 1.69115075e-04 9.99545057e-01 -9.09991004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.38, Y:-33.17, Z:-9.10 [[ 9.81470937e-01 1.89366655e-01 2.92415820e-02 2.15383869e+02] [-1.89273906e-01 9.81906404e-01 -5.93309253e-03 -3.31686704e+01] [-2.98360266e-02 2.88489427e-04 9.99554765e-01 -9.10110559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.41, Y:-33.18, Z:-9.10 [[ 9.81769563e-01 1.87784006e-01 2.94226496e-02 2.15413333e+02] [-1.87689394e-01 9.82210289e-01 -5.96983099e-03 -3.31783498e+01] [-3.00202680e-02 3.38679091e-04 9.99549233e-01 -9.10175536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.44, Y:-33.19, Z:-9.10 [[ 9.81965798e-01 1.86708927e-01 2.97144427e-02 2.15442421e+02] [-1.86611958e-01 9.82415206e-01 -6.02834016e-03 -3.31877669e+01] [-3.03174652e-02 3.74553530e-04 9.99540250e-01 -9.10304355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.47, Y:-33.20, Z:-9.10 [[ 9.82099319e-01 1.86044067e-01 2.94708657e-02 2.15471664e+02] [-1.85948316e-01 9.82541322e-01 -5.98112215e-03 -3.31967240e+01] [-3.00690956e-02 3.93998145e-04 9.99547745e-01 -9.10444853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.50, Y:-33.21, Z:-9.10 [[ 9.82111372e-01 1.86000242e-01 2.93455792e-02 2.15503300e+02] [-1.85905337e-01 9.82549620e-01 -5.95394072e-03 -3.32051746e+01] [-2.99409222e-02 3.91933094e-04 9.99551593e-01 -9.10462475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.53, Y:-33.21, Z:-9.11 [[ 9.82006355e-01 1.86494511e-01 2.97206238e-02 2.15533167e+02] [-1.86397220e-01 9.82455926e-01 -6.03562938e-03 -3.32144508e+01] [-3.03248147e-02 3.87184759e-04 9.99540022e-01 -9.10649709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.56, Y:-33.22, Z:-9.11 [[ 9.81871426e-01 1.87259285e-01 2.93677174e-02 2.15564597e+02] [-1.87164495e-01 9.82310454e-01 -5.96858041e-03 -3.32207633e+01] [-2.99658879e-02 3.63784573e-04 9.99550856e-01 -9.10668184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.60, Y:-33.23, Z:-9.11 [[ 9.81360773e-01 1.90103316e-01 2.81382740e-02 2.15595752e+02] [-1.90017271e-01 9.81764053e-01 -5.72552944e-03 -3.32259195e+01] [-2.87135881e-02 2.72051966e-04 9.99587643e-01 -9.10932016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.63, Y:-33.23, Z:-9.11 [[ 9.80907127e-01 1.92395031e-01 2.83788630e-02 2.15625296e+02] [-1.92308435e-01 9.81317537e-01 -5.77555827e-03 -3.32309160e+01] [-2.89598647e-02 2.07791559e-04 9.99580554e-01 -9.11226837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.66, Y:-33.23, Z:-9.11 [[ 9.80431696e-01 1.94818179e-01 2.82765986e-02 2.15655680e+02] [-1.94733213e-01 9.80839364e-01 -5.75474581e-03 -3.32331256e+01] [-2.88559301e-02 1.35742316e-04 9.99583572e-01 -9.11107357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.69, Y:-33.23, Z:-9.11 [[ 9.79151192e-01 2.01085460e-01 2.87677081e-02 2.15685786e+02] [-2.01000202e-01 9.79573701e-01 -5.85520274e-03 -3.32295600e+01] [-2.93574865e-02 -4.91864128e-05 9.99568975e-01 -9.11378426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.72, Y:-33.23, Z:-9.11 [[ 9.78510937e-01 2.04144691e-01 2.90050320e-02 2.15715459e+02] [-2.04059393e-01 9.78940716e-01 -5.90251514e-03 -3.32303827e+01] [-2.95991740e-02 -1.43073611e-04 9.99561838e-01 -9.11482062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.74, Y:-33.23, Z:-9.12 [[ 9.77987419e-01 2.06656127e-01 2.88765164e-02 2.15744586e+02] [-2.06572717e-01 9.78413612e-01 -5.87497649e-03 -3.32325704e+01] [-2.94672766e-02 -2.19447364e-04 9.99565721e-01 -9.11561129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.77, Y:-33.23, Z:-9.12 [[ 9.77116020e-01 2.10637664e-01 2.95982616e-02 2.15773577e+02] [-2.10551893e-01 9.77564142e-01 -6.02062123e-03 -3.32315041e+01] [-3.02023688e-02 -3.49124547e-04 9.99543743e-01 -9.11629110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.80, Y:-33.24, Z:-9.12 [[ 9.76923305e-01 2.11555281e-01 2.94146170e-02 2.15802364e+02] [-2.11471061e-01 9.77365960e-01 -5.98078653e-03 -3.32371898e+01] [-3.00141124e-02 -3.77570535e-04 9.99549404e-01 -9.11562825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.83, Y:-33.24, Z:-9.12 [[ 9.76789461e-01 2.12231275e-01 2.89868091e-02 2.15829590e+02] [-2.12149821e-01 9.77219387e-01 -5.89259271e-03 -3.32406774e+01] [-2.95770643e-02 -3.93723908e-04 9.99562425e-01 -9.11815024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.86, Y:-33.25, Z:-9.12 [[ 9.76780535e-01 2.12325099e-01 2.85978873e-02 2.15858126e+02] [-2.12245922e-01 9.77199006e-01 -5.81127263e-03 -3.32456540e+01] [-2.91797061e-02 -3.93446965e-04 9.99574104e-01 -9.11988128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.89, Y:-33.25, Z:-9.12 [[ 9.76890633e-01 2.11839360e-01 2.84389865e-02 2.15885753e+02] [-2.11760892e-01 9.77304427e-01 -5.77771596e-03 -3.32499488e+01] [-2.90174950e-02 -3.78068549e-04 9.99578832e-01 -9.12250052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.91, Y:-33.26, Z:-9.12 [[ 9.77148469e-01 2.10703494e-01 2.80161915e-02 2.15913754e+02] [-2.10626930e-01 9.77549958e-01 -5.68989996e-03 -3.32580313e+01] [-2.85861087e-02 -3.41087386e-04 9.99591275e-01 -9.12382949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.94, Y:-33.27, Z:-9.13 [[ 9.77835729e-01 2.07561494e-01 2.74866138e-02 2.15940218e+02] [-2.07486593e-01 9.78221941e-01 -5.58102438e-03 -3.32713447e+01] [-2.80464145e-02 -2.45778809e-04 9.99606592e-01 -9.12550181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.97, Y:-33.28, Z:-9.13 [[ 9.78169245e-01 2.05975835e-01 2.75478419e-02 2.15966765e+02] [-2.05900006e-01 9.78557057e-01 -5.59222925e-03 -3.32786664e+01] [-2.81089992e-02 -2.01954150e-04 9.99604844e-01 -9.12861903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:215.99, Y:-33.29, Z:-9.13 [[ 9.78489316e-01 2.04480072e-01 2.73232284e-02 2.15993351e+02] [-2.04404940e-01 9.78870714e-01 -5.54487817e-03 -3.32856675e+01] [-2.78797251e-02 -1.59398820e-04 9.99611272e-01 -9.13124438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.02, Y:-33.29, Z:-9.13 [[ 9.78812971e-01 2.02948497e-01 2.71491296e-02 2.16021439e+02] [-2.02873780e-01 9.79189407e-01 -5.50774066e-03 -3.32945588e+01] [-2.77019278e-02 -1.16798552e-04 9.99616221e-01 -9.13194028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.05, Y:-33.31, Z:-9.13 [[ 9.79343160e-01 2.00258064e-01 2.79943338e-02 2.16048763e+02] [-2.00177563e-01 9.79743184e-01 -5.67779417e-03 -3.33062226e+01] [-2.85642818e-02 -4.33286308e-05 9.99591957e-01 -9.13025686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.08, Y:-33.31, Z:-9.13 [[ 9.79589167e-01 1.98977235e-01 2.85153397e-02 2.16077751e+02] [-1.98893217e-01 9.80004112e-01 -5.78171410e-03 -3.33146994e+01] [-2.90955797e-02 -7.80316709e-06 9.99576634e-01 -9.12868719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.11, Y:-33.32, Z:-9.13 [[ 9.79809960e-01 1.97828333e-01 2.89204733e-02 2.16106449e+02] [-1.97741437e-01 9.80236681e-01 -5.86292781e-03 -3.33227929e+01] [-2.95087620e-02 2.57791200e-05 9.99564521e-01 -9.13027455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.13, Y:-33.33, Z:-9.13 [[ 9.80047865e-01 1.96706031e-01 2.85117608e-02 2.16134764e+02] [-1.96621106e-01 9.80462510e-01 -5.77987786e-03 -3.33312094e+01] [-2.90916494e-02 5.85430179e-05 9.99576747e-01 -9.13233560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.16, Y:-33.34, Z:-9.13 [[ 9.80402037e-01 1.94860075e-01 2.90068567e-02 2.16161808e+02] [-1.94771393e-01 9.80831045e-01 -5.87933423e-03 -3.33441985e+01] [-2.95964731e-02 1.14405374e-04 9.99561922e-01 -9.13405143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.19, Y:-33.35, Z:-9.13 [[ 9.80534906e-01 1.94175434e-01 2.91066739e-02 2.16191236e+02] [-1.94085854e-01 9.80966810e-01 -5.89904129e-03 -3.33526185e+01] [-2.96981300e-02 1.35022246e-04 9.99558904e-01 -9.13388429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.22, Y:-33.36, Z:-9.14 [[ 9.80653363e-01 1.93658172e-01 2.85568580e-02 2.16221908e+02] [-1.93571792e-01 9.81069055e-01 -5.78534253e-03 -3.33606416e+01] [-2.91366285e-02 1.45613426e-04 9.99575428e-01 -9.13524310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.25, Y:-33.37, Z:-9.14 [[ 9.80645831e-01 1.93664774e-01 2.87699374e-02 2.16252228e+02] [-1.93576959e-01 9.81067751e-01 -5.83341791e-03 -3.33694907e+01] [-2.93549854e-02 1.51319968e-04 9.99569038e-01 -9.13725322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.28, Y:-33.38, Z:-9.14 [[ 9.80503227e-01 1.94320218e-01 2.92074554e-02 2.16282319e+02] [-1.94229851e-01 9.80938140e-01 -5.92716410e-03 -3.33777718e+01] [-2.98024748e-02 1.38643811e-04 9.99555798e-01 -9.13920955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.31, Y:-33.39, Z:-9.14 [[ 9.80400545e-01 1.94814108e-01 2.93638164e-02 2.16311178e+02] [-1.94722789e-01 9.80840174e-01 -5.96568133e-03 -3.33855822e+01] [-2.99634097e-02 1.30953000e-04 9.99550988e-01 -9.14118052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.34, Y:-33.39, Z:-9.14 [[ 9.79979168e-01 1.97053092e-01 2.84764736e-02 2.16343001e+02] [-1.96968210e-01 9.80392817e-01 -5.78349304e-03 -3.33906726e+01] [-2.90577853e-02 5.87426820e-05 9.99577732e-01 -9.14171882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000004 meters Centerline goodness [0,1] 0.999936305732484 Centerline is valid? [True, True] Translation: X:216.37, Y:-33.40, Z:-9.14 [[ 9.79755733e-01 1.98295212e-01 2.75265870e-02 2.16372543e+02] [-1.98216192e-01 9.80142341e-01 -5.59762375e-03 -3.33952870e+01] [-2.80899554e-02 2.80887160e-05 9.99605399e-01 -9.14348349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.40, Y:-33.40, Z:-9.15 [[ 9.79167537e-01 2.01088947e-01 2.81810376e-02 2.16402044e+02] [-2.01007258e-01 9.79572985e-01 -5.73142551e-03 -3.33998929e+01] [-2.87579095e-02 -5.25673178e-05 9.99586404e-01 -9.14686690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.43, Y:-33.40, Z:-9.15 [[ 9.78964229e-01 2.02101110e-01 2.80032047e-02 2.16431607e+02] [-2.02020869e-01 9.79364659e-01 -5.69508875e-03 -3.34047720e+01] [-2.85763327e-02 -8.19435616e-05 9.99591610e-01 -9.14758583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.46, Y:-33.41, Z:-9.15 [[ 9.78778341e-01 2.03055463e-01 2.75941771e-02 2.16461328e+02] [-2.02977952e-01 9.79167231e-01 -5.61105716e-03 -3.34092459e+01] [-2.81586698e-02 -1.09028339e-04 9.99603460e-01 -9.14834728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.49, Y:-33.41, Z:-9.15 [[ 9.78633541e-01 2.03759072e-01 2.75433031e-02 2.16489831e+02] [-2.03682129e-01 9.79021054e-01 -5.60055840e-03 -3.34128351e+01] [-2.81066382e-02 -1.29184330e-04 9.99604922e-01 -9.15165665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.52, Y:-33.42, Z:-9.15 [[ 9.78539179e-01 2.04154675e-01 2.79632704e-02 2.16518610e+02] [-2.04075551e-01 9.78938633e-01 -5.68519390e-03 -3.34189457e+01] [-2.85349846e-02 -1.43434846e-04 9.99592784e-01 -9.15248580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.55, Y:-33.43, Z:-9.15 [[ 9.78652586e-01 2.03624602e-01 2.78592525e-02 2.16548004e+02] [-2.03545880e-01 9.79049031e-01 -5.66301334e-03 -3.34269225e+01] [-2.84287030e-02 -1.28513419e-04 9.99595814e-01 -9.15178258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.58, Y:-33.43, Z:-9.15 [[ 9.78736636e-01 2.03146786e-01 2.83898012e-02 2.16576874e+02] [-2.03064831e-01 9.79148288e-01 -5.77103156e-03 -3.34336650e+01] [-2.89701918e-02 -1.16650162e-04 9.99580269e-01 -9.15416144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.61, Y:-33.44, Z:-9.15 [[ 9.79100367e-01 2.01254329e-01 2.93115546e-02 2.16605721e+02] [-2.01166133e-01 9.79539020e-01 -5.95785550e-03 -3.34433118e+01] [-2.99108557e-02 -6.31535824e-05 9.99552568e-01 -9.15396290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.64, Y:-33.45, Z:-9.16 [[ 9.79100367e-01 2.01254329e-01 2.93115546e-02 2.16635095e+02] [-2.01166133e-01 9.79539020e-01 -5.95785550e-03 -3.34492825e+01] [-2.99108557e-02 -6.31535825e-05 9.99552568e-01 -9.15524970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.66, Y:-33.46, Z:-9.16 [[ 9.79298813e-01 2.00224914e-01 2.97291013e-02 2.16664480e+02] [-2.00133712e-01 9.79749959e-01 -6.04272587e-03 -3.34578432e+01] [-3.03369900e-02 -3.21611119e-05 9.99539727e-01 -9.15572387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.69, Y:-33.47, Z:-9.16 [[ 9.79530833e-01 1.98997345e-01 3.03216586e-02 2.16694819e+02] [-1.98901891e-01 9.80000029e-01 -6.16288080e-03 -3.34672892e+01] [-3.09416233e-02 5.69653004e-06 9.99521193e-01 -9.15538131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.73, Y:-33.48, Z:-9.15 [[ 9.79819318e-01 1.97530151e-01 3.05932080e-02 2.16726837e+02] [-1.97432304e-01 9.80296811e-01 -6.21678119e-03 -3.34773781e+01] [-3.12184260e-02 5.12347494e-05 9.99512585e-01 -9.15454630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95264000000003 meters Centerline goodness [0,1] 0.9998299572767658 Centerline is valid? [True, True] Translation: X:216.76, Y:-33.49, Z:-9.16 [[ 9.80513101e-01 1.94270110e-01 2.92092972e-02 2.16755478e+02] [-1.94179260e-01 9.80948062e-01 -5.94261421e-03 -3.34901204e+01] [-2.98072758e-02 1.54971352e-04 9.99555652e-01 -9.15746552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.79, Y:-33.50, Z:-9.16 [[ 9.80848316e-01 1.92501240e-01 2.96623273e-02 2.16787013e+02] [-1.92406701e-01 9.81296707e-01 -6.03607884e-03 -3.35013327e+01] [-3.02694968e-02 2.13247223e-04 9.99541751e-01 -9.15944092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.82, Y:-33.51, Z:-9.16 [[ 9.81136913e-01 1.91041605e-01 2.95544202e-02 2.16818099e+02] [-1.90946902e-01 9.81581905e-01 -6.02036937e-03 -3.35120108e+01] [-3.01602251e-02 2.63481657e-04 9.99545042e-01 -9.16114932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.85, Y:-33.53, Z:-9.16 [[ 9.81563843e-01 1.88884991e-01 2.92383725e-02 2.16846282e+02] [-1.88791159e-01 9.81999160e-01 -5.96223780e-03 -3.35276189e+01] [-2.98382345e-02 3.32370796e-04 9.99554685e-01 -9.16453132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.88, Y:-33.54, Z:-9.17 [[ 9.81598510e-01 1.88753423e-01 2.89224826e-02 2.16877662e+02] [-1.88661509e-01 9.82024457e-01 -5.89924360e-03 -3.35372235e+01] [-2.95160877e-02 3.34129505e-04 9.99564250e-01 -9.16680523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.91, Y:-33.55, Z:-9.17 [[ 9.81411297e-01 1.89845132e-01 2.81192540e-02 2.16909050e+02] [-1.89758552e-01 9.81814003e-01 -5.74065865e-03 -3.35457978e+01] [-2.86977134e-02 2.98078331e-04 9.99588091e-01 -9.16894189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.94, Y:-33.55, Z:-9.17 [[ 9.81099130e-01 1.91464416e-01 2.80334584e-02 2.16941081e+02] [-1.91378857e-01 9.81499522e-01 -5.72897158e-03 -3.35516724e+01] [-2.86117202e-02 2.55677806e-04 9.99590568e-01 -9.17008393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:216.97, Y:-33.56, Z:-9.17 [[ 9.80614076e-01 1.93944569e-01 2.79560044e-02 2.16972921e+02] [-1.93860349e-01 9.81012471e-01 -5.71802501e-03 -3.35569568e+01] [-2.85341688e-02 1.87615043e-04 9.99592800e-01 -9.17135280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.00, Y:-33.56, Z:-9.17 [[ 9.80088436e-01 1.96613148e-01 2.77475768e-02 2.17004391e+02] [-1.96531113e-01 9.80481135e-01 -5.68019822e-03 -3.35614136e+01] [-2.83227772e-02 1.13834445e-04 9.99598823e-01 -9.17265245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264000000004 meters Centerline goodness [0,1] 0.999913926665519 Centerline is valid? [True, True] Translation: X:217.04, Y:-33.56, Z:-9.17 [[ 9.78870818e-01 2.02780165e-01 2.63082919e-02 2.17035940e+02] [-2.02708515e-01 9.79224286e-01 -5.39041031e-03 -3.35603302e+01] [-2.68547867e-02 -5.63994382e-05 9.99639344e-01 -9.17367801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.07, Y:-33.56, Z:-9.18 [[ 9.78213580e-01 2.05807221e-01 2.72319686e-02 2.17066851e+02] [-2.05731466e-01 9.78592545e-01 -5.58531211e-03 -3.35633700e+01] [-2.77984990e-02 -1.38844657e-04 9.99613537e-01 -9.17592905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.10, Y:-33.56, Z:-9.18 [[ 9.76906021e-01 2.11936073e-01 2.71611188e-02 2.17098266e+02] [-2.11863052e-01 9.77283482e-01 -5.57164490e-03 -3.35624265e+01] [-2.77249453e-02 -3.11464071e-04 9.99615541e-01 -9.17752914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.13, Y:-33.56, Z:-9.18 [[ 9.76338816e-01 2.14516908e-01 2.72949260e-02 2.17126853e+02] [-2.14444143e-01 9.76720199e-01 -5.60016469e-03 -3.35634074e+01] [-2.78608356e-02 -3.85578872e-04 9.99611737e-01 -9.18012374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.16, Y:-33.57, Z:-9.18 [[ 9.75854045e-01 2.16689110e-01 2.74720463e-02 2.17156486e+02] [-2.16616292e-01 9.76240557e-01 -5.63529584e-03 -3.35678506e+01] [-2.80404331e-02 -4.51666560e-04 9.99606688e-01 -9.17916958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37264000000002 meters Centerline goodness [0,1] 0.9998713688498231 Centerline is valid? [True, True] Translation: X:217.19, Y:-33.57, Z:-9.18 [[ 9.75447819e-01 2.18560552e-01 2.70709545e-02 2.17185886e+02] [-2.18490583e-01 9.75823261e-01 -5.55238065e-03 -3.35722748e+01] [-2.76299984e-02 -4.98691021e-04 9.99618094e-01 -9.17845758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.21, Y:-33.57, Z:-9.18 [[ 9.74840543e-01 2.21236193e-01 2.72114533e-02 2.17214047e+02] [-2.21166546e-01 9.75220084e-01 -5.58087339e-03 -3.35746046e+01] [-2.77718470e-02 -5.77801485e-04 9.99614121e-01 -9.18134958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.24, Y:-33.58, Z:-9.18 [[ 9.74611029e-01 2.22240953e-01 2.72452176e-02 2.17242964e+02] [-2.22171563e-01 9.74991584e-01 -5.58641225e-03 -3.35788661e+01] [-2.78053874e-02 -6.08533590e-04 9.99613170e-01 -9.18271524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264000000002 meters Centerline goodness [0,1] 0.9999787215933271 Centerline is valid? [True, True] Translation: X:217.27, Y:-33.58, Z:-9.18 [[ 9.74409861e-01 2.22975005e-01 2.84177914e-02 2.17271168e+02] [-2.22899863e-01 9.74823940e-01 -5.82550294e-03 -3.35812560e+01] [-2.90012849e-02 -6.57894309e-04 9.99579158e-01 -9.18352991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.30, Y:-33.59, Z:-9.18 [[ 9.74440521e-01 2.22785832e-01 2.88469015e-02 2.17299635e+02] [-2.22708389e-01 9.74867187e-01 -5.91116546e-03 -3.35896578e+01] [-2.94388217e-02 -6.64367818e-04 9.99566363e-01 -9.18337433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264000000002 meters Centerline goodness [0,1] 0.9999146156637565 Centerline is valid? [True, True] Translation: X:217.33, Y:-33.60, Z:-9.18 [[ 9.74539325e-01 2.22314489e-01 2.91439777e-02 2.17328425e+02] [-2.22235254e-01 9.74974787e-01 -5.97131545e-03 -3.35970439e+01] [-2.97421534e-02 -6.57537540e-04 9.99557388e-01 -9.18422674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55264000000003 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:217.36, Y:-33.60, Z:-9.19 [[ 9.74689542e-01 2.21689554e-01 2.88797187e-02 2.17356927e+02] [-2.21611491e-01 9.75117091e-01 -5.91663278e-03 -3.36010314e+01] [-2.94727629e-02 -6.33197418e-04 9.99565383e-01 -9.18775290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264000000003 meters Centerline goodness [0,1] 0.999978810865788 Centerline is valid? [True, True] Translation: X:217.39, Y:-33.61, Z:-9.19 [[ 9.75004843e-01 2.20332684e-01 2.86192926e-02 2.17385063e+02] [-2.20255473e-01 9.75424606e-01 -5.86208121e-03 -3.36104569e+01] [-2.92075703e-02 -5.87998257e-04 9.99573195e-01 -9.18849407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61264000000003 meters Centerline goodness [0,1] 0.9999784538481428 Centerline is valid? [True, True] Translation: X:217.41, Y:-33.62, Z:-9.19 [[ 9.75211596e-01 2.19465601e-01 2.82346265e-02 2.17413311e+02] [-2.19390107e-01 9.75620081e-01 -5.78262410e-03 -3.36182440e+01] [-2.88153556e-02 -5.55115655e-04 9.99584597e-01 -9.19044127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264000000003 meters Centerline goodness [0,1] 0.9999359549122583 Centerline is valid? [True, True] Translation: X:217.44, Y:-33.63, Z:-9.19 [[ 9.75399340e-01 2.18679699e-01 2.78444988e-02 2.17442207e+02] [-2.18605977e-01 9.75796553e-01 -5.70206306e-03 -3.36256906e+01] [-2.84174914e-02 -5.25185311e-04 9.99596004e-01 -9.19143062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67264000000003 meters Centerline goodness [0,1] 0.9998497918544268 Centerline is valid? [True, True] Translation: X:217.47, Y:-33.63, Z:-9.19 [[ 9.75508888e-01 2.18195801e-01 2.78029265e-02 2.17471109e+02] [-2.18122121e-01 9.75904878e-01 -5.69287825e-03 -3.36329271e+01] [-2.83751737e-02 -5.10979970e-04 9.99597213e-01 -9.19130973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264000000003 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:217.50, Y:-33.64, Z:-9.19 [[ 9.75403380e-01 2.18577316e-01 2.84991860e-02 2.17500276e+02] [-2.18500079e-01 9.75819486e-01 -5.83488401e-03 -3.36356758e+01] [-2.90854343e-02 -5.35708790e-04 9.99576786e-01 -9.19261367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.53, Y:-33.64, Z:-9.19 [[ 9.75219051e-01 2.19282461e-01 2.93769585e-02 2.17529060e+02] [-2.19200749e-01 9.75661248e-01 -6.01332855e-03 -3.36413314e+01] [-2.99805775e-02 -5.75138772e-04 9.99550316e-01 -9.19194640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264000000003 meters Centerline goodness [0,1] 0.9998079016456426 Centerline is valid? [True, True] Translation: X:217.56, Y:-33.64, Z:-9.19 [[ 9.74864123e-01 2.20887916e-01 2.91285317e-02 2.17558136e+02] [-2.20808312e-01 9.75299003e-01 -5.96193004e-03 -3.36415121e+01] [-2.97259462e-02 -6.19750224e-04 9.99557894e-01 -9.19307242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79264000000003 meters Centerline goodness [0,1] 0.9999573624405739 Centerline is valid? [True, True] Translation: X:217.59, Y:-33.64, Z:-9.20 [[ 9.74092764e-01 2.24177642e-01 2.97938111e-02 2.17587980e+02] [-2.24095929e-01 9.74548019e-01 -6.09706285e-03 -3.36376826e+01] [-3.04023248e-02 -7.37566963e-04 9.99537470e-01 -9.19550647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264000000004 meters Centerline goodness [0,1] 0.9999785380091857 Centerline is valid? [True, True] Translation: X:217.62, Y:-33.64, Z:-9.20 [[ 9.73781495e-01 2.25546872e-01 2.96345921e-02 2.17617279e+02] [-2.25466700e-01 9.74232007e-01 -6.06323485e-03 -3.36394420e+01] [-3.02385118e-02 -7.77347812e-04 9.99542409e-01 -9.19747825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85264000000004 meters Centerline goodness [0,1] 0.9999153062736877 Centerline is valid? [True, True] Translation: X:217.65, Y:-33.64, Z:-9.20 [[ 9.73549060e-01 2.26605098e-01 2.91951667e-02 2.17645287e+02] [-2.26527797e-01 9.73986391e-01 -5.97214183e-03 -3.36409161e+01] [-2.97890128e-02 -7.99343724e-04 9.99555889e-01 -9.19960641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264000000004 meters Centerline goodness [0,1] 0.9998723947256487 Centerline is valid? [True, True] Translation: X:217.67, Y:-33.64, Z:-9.20 [[ 9.73495967e-01 2.27024152e-01 2.76701294e-02 2.17673846e+02] [-2.26954928e-01 9.73888823e-01 -5.65870524e-03 -3.36403968e+01] [-2.82322925e-02 -7.71145504e-04 9.99601092e-01 -9.20429918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91264000000004 meters Centerline goodness [0,1] 0.9998507494509712 Centerline is valid? [True, True] Translation: X:217.70, Y:-33.64, Z:-9.21 [[ 9.73678506e-01 2.26304315e-01 2.71389905e-02 2.17702469e+02] [-2.26237490e-01 9.74056371e-01 -5.54840273e-03 -3.36445454e+01] [-2.76905340e-02 -7.37496615e-04 9.99616272e-01 -9.20685352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264000000004 meters Centerline goodness [0,1] 0.9999358261315993 Centerline is valid? [True, True] Translation: X:217.73, Y:-33.65, Z:-9.21 [[ 9.73971155e-01 2.25050288e-01 2.70657877e-02 2.17729638e+02] [-2.24983369e-01 9.74346897e-01 -5.53237372e-03 -3.36495196e+01] [-2.76165286e-02 -7.00979680e-04 9.99618345e-01 -9.20874383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97264000000004 meters Centerline goodness [0,1] 0.9999577292133407 Centerline is valid? [True, True] Translation: X:217.76, Y:-33.66, Z:-9.21 [[ 9.74753579e-01 2.21602955e-01 2.73421150e-02 2.17757560e+02] [-2.21533364e-01 9.75136789e-01 -5.58677633e-03 -3.36571228e+01] [-2.79003483e-02 -6.11460493e-04 9.99610522e-01 -9.20963407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.79, Y:-33.66, Z:-9.21 [[ 9.75251378e-01 2.19368275e-01 2.76099747e-02 2.17786030e+02] [-2.19296436e-01 9.75641970e-01 -5.64087220e-03 -3.36642320e+01] [-2.81748785e-02 -5.53500670e-04 9.99602856e-01 -9.21069213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03264000000004 meters Centerline goodness [0,1] 0.9999786438868126 Centerline is valid? [True, True] Translation: X:217.81, Y:-33.67, Z:-9.21 [[ 9.75724193e-01 2.17179136e-01 2.82049904e-02 2.17813923e+02] [-2.17103263e-01 9.76131636e-01 -5.76209510e-03 -3.36722568e+01] [-2.87831903e-02 -5.01179845e-04 9.99585553e-01 -9.21115094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000004 meters Centerline goodness [0,1] 0.9997647662632052 Centerline is valid? [True, True] Translation: X:217.84, Y:-33.69, Z:-9.21 [[ 9.76338831e-01 2.14434823e-01 2.79319339e-02 2.17841811e+02] [-2.14359332e-01 9.76738211e-01 -5.70479405e-03 -3.36861205e+01] [-2.85054937e-02 -4.17658737e-04 9.99593549e-01 -9.20584584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.87, Y:-33.70, Z:-9.21 [[ 9.77536589e-01 2.08781486e-01 2.88532161e-02 2.17869406e+02] [-2.08698489e-01 9.77962281e-01 -5.89218827e-03 -3.36958115e+01] [-2.94475368e-02 -2.61792984e-04 9.99566293e-01 -9.20858734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.90, Y:-33.71, Z:-9.21 [[ 9.78100556e-01 2.06132607e-01 2.87862949e-02 2.17898355e+02] [-2.06048879e-01 9.78524049e-01 -5.87746636e-03 -3.37054824e+01] [-2.93796193e-02 -1.82630681e-04 9.99568309e-01 -9.20827232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.93, Y:-33.71, Z:-9.21 [[ 9.78629897e-01 2.03553820e-01 2.91439019e-02 2.17927464e+02] [-2.03466859e-01 9.79063752e-01 -5.95031852e-03 -3.37142444e+01] [-2.97449481e-02 -1.06658602e-04 9.99557515e-01 -9.20910649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.96, Y:-33.72, Z:-9.21 [[ 9.79553705e-01 1.99103971e-01 2.88469880e-02 2.17955850e+02] [-1.99016849e-01 9.79978371e-01 -5.88944768e-03 -3.37243383e+01] [-2.94420368e-02 2.79936154e-05 9.99566489e-01 -9.21083251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:217.99, Y:-33.73, Z:-9.21 [[ 9.79948539e-01 1.97187177e-01 2.86020541e-02 2.17985718e+02] [-1.97100651e-01 9.80365855e-01 -5.84156107e-03 -3.37322704e+01] [-2.91923582e-02 8.69457547e-05 9.99573809e-01 -9.21231849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.02, Y:-33.74, Z:-9.21 [[ 9.80319719e-01 1.95355758e-01 2.84495285e-02 2.18017236e+02] [-1.95269422e-01 9.80732435e-01 -5.80901555e-03 -3.37407093e+01] [-2.90362000e-02 1.39369518e-04 9.99578351e-01 -9.21204625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.05, Y:-33.75, Z:-9.21 [[ 9.80637006e-01 1.93717397e-01 2.87164243e-02 2.18049312e+02] [-1.93628588e-01 9.81057354e-01 -5.86837805e-03 -3.37500500e+01] [-2.93092662e-02 1.94427995e-04 9.99570372e-01 -9.21313928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.08, Y:-33.76, Z:-9.21 [[ 9.81221419e-01 1.90748665e-01 2.86264576e-02 2.18078907e+02] [-1.90658934e-01 9.81638866e-01 -5.85729718e-03 -3.37612481e+01] [-2.92181150e-02 2.89415559e-04 9.99573018e-01 -9.21475814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.11, Y:-33.77, Z:-9.22 [[ 9.81412827e-01 1.89688879e-01 2.91031395e-02 2.18109366e+02] [-1.89595620e-01 9.81844194e-01 -5.95646039e-03 -3.37705836e+01] [-2.97046228e-02 3.27918864e-04 9.99558667e-01 -9.21595822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.14, Y:-33.78, Z:-9.21 [[ 9.81600663e-01 1.88609027e-01 2.97787370e-02 2.18141873e+02] [-1.88510719e-01 9.82052185e-01 -6.10035010e-03 -3.37786079e+01] [-3.03948549e-02 3.74496592e-04 9.99537900e-01 -9.21494209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.17, Y:-33.79, Z:-9.22 [[ 9.81968130e-01 1.86720086e-01 2.95669069e-02 2.18171487e+02] [-1.86622122e-01 9.82413059e-01 -6.06338317e-03 -3.37907134e+01] [-3.01790709e-02 4.36210143e-04 9.99544413e-01 -9.21672110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264000000003 meters Centerline goodness [0,1] 0.9999359207125617 Centerline is valid? [True, True] Translation: X:218.20, Y:-33.80, Z:-9.22 [[ 9.82165329e-01 1.85726724e-01 2.92720150e-02 2.18200949e+02] [-1.85630121e-01 9.82601326e-01 -6.00765862e-03 -3.38002846e+01] [-2.98785035e-02 4.66746307e-04 9.99553429e-01 -9.21915530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45264000000003 meters Centerline goodness [0,1] 0.9999575488718613 Centerline is valid? [True, True] Translation: X:218.23, Y:-33.81, Z:-9.22 [[ 9.82512074e-01 1.84006902e-01 2.84865722e-02 2.18229895e+02] [-1.83914564e-01 9.82924819e-01 -5.85088859e-03 -3.38125964e+01] [-2.90767627e-02 5.09473182e-04 9.99577052e-01 -9.22272567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264000000003 meters Centerline goodness [0,1] 0.9999362231339952 Centerline is valid? [True, True] Translation: X:218.26, Y:-33.82, Z:-9.23 [[ 9.82643185e-01 1.83386613e-01 2.79592918e-02 2.18260403e+02] [-1.83297294e-01 9.83040730e-01 -5.74668623e-03 -3.38220680e+01] [-2.85389880e-02 5.22079516e-04 9.99592544e-01 -9.22520343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51264000000003 meters Centerline goodness [0,1] 0.9999787640688044 Centerline is valid? [True, True] Translation: X:218.29, Y:-33.83, Z:-9.23 [[ 9.82688987e-01 1.83131405e-01 2.80222042e-02 2.18292229e+02] [-1.83041452e-01 9.83088298e-01 -5.76405622e-03 -3.38308394e+01] [-2.86038807e-02 5.35049617e-04 9.99590682e-01 -9.22640023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.32, Y:-33.84, Z:-9.23 [[ 9.82604742e-01 1.83602501e-01 2.78934253e-02 2.18324652e+02] [-1.83513412e-01 9.83000431e-01 -5.74288606e-03 -3.38381085e+01] [-2.84736574e-02 5.24169428e-04 9.99594406e-01 -9.22669460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57264000000004 meters Centerline goodness [0,1] 0.9999785642322779 Centerline is valid? [True, True] Translation: X:218.36, Y:-33.84, Z:-9.23 [[ 9.82450635e-01 1.84534102e-01 2.71645793e-02 2.18357132e+02] [-1.84449822e-01 9.82825990e-01 -5.59797400e-03 -3.38436057e+01] [-2.77310716e-02 4.89231306e-04 9.99615300e-01 -9.22848310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264000000004 meters Centerline goodness [0,1] 0.9999354255456542 Centerline is valid? [True, True] Translation: X:218.39, Y:-33.85, Z:-9.23 [[ 9.82266423e-01 1.85636363e-01 2.63023904e-02 2.18388624e+02] [-1.85557601e-01 9.82618410e-01 -5.42563161e-03 -3.38498577e+01] [-2.68524075e-02 4.48807286e-04 9.99639308e-01 -9.23079615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.42, Y:-33.86, Z:-9.23 [[ 9.81975146e-01 1.87172249e-01 2.62937764e-02 2.18419133e+02] [-1.87093943e-01 9.82327023e-01 -5.42928195e-03 -3.38575399e+01] [-2.68452980e-02 4.12013631e-04 9.99639515e-01 -9.23469844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.45, Y:-33.86, Z:-9.23 [[ 9.81193021e-01 1.91257202e-01 2.60947814e-02 2.18451550e+02] [-1.91181415e-01 9.81539908e-01 -5.39211962e-03 -3.38594879e+01] [-2.66443511e-02 3.01872901e-04 9.99644931e-01 -9.23341399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.48, Y:-33.87, Z:-9.24 [[ 9.80713736e-01 1.93680763e-01 2.62360522e-02 2.18482363e+02] [-1.93604889e-01 9.81064577e-01 -5.42618093e-03 -3.38660745e+01] [-2.67902083e-02 2.42102200e-04 9.99641049e-01 -9.23744841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.51, Y:-33.87, Z:-9.24 [[ 9.80677278e-01 1.93865400e-01 2.62351441e-02 2.18514128e+02] [-1.93789475e-01 9.81028108e-01 -5.43056694e-03 -3.38728535e+01] [-2.67902128e-02 2.41538790e-04 9.99641049e-01 -9.23884329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.55, Y:-33.88, Z:-9.24 [[ 9.80181389e-01 1.96282839e-01 2.67860214e-02 2.18546447e+02] [-1.96204438e-01 9.80547303e-01 -5.55027508e-03 -3.38761614e+01] [-2.73543848e-02 1.84740075e-04 9.99625782e-01 -9.23704953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.58, Y:-33.88, Z:-9.24 [[ 9.79717723e-01 1.98527920e-01 2.72001495e-02 2.18576956e+02] [-1.98447795e-01 9.80095224e-01 -5.64129474e-03 -3.38807733e+01] [-2.77786911e-02 1.29066740e-04 9.99614089e-01 -9.23969161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.61, Y:-33.88, Z:-9.24 [[ 9.78922617e-01 2.02368686e-01 2.75213438e-02 2.18609076e+02] [-2.02288044e-01 9.79309407e-01 -5.71249492e-03 -3.38823170e+01] [-2.81079410e-02 2.48516580e-05 9.99604893e-01 -9.24002122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.64, Y:-33.89, Z:-9.24 [[ 9.78586716e-01 2.03969035e-01 2.76527062e-02 2.18641049e+02] [-2.03888127e-01 9.78977340e-01 -5.74449291e-03 -3.38873362e+01] [-2.82430714e-02 -1.65740170e-05 9.99601085e-01 -9.23978743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.67, Y:-33.89, Z:-9.24 [[ 9.78364152e-01 2.05048576e-01 2.75439266e-02 2.18672018e+02] [-2.04968597e-01 9.78751797e-01 -5.72664500e-03 -3.38932372e+01] [-2.81329081e-02 -4.28958161e-05 9.99604190e-01 -9.24208550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.70, Y:-33.90, Z:-9.24 [[ 9.78149353e-01 2.05957916e-01 2.83757091e-02 2.18702884e+02] [-2.05873244e-01 9.78560848e-01 -5.90548410e-03 -3.39019091e+01] [-2.89836392e-02 -6.53538443e-05 9.99579884e-01 -9.24227635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.73, Y:-33.91, Z:-9.24 [[ 9.78094910e-01 2.06119331e-01 2.90717820e-02 2.18733727e+02] [-2.06030366e-01 9.78526861e-01 -6.05569536e-03 -3.39100859e+01] [-2.96957155e-02 -6.66250736e-05 9.99558983e-01 -9.24257403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.76, Y:-33.92, Z:-9.24 [[ 9.78110691e-01 2.05986266e-01 2.94810721e-02 2.18764381e+02] [-2.05894551e-01 9.78554881e-01 -6.14647579e-03 -3.39176661e+01] [-3.01149366e-02 -5.80584113e-05 9.99546441e-01 -9.24399072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.80, Y:-33.92, Z:-9.25 [[ 9.78145134e-01 2.05769198e-01 2.98518782e-02 2.18795179e+02] [-2.05674913e-01 9.78600549e-01 -6.22858009e-03 -3.39248479e+01] [-3.04947143e-02 -4.73271642e-05 9.99534927e-01 -9.24529730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264000000002 meters Centerline goodness [0,1] 0.9999570206730563 Centerline is valid? [True, True] Translation: X:218.83, Y:-33.93, Z:-9.24 [[ 9.78214900e-01 2.05506945e-01 2.93684352e-02 2.18826976e+02] [-2.05415423e-01 9.78655657e-01 -6.13267746e-03 -3.39327707e+01] [-3.00018930e-02 -3.36530669e-05 9.99549841e-01 -9.24478505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.86, Y:-33.94, Z:-9.25 [[ 9.78429690e-01 2.04456045e-01 2.95477113e-02 2.18857702e+02] [-2.04362733e-01 9.78875746e-01 -6.17638700e-03 -3.39439039e+01] [-3.01863376e-02 4.70937378e-06 9.99544289e-01 -9.24822468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.89, Y:-33.95, Z:-9.25 [[ 9.78503949e-01 2.04014203e-01 3.01367831e-02 2.18888233e+02] [-2.03916728e-01 9.78967928e-01 -6.30584575e-03 -3.39522437e+01] [-3.07894262e-02 2.49007628e-05 9.99525893e-01 -9.24946607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.92, Y:-33.96, Z:-9.25 [[ 9.78525348e-01 2.03904465e-01 3.01846306e-02 2.18919977e+02] [-2.03806493e-01 9.78990791e-01 -6.32023486e-03 -3.39602310e+01] [-3.08391995e-02 3.26863249e-05 9.99524358e-01 -9.24949343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.95, Y:-33.97, Z:-9.25 [[ 9.78518600e-01 2.03896150e-01 3.04583277e-02 2.18950971e+02] [-2.03796192e-01 9.78992522e-01 -6.38385195e-03 -3.39680763e+01] [-3.11201179e-02 3.94266567e-05 9.99515651e-01 -9.25094930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:218.98, Y:-33.98, Z:-9.25 [[ 9.78385208e-01 2.04693555e-01 2.93757141e-02 2.18982570e+02] [-2.04600777e-01 9.78826107e-01 -6.16230107e-03 -3.39753837e+01] [-3.00150992e-02 1.88102932e-05 9.99549445e-01 -9.25365835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264000000003 meters Centerline goodness [0,1] 0.9999785752544188 Centerline is valid? [True, True] Translation: X:219.01, Y:-33.98, Z:-9.26 [[ 9.78237516e-01 2.05510440e-01 2.85801003e-02 2.19012740e+02] [-2.05422823e-01 9.78654923e-01 -6.00038022e-03 -3.39808809e+01] [-2.92031967e-02 -1.20784548e-06 9.99573496e-01 -9.25616225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23264000000003 meters Centerline goodness [0,1] 0.9998914954102559 Centerline is valid? [True, True] Translation: X:219.04, Y:-33.99, Z:-9.26 [[ 9.78081952e-01 2.06353807e-01 2.78173035e-02 2.19044689e+02] [-2.06271032e-01 9.78477443e-01 -5.84426703e-03 -3.39868542e+01] [-2.84245907e-02 -2.17317883e-05 9.99595939e-01 -9.25566208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.08, Y:-33.99, Z:-9.26 [[ 9.77896181e-01 2.07187850e-01 2.81469913e-02 2.19076005e+02] [-2.07103302e-01 9.78301177e-01 -5.91855586e-03 -3.39928317e+01] [-2.87624876e-02 -4.16016674e-05 9.99586273e-01 -9.25902092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.11, Y:-34.00, Z:-9.26 [[ 9.77337254e-01 2.09779670e-01 2.83616285e-02 2.19107781e+02] [-2.09694754e-01 9.77748678e-01 -5.96931067e-03 -3.39962060e+01] [-2.89827848e-02 -1.13255014e-04 9.99579904e-01 -9.26054317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.14, Y:-34.00, Z:-9.26 [[ 9.76984207e-01 2.11393114e-01 2.85448825e-02 2.19138627e+02] [-2.11307575e-01 9.77401109e-01 -6.01507896e-03 -3.39989868e+01] [-2.91713461e-02 -1.55112756e-04 9.99574414e-01 -9.26273741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.17, Y:-34.00, Z:-9.26 [[ 9.76610358e-01 2.13082624e-01 2.87750604e-02 2.19169868e+02] [-2.12996373e-01 9.77034162e-01 -6.06562954e-03 -3.40022808e+01] [-2.94066973e-02 -2.05226873e-04 9.99567508e-01 -9.26230835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264000000004 meters Centerline goodness [0,1] 0.9999786100832068 Centerline is valid? [True, True] Translation: X:219.20, Y:-34.00, Z:-9.26 [[ 9.75863010e-01 2.16532928e-01 2.83703352e-02 2.19201235e+02] [-2.16450514e-01 9.76275268e-01 -5.98132951e-03 -3.39999754e+01] [-2.89924114e-02 -3.03815405e-04 9.99579586e-01 -9.26354152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.23, Y:-34.00, Z:-9.26 [[ 9.75490575e-01 2.18158792e-01 2.87207133e-02 2.19231106e+02] [-2.18075024e-01 9.75913221e-01 -6.05553109e-03 -3.40024844e+01] [-2.93499912e-02 -3.56156736e-04 9.99569133e-01 -9.26465841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.26, Y:-34.00, Z:-9.27 [[ 9.75093172e-01 2.19907306e-01 2.88804745e-02 2.19260306e+02] [-2.19823386e-01 9.75520685e-01 -6.08864662e-03 -3.40028878e+01] [-2.95124381e-02 -4.11605938e-04 9.99564328e-01 -9.26686511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.29, Y:-34.00, Z:-9.27 [[ 9.74449407e-01 2.22778821e-01 2.85998454e-02 2.19290631e+02] [-2.22697795e-01 9.74868890e-01 -6.02827371e-03 -3.40041307e+01] [-2.92240712e-02 -4.94874751e-04 9.99572763e-01 -9.26792653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.32, Y:-34.01, Z:-9.27 [[ 9.74249635e-01 2.23681680e-01 2.83576042e-02 2.19319498e+02] [-2.23602414e-01 9.74662115e-01 -5.97685759e-03 -3.40080329e+01] [-2.89759961e-02 -5.17877432e-04 9.99579974e-01 -9.26902111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53264000000004 meters Centerline goodness [0,1] 0.9999576118517263 Centerline is valid? [True, True] Translation: X:219.35, Y:-34.01, Z:-9.27 [[ 9.74118710e-01 2.24194290e-01 2.88037944e-02 2.19347777e+02] [-2.24112772e-01 9.74544317e-01 -6.06957386e-03 -3.40086780e+01] [-2.94313379e-02 -5.42812744e-04 9.99566657e-01 -9.27163874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.38, Y:-34.01, Z:-9.27 [[ 9.74306598e-01 2.23316792e-01 2.92619993e-02 2.19376660e+02] [-2.23232325e-01 9.74745779e-01 -6.16405572e-03 -3.40116662e+01] [-2.98995474e-02 -5.26543990e-04 9.99552770e-01 -9.27162102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.40, Y:-34.02, Z:-9.27 [[ 9.74616890e-01 2.21915372e-01 2.95886046e-02 2.19404396e+02] [-2.21828406e-01 9.75065807e-01 -6.23142268e-03 -3.40190595e+01] [-3.02336851e-02 -4.90343215e-04 9.99542737e-01 -9.27109359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.43, Y:-34.02, Z:-9.27 [[ 9.75366226e-01 2.18517656e-01 3.01788051e-02 2.19432184e+02] [-2.18425612e-01 9.75832915e-01 -6.35401613e-03 -3.40245726e+01] [-3.08379361e-02 -3.94331244e-04 9.99524320e-01 -9.27310547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.46, Y:-34.03, Z:-9.28 [[ 9.75773362e-01 2.16731481e-01 2.98966774e-02 2.19458963e+02] [-2.16640337e-01 9.76231198e-01 -6.29377469e-03 -3.40304557e+01] [-3.05501283e-02 -3.35528580e-04 9.99533180e-01 -9.27564441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.49, Y:-34.04, Z:-9.28 [[ 9.76212160e-01 2.14785093e-01 2.96172520e-02 2.19487466e+02] [-2.14694816e-01 9.76661297e-01 -6.23278262e-03 -3.40393997e+01] [-3.02647325e-02 -2.74152271e-04 9.99541880e-01 -9.27605635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.52, Y:-34.05, Z:-9.28 [[ 9.76645524e-01 2.12811746e-01 2.95750047e-02 2.19515275e+02] [-2.12720839e-01 9.77093197e-01 -6.22330782e-03 -3.40470695e+01] [-3.02219289e-02 -2.13254065e-04 9.99543190e-01 -9.27860902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.54, Y:-34.06, Z:-9.28 [[ 9.77490171e-01 2.08988004e-01 2.89305988e-02 2.19542527e+02] [-2.08899392e-01 9.77918200e-01 -6.08596574e-03 -3.40576961e+01] [-2.95636529e-02 -9.46127935e-05 9.99562895e-01 -9.28328409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.57, Y:-34.07, Z:-9.28 [[ 9.77872935e-01 2.07254143e-01 2.84647713e-02 2.19571856e+02] [-2.07167608e-01 9.78287135e-01 -5.98864225e-03 -3.40667639e+01] [-2.90878905e-02 -4.08474136e-05 9.99576857e-01 -9.28356851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.60, Y:-34.08, Z:-9.29 [[ 9.78231759e-01 2.05581184e-01 2.82666311e-02 2.19601327e+02] [-2.05495156e-01 9.78640065e-01 -5.94678714e-03 -3.40757612e+01] [-2.88854053e-02 8.68027574e-06 9.99582730e-01 -9.28589034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83264000000003 meters Centerline goodness [0,1] 0.9999785775492717 Centerline is valid? [True, True] Translation: X:219.63, Y:-34.08, Z:-9.29 [[ 9.78540881e-01 2.04199620e-01 2.75727930e-02 2.19631287e+02] [-2.04117211e-01 9.78929269e-01 -5.80096719e-03 -3.40841873e+01] [-2.81763694e-02 4.84019476e-05 9.99602966e-01 -9.28689632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.66, Y:-34.09, Z:-9.29 [[ 9.78863047e-01 2.02532988e-01 2.84169750e-02 2.19662429e+02] [-2.02444741e-01 9.79275436e-01 -5.97894197e-03 -3.40910599e+01] [-2.90389786e-02 9.96981988e-05 9.99578275e-01 -9.28653215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.69, Y:-34.10, Z:-9.29 [[ 9.78890742e-01 2.02269863e-01 2.93226570e-02 2.19691875e+02] [-2.02175722e-01 9.79329817e-01 -6.17155095e-03 -3.40976019e+01] [-2.99648710e-02 1.12944753e-04 9.99550946e-01 -9.28802996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.72, Y:-34.11, Z:-9.29 [[ 9.78903836e-01 2.02104221e-01 3.00193939e-02 2.19720740e+02] [-2.02005461e-01 9.79364013e-01 -6.31859106e-03 -3.41052061e+01] [-3.06769280e-02 1.21211517e-04 9.99529345e-01 -9.29004386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.75, Y:-34.11, Z:-9.29 [[ 9.78785491e-01 2.02596052e-01 3.05581789e-02 2.19752097e+02] [-2.02493946e-01 9.79262390e-01 -6.43223746e-03 -3.41110464e+01] [-3.12276212e-02 1.07934460e-04 9.99512293e-01 -9.28838614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264000000003 meters Centerline goodness [0,1] 0.999871619308456 Centerline is valid? [True, True] Translation: X:219.78, Y:-34.12, Z:-9.29 [[ 9.78660900e-01 2.03429245e-01 2.89721562e-02 2.19783592e+02] [-2.03337870e-01 9.79089647e-01 -6.09706181e-03 -3.41159154e+01] [-2.96066589e-02 7.58194484e-05 9.99561624e-01 -9.28795155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.81, Y:-34.12, Z:-9.29 [[ 9.78484775e-01 2.04149836e-01 2.98393928e-02 2.19814207e+02] [-2.04053017e-01 9.78939651e-01 -6.28694240e-03 -3.41206017e+01] [-3.04944430e-02 6.28593107e-05 9.99534934e-01 -9.29085793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.85, Y:-34.12, Z:-9.30 [[ 9.77905394e-01 2.06904485e-01 2.98592383e-02 2.19845138e+02] [-2.06808792e-01 9.78361147e-01 -6.29204213e-03 -3.41219401e+01] [-3.05149704e-02 -2.21310716e-05 9.99534310e-01 -9.29501071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07264000000004 meters Centerline goodness [0,1] 0.9999356140275572 Centerline is valid? [True, True] Translation: X:219.87, Y:-34.12, Z:-9.29 [[ 9.77503778e-01 2.08918812e-01 2.89705697e-02 2.19874692e+02] [-2.08829591e-01 9.77932985e-01 -6.10561985e-03 -3.41242693e+01] [-2.96068545e-02 -8.16457365e-05 9.99561618e-01 -9.29241548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.90, Y:-34.13, Z:-9.29 [[ 9.77102234e-01 2.10593891e-01 3.03551939e-02 2.19904215e+02] [-2.10496768e-01 9.77573626e-01 -6.39662698e-03 -3.41266936e+01] [-3.10215276e-02 -1.39511706e-04 9.99518707e-01 -9.29448786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.93, Y:-34.13, Z:-9.30 [[ 9.76694655e-01 2.12479533e-01 3.03314887e-02 2.19933005e+02] [-2.12383485e-01 9.77165497e-01 -6.39116979e-03 -3.41284781e+01] [-3.09968770e-02 -1.99685915e-04 9.99519461e-01 -9.29511152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.96, Y:-34.12, Z:-9.30 [[ 9.75819618e-01 2.16459885e-01 3.03511347e-02 2.19961773e+02] [-2.16365674e-01 9.76291458e-01 -6.39407835e-03 -3.41240610e+01] [-3.10156150e-02 -3.27476625e-04 9.99518846e-01 -9.29831914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:219.99, Y:-34.13, Z:-9.30 [[ 9.75423192e-01 2.18294461e-01 2.99520424e-02 2.19990234e+02] [-2.18203647e-01 9.75882873e-01 -6.30766225e-03 -3.41267532e+01] [-3.06066130e-02 -3.83004854e-04 9.99531434e-01 -9.29862871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.02, Y:-34.13, Z:-9.30 [[ 9.75082376e-01 2.19850051e-01 2.96701214e-02 2.20019253e+02] [-2.19761718e-01 9.75533583e-01 -6.24633863e-03 -3.41279414e+01] [-3.03174577e-02 -4.29662133e-04 9.99540228e-01 -9.30053509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.05, Y:-34.13, Z:-9.30 [[ 9.74795429e-01 2.21179721e-01 2.92130617e-02 2.20048096e+02] [-2.21094727e-01 9.75232954e-01 -6.14873959e-03 -3.41308709e+01] [-2.98495169e-02 -4.65090656e-04 9.99554296e-01 -9.30089598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000004 meters Centerline goodness [0,1] 0.9999573151211183 Centerline is valid? [True, True] Translation: X:220.08, Y:-34.13, Z:-9.30 [[ 9.74510071e-01 2.22394219e-01 2.95115803e-02 2.20077179e+02] [-2.22308076e-01 9.74956693e-01 -6.21020803e-03 -3.41289826e+01] [-3.01536271e-02 -5.08752386e-04 9.99545147e-01 -9.30354825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31264000000004 meters Centerline goodness [0,1] 0.9999787324542748 Centerline is valid? [True, True] Translation: X:220.11, Y:-34.13, Z:-9.30 [[ 9.74522211e-01 2.22302369e-01 2.98013042e-02 2.20106161e+02] [-2.22214547e-01 9.74977637e-01 -6.26909382e-03 -3.41335281e+01] [-3.04492396e-02 -5.12912147e-04 9.99536183e-01 -9.30415028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.13, Y:-34.14, Z:-9.30 [[ 9.74684686e-01 2.21513395e-01 3.03575234e-02 2.20134370e+02] [-2.21421927e-01 9.75157201e-01 -6.38461565e-03 -3.41410341e+01] [-3.10176355e-02 -4.98834236e-04 9.99518713e-01 -9.30365340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.16, Y:-34.15, Z:-9.30 [[ 9.75031290e-01 2.19917036e-01 3.08298634e-02 2.20163160e+02] [-2.19821951e-01 9.75518472e-01 -6.48236376e-03 -3.41459846e+01] [-3.15006835e-02 -4.56573221e-04 9.99503626e-01 -9.30387833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters Centerline goodness [0,1] 0.9999788561158685 Centerline is valid? [True, True] Translation: X:220.19, Y:-34.15, Z:-9.31 [[ 9.75205619e-01 2.19129803e-01 3.09213523e-02 2.20190641e+02] [-2.19033802e-01 9.75695619e-01 -6.50016879e-03 -3.41479285e+01] [-3.15942087e-02 -4.33820235e-04 9.99500684e-01 -9.30687725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.22, Y:-34.16, Z:-9.31 [[ 9.75387998e-01 2.18307727e-01 3.09836964e-02 2.20218790e+02] [-2.18210991e-01 9.75879894e-01 -6.51116462e-03 -3.41553726e+01] [-3.16578039e-02 -4.10071285e-04 9.99498682e-01 -9.30685333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.25, Y:-34.16, Z:-9.31 [[ 9.75596745e-01 2.17439654e-01 3.05121011e-02 2.20246645e+02] [-2.17345462e-01 9.76073693e-01 -6.41058667e-03 -3.41608732e+01] [-3.11759750e-02 -3.77519226e-04 9.99513840e-01 -9.30900724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.27, Y:-34.16, Z:-9.31 [[ 9.75957754e-01 2.15956304e-01 2.94845129e-02 2.20273813e+02] [-2.15867707e-01 9.76402976e-01 -6.19358710e-03 -3.41648407e+01] [-3.01263103e-02 -3.20074843e-04 9.99546048e-01 -9.31302677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.30, Y:-34.17, Z:-9.31 [[ 9.76124914e-01 2.15216511e-01 2.93599228e-02 2.20302643e+02] [-2.15128386e-01 9.76566314e-01 -6.16547435e-03 -3.41700343e+01] [-2.99988234e-02 -2.97879669e-04 9.99549890e-01 -9.31451355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.33, Y:-34.18, Z:-9.31 [[ 9.76289119e-01 2.14535129e-01 2.88831106e-02 2.20330823e+02] [-2.14449624e-01 9.76716234e-01 -6.06265952e-03 -3.41760871e+01] [-2.95112564e-02 -2.75063693e-04 9.99564410e-01 -9.31462712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264000000003 meters Centerline goodness [0,1] 0.9998932513503704 Centerline is valid? [True, True] Translation: X:220.36, Y:-34.18, Z:-9.32 [[ 9.76362397e-01 2.14342229e-01 2.78186587e-02 2.20358240e+02] [-2.14262867e-01 9.76758589e-01 -5.83804723e-03 -3.41790479e+01] [-2.84234539e-02 -2.60455776e-04 9.99595938e-01 -9.31899750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.39, Y:-34.18, Z:-9.32 [[ 9.76575596e-01 2.13384482e-01 2.76977984e-02 2.20386974e+02] [-2.13305479e-01 9.76968274e-01 -5.81070190e-03 -3.41829652e+01] [-2.82997839e-02 -2.33502487e-04 9.99599454e-01 -9.32203395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.41, Y:-34.19, Z:-9.32 [[ 9.76590613e-01 2.13315716e-01 2.76980006e-02 2.20413890e+02] [-2.13236713e-01 9.76983291e-01 -5.80973763e-03 -3.41884690e+01] [-2.82997922e-02 -2.32495381e-04 9.99599454e-01 -9.32321333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.44, Y:-34.19, Z:-9.32 [[ 9.76649471e-01 2.13056352e-01 2.76188810e-02 2.20440772e+02] [-2.12977752e-01 9.77039886e-01 -5.79116521e-03 -3.41943818e+01] [-2.82185928e-02 -2.26268740e-04 9.99601751e-01 -9.32324933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.47, Y:-34.20, Z:-9.32 [[ 9.76640141e-01 2.13064943e-01 2.78812571e-02 2.20469319e+02] [-2.12984918e-01 9.77038012e-01 -5.84365389e-03 -3.41987704e+01] [-2.84861258e-02 -2.31140278e-04 9.99594161e-01 -9.32412494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.50, Y:-34.20, Z:-9.32 [[ 9.76649490e-01 2.12979599e-01 2.82039601e-02 2.20497478e+02] [-2.12897717e-01 9.77056619e-01 -5.90981952e-03 -3.42031969e+01] [-2.88155369e-02 -2.32736497e-04 9.99584719e-01 -9.32468805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.53, Y:-34.21, Z:-9.33 [[ 9.76628473e-01 2.13027121e-01 2.85704660e-02 2.20525684e+02] [-2.12943161e-01 9.77046257e-01 -5.98512714e-03 -3.42070051e+01] [-2.91896613e-02 -2.38639761e-04 9.99573863e-01 -9.32579140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.55, Y:-34.21, Z:-9.33 [[ 9.76654053e-01 2.12875925e-01 2.88218956e-02 2.20553105e+02] [-2.12790453e-01 9.77079211e-01 -6.03647050e-03 -3.42102493e+01] [-2.94462942e-02 -2.37480836e-04 9.99566336e-01 -9.32893360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.58, Y:-34.22, Z:-9.33 [[ 9.76645186e-01 2.12927353e-01 2.87423546e-02 2.20581107e+02] [-2.12842433e-01 9.77068004e-01 -6.01782897e-03 -3.42165531e+01] [-2.93645955e-02 -2.40308990e-04 9.99568738e-01 -9.32850424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.61, Y:-34.22, Z:-9.33 [[ 9.76603996e-01 2.12956158e-01 2.99050232e-02 2.20609043e+02] [-2.12864282e-01 9.77061723e-01 -6.25989673e-03 -3.42195924e+01] [-3.05521371e-02 -2.52271142e-04 9.99533143e-01 -9.32920573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.63, Y:-34.21, Z:-9.33 [[ 9.76256146e-01 2.15029502e-01 2.61963756e-02 2.20633667e+02] [-2.14524528e-01 9.76497162e-01 -2.07971214e-02 -3.42143922e+01] [-3.00526811e-02 1.46835525e-02 9.99440458e-01 -9.32709048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91264000000004 meters Centerline goodness [0,1] 0.9998935127997615 Centerline is valid? [True, True] Translation: X:220.66, Y:-34.24, Z:-9.33 [[ 9.76407599e-01 2.13426457e-01 3.28229912e-02 2.20663406e+02] [-2.13814023e-01 9.76835208e-01 8.74873270e-03 -3.42360552e+01] [-3.01954424e-02 -1.55603449e-02 9.99422889e-01 -9.33019767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.69, Y:-34.23, Z:-9.33 [[ 9.75915510e-01 2.15963683e-01 3.07994410e-02 2.20693760e+02] [-2.15867921e-01 9.76401329e-01 -6.44084330e-03 -3.42258866e+01] [-3.14636034e-02 -3.62892438e-04 9.99504832e-01 -9.33125493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.72, Y:-34.23, Z:-9.33 [[ 9.75591380e-01 2.17359753e-01 3.12441604e-02 2.20722737e+02] [-2.17261989e-01 9.76091474e-01 -6.53171324e-03 -3.42290336e+01] [-3.19168902e-02 -4.15885307e-04 9.99490440e-01 -9.33135117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.75, Y:-34.23, Z:-9.33 [[ 9.75277489e-01 2.18752049e-01 3.13266638e-02 2.20751094e+02] [-2.18654532e-01 9.75780368e-01 -6.54751957e-03 -3.42317598e+01] [-3.20002268e-02 -4.64068545e-04 9.99487754e-01 -9.33241123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.78, Y:-34.23, Z:-9.33 [[ 9.74704571e-01 2.21344305e-01 3.09466922e-02 2.20779782e+02] [-2.21250506e-01 9.75195571e-01 -6.46618273e-03 -3.42299346e+01] [-3.16103299e-02 -5.44353421e-04 9.99500120e-01 -9.33474503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.81, Y:-34.23, Z:-9.34 [[ 9.74444088e-01 2.22531480e-01 3.06342987e-02 2.20808941e+02] [-2.22440215e-01 9.74925333e-01 -6.39888306e-03 -3.42325160e+01] [-3.12901068e-02 -5.78946223e-04 9.99510177e-01 -9.33583117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.84, Y:-34.23, Z:-9.34 [[ 9.74207297e-01 2.23562165e-01 3.06610561e-02 2.20837950e+02] [-2.23471295e-01 9.74689479e-01 -6.40305644e-03 -3.42285204e+01] [-3.13164900e-02 -6.13961598e-04 9.99509330e-01 -9.34001784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters Centerline goodness [0,1] 0.9999575794854392 Centerline is valid? [True, True] Translation: X:220.87, Y:-34.23, Z:-9.34 [[ 9.73891927e-01 2.24918061e-01 3.07632964e-02 2.20867272e+02] [-2.24827326e-01 9.74377456e-01 -6.42230385e-03 -3.42305403e+01] [-3.14195546e-02 -6.61799786e-04 9.99506065e-01 -9.33966095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.90, Y:-34.23, Z:-9.34 [[ 9.73899488e-01 2.24863949e-01 3.09191235e-02 2.20895002e+02] [-2.24772304e-01 9.74389944e-01 -6.45357144e-03 -3.42338608e+01] [-3.15784586e-02 -6.64632710e-04 9.99501055e-01 -9.34081020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.92, Y:-34.24, Z:-9.34 [[ 9.73915883e-01 2.24786823e-01 3.09634833e-02 2.20922272e+02] [-2.24694947e-01 9.74407739e-01 -6.46058004e-03 -3.42395643e+01] [-3.16233110e-02 -6.65276729e-04 9.99499637e-01 -9.34097705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:220.95, Y:-34.24, Z:-9.34 [[ 9.74187886e-01 2.23576016e-01 3.11725520e-02 2.20950487e+02] [-2.23482347e-01 9.74686291e-01 -6.50198017e-03 -3.42409123e+01] [-3.18371459e-02 -6.32364767e-04 9.99492870e-01 -9.34299544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264000000002 meters Centerline goodness [0,1] 0.999957400583612 Centerline is valid? [True, True] Translation: X:220.98, Y:-34.24, Z:-9.35 [[ 9.74516380e-01 2.22182709e-01 3.08653470e-02 2.20977611e+02] [-2.22090279e-01 9.75004873e-01 -6.43468076e-03 -3.42449754e+01] [-3.15235385e-02 -5.84191730e-04 9.99502839e-01 -9.34550549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.01, Y:-34.25, Z:-9.35 [[ 9.74932876e-01 2.20381022e-01 3.06283070e-02 2.21005464e+02] [-2.20289181e-01 9.75413723e-01 -6.38326545e-03 -3.42534372e+01] [-3.12820215e-02 -5.23829329e-04 9.99510461e-01 -9.34554382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.03, Y:-34.26, Z:-9.35 [[ 9.75397267e-01 2.18280866e-01 3.08809754e-02 2.21033289e+02] [-2.18186501e-01 9.75885880e-01 -6.43435035e-03 -3.42606918e+01] [-3.15408035e-02 -4.61764219e-04 9.99502358e-01 -9.34564988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33264000000003 meters Centerline goodness [0,1] 0.9999149280078267 Centerline is valid? [True, True] Translation: X:221.06, Y:-34.27, Z:-9.35 [[ 9.76549417e-01 2.13145226e-01 3.03372356e-02 2.21059642e+02] [-2.13051718e-01 9.77020485e-01 -6.31967086e-03 -3.42693017e+01] [-3.09871083e-02 -2.91929269e-04 9.99519742e-01 -9.34971215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.09, Y:-34.28, Z:-9.35 [[ 9.77178277e-01 2.10294766e-01 2.99787597e-02 2.21086609e+02] [-2.10202175e-01 9.77638006e-01 -6.24294585e-03 -3.42790786e+01] [-3.06212337e-02 -2.01129422e-04 9.99531040e-01 -9.35031984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.11, Y:-34.29, Z:-9.35 [[ 9.78405973e-01 2.04517086e-01 2.99084096e-02 2.21113158e+02] [-2.04422275e-01 9.78862994e-01 -6.22677265e-03 -3.42919423e+01] [-3.05497168e-02 -2.16335796e-05 9.99533248e-01 -9.35207038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264000000003 meters Centerline goodness [0,1] 0.9999786050492084 Centerline is valid? [True, True] Translation: X:221.14, Y:-34.30, Z:-9.35 [[ 9.78946752e-01 2.01918858e-01 2.98669063e-02 2.21139209e+02] [-2.01823132e-01 9.79402252e-01 -6.21706744e-03 -3.43001814e+01] [-3.05070584e-02 5.83453935e-05 9.99534550e-01 -9.35401114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.17, Y:-34.32, Z:-9.36 [[ 9.79563012e-01 1.96803332e-01 4.15301565e-02 2.21167044e+02] [-1.97402561e-01 9.80262826e-01 1.08175903e-02 -3.43188450e+01] [-3.85815308e-02 -1.87946706e-02 9.99078689e-01 -9.35566225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.20, Y:-34.30, Z:-9.35 [[ 9.79860823e-01 1.97985949e-01 2.59678858e-02 2.21196565e+02] [-1.97352457e-01 9.80012281e-01 -2.50586906e-02 -3.43049765e+01] [-3.04101156e-02 1.94292031e-02 9.99348653e-01 -9.35447668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51264000000003 meters Centerline goodness [0,1] 0.9999354158145142 Centerline is valid? [True, True] Translation: X:221.22, Y:-34.32, Z:-9.36 [[ 9.80438396e-01 1.94605278e-01 2.94845228e-02 2.21221568e+02] [-1.94508882e-01 9.80881598e-01 -6.13069232e-03 -3.43241284e+01] [-3.01138909e-02 2.75764589e-04 9.99546436e-01 -9.35633943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264000000003 meters Centerline goodness [0,1] 0.9998923156443832 Centerline is valid? [True, True] Translation: X:221.25, Y:-34.33, Z:-9.36 [[ 9.80362822e-01 1.93781563e-01 3.65710577e-02 2.21248511e+02] [-1.93818133e-01 9.81034093e-01 -2.57656285e-03 -3.43339696e+01] [-3.63767449e-02 -4.56216772e-03 9.99327734e-01 -9.35988502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.28, Y:-34.33, Z:-9.36 [[ 9.80707727e-01 1.93380397e-01 2.85723121e-02 2.21277729e+02] [-1.93141965e-01 9.81110189e-01 -1.09077495e-02 -3.43348419e+01] [-3.01419314e-02 5.17880172e-03 9.99532213e-01 -9.35998125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264000000004 meters Centerline goodness [0,1] 0.9998072763870747 Centerline is valid? [True, True] Translation: X:221.30, Y:-34.34, Z:-9.36 [[ 9.80825216e-01 1.92731829e-01 2.89195004e-02 2.21303802e+02] [-1.92638383e-01 9.81251414e-01 -6.00964053e-03 -3.43445380e+01] [-2.95355497e-02 3.23401173e-04 9.99563678e-01 -9.36205436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.33, Y:-34.35, Z:-9.36 [[ 9.80901216e-01 1.92232169e-01 2.96580094e-02 2.21332106e+02] [-1.92133732e-01 9.81349415e-01 -6.16075968e-03 -3.43487298e+01] [-3.02891664e-02 3.44792637e-04 9.99541118e-01 -9.36197015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264000000004 meters Centerline goodness [0,1] 0.9997016960709111 Centerline is valid? [True, True] Translation: X:221.36, Y:-34.36, Z:-9.36 [[ 9.81020039e-01 1.91759590e-01 2.87739845e-02 2.21358851e+02] [-1.91666767e-01 9.81441867e-01 -5.97591315e-03 -3.43556836e+01] [-2.93859317e-02 3.47473973e-04 9.99568080e-01 -9.36439064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.39, Y:-34.36, Z:-9.37 [[ 9.81156703e-01 1.90948876e-01 2.94966294e-02 2.21385088e+02] [-1.90851014e-01 9.81599910e-01 -6.12438317e-03 -3.43629091e+01] [-3.01233329e-02 3.79517981e-04 9.99546117e-01 -9.36593769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.41, Y:-34.37, Z:-9.37 [[ 9.81459477e-01 1.89411243e-01 2.93372790e-02 2.21412236e+02] [-1.89313835e-01 9.81897756e-01 -6.08839633e-03 -3.43722101e+01] [-2.99594191e-02 4.21561482e-04 9.99551027e-01 -9.36597928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75264000000004 meters Centerline goodness [0,1] 0.999849326273193 Centerline is valid? [True, True] Translation: X:221.44, Y:-34.38, Z:-9.37 [[ 9.81697091e-01 1.88349226e-01 2.82026533e-02 2.21439819e+02] [-1.88258808e-01 9.82102021e-01 -5.85162083e-03 -3.43805725e+01] [-2.88000310e-02 4.35121257e-04 9.99585098e-01 -9.36817270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.47, Y:-34.39, Z:-9.37 [[ 9.81828761e-01 1.87576242e-01 2.87652295e-02 2.21466246e+02] [-1.87481886e-01 9.82249936e-01 -5.96704812e-03 -3.43880912e+01] [-2.93739213e-02 4.65659963e-04 9.99568385e-01 -9.36985661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.49, Y:-34.40, Z:-9.37 [[ 9.81965903e-01 1.86947277e-01 2.81723617e-02 2.21493099e+02] [-1.86856561e-01 9.82369835e-01 -5.84237108e-03 -3.43973258e+01] [-2.87678936e-02 4.72818566e-04 9.99586007e-01 -9.37223050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000005 meters Centerline goodness [0,1] 0.9999785853480951 Centerline is valid? [True, True] Translation: X:221.52, Y:-34.40, Z:-9.37 [[ 9.81886556e-01 1.87405240e-01 2.78938673e-02 2.21521953e+02] [-1.87316547e-01 9.82282582e-01 -5.78278917e-03 -3.44021749e+01] [-2.84833849e-02 4.53060042e-04 9.99594163e-01 -9.37310049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.55, Y:-34.41, Z:-9.37 [[ 9.81685106e-01 1.88510836e-01 2.75320974e-02 2.21550031e+02] [-1.88424900e-01 9.82071022e-01 -5.70648818e-03 -3.44064214e+01] [-2.81142099e-02 4.14241757e-04 9.99604632e-01 -9.37374733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters Centerline goodness [0,1] 0.9998931144316894 Centerline is valid? [True, True] Translation: X:221.58, Y:-34.41, Z:-9.38 [[ 9.81471643e-01 1.89738940e-01 2.66936073e-02 2.21576988e+02] [-1.89658643e-01 9.81834508e-01 -5.53162632e-03 -3.44123981e+01] [-2.72582697e-02 3.66461052e-04 9.99628357e-01 -9.37564153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.61, Y:-34.41, Z:-9.37 [[ 9.80603062e-01 1.93875819e-01 2.88062733e-02 2.21607390e+02] [-1.93784161e-01 9.81026042e-01 -5.96695718e-03 -3.44126239e+01] [-2.94165529e-02 2.69016988e-04 9.99567203e-01 -9.37316155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.64, Y:-34.41, Z:-9.37 [[ 9.80202701e-01 1.95925101e-01 2.85660589e-02 2.21635083e+02] [-1.95835841e-01 9.80618842e-01 -5.91699545e-03 -3.44146988e+01] [-2.91717035e-02 2.05596771e-04 9.99574394e-01 -9.37465433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.66, Y:-34.42, Z:-9.38 [[ 9.79805091e-01 1.97921590e-01 2.84434201e-02 2.21664058e+02] [-1.97833991e-01 9.80217845e-01 -5.88970433e-03 -3.44170297e+01] [-2.90464476e-02 1.43686972e-04 9.99578053e-01 -9.37596549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.69, Y:-34.42, Z:-9.38 [[ 9.79467039e-01 1.99531339e-01 2.88368396e-02 2.21692113e+02] [-1.99442035e-01 9.79891441e-01 -5.96987240e-03 -3.44206787e+01] [-2.94481489e-02 9.60152839e-05 9.99566305e-01 -9.37790405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.72, Y:-34.42, Z:-9.38 [[ 9.78841350e-01 2.02581457e-01 2.88160656e-02 2.21721023e+02] [-2.02493658e-01 9.79265415e-01 -5.96364014e-03 -3.44213046e+01] [-2.94266994e-02 2.38702235e-06 9.99566941e-01 -9.37766283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.75, Y:-34.42, Z:-9.38 [[ 9.78608473e-01 2.03763825e-01 2.83859330e-02 2.21749778e+02] [-2.03679165e-01 9.79020073e-01 -5.87327015e-03 -3.44247155e+01] [-2.89871582e-02 -3.39912077e-05 9.99579783e-01 -9.37880173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.78, Y:-34.43, Z:-9.38 [[ 9.78441802e-01 2.04608914e-01 2.80505172e-02 2.21777411e+02] [-2.04526626e-01 9.78843802e-01 -5.80264488e-03 -3.44290654e+01] [-2.86443478e-02 -5.95273223e-05 9.99589665e-01 -9.38202362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264000000003 meters Centerline goodness [0,1] 0.9999786142001711 Centerline is valid? [True, True] Translation: X:221.80, Y:-34.43, Z:-9.38 [[ 9.78238790e-01 2.05550007e-01 2.82500267e-02 2.21804183e+02] [-2.05466979e-01 9.78646610e-01 -5.84241990e-03 -3.44345663e+01] [-2.88477023e-02 -8.91658669e-05 9.99583814e-01 -9.38298524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.83, Y:-34.44, Z:-9.38 [[ 9.78153041e-01 2.05802210e-01 2.93611730e-02 2.21832186e+02] [-2.05712729e-01 9.78593603e-01 -6.06907192e-03 -3.44390344e+01] [-2.99816845e-02 -1.03485855e-04 9.99550443e-01 -9.38434049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.86, Y:-34.44, Z:-9.38 [[ 9.78168517e-01 2.05718021e-01 2.94355017e-02 2.21859816e+02] [-2.05628081e-01 9.78611304e-01 -6.08333506e-03 -3.44449040e+01] [-3.00573664e-02 -1.02238918e-04 9.99548170e-01 -9.38270467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.89, Y:-34.45, Z:-9.38 [[ 9.78287350e-01 2.05136914e-01 2.95416382e-02 2.21886114e+02] [-2.05046121e-01 9.78733283e-01 -6.10320452e-03 -3.44505775e+01] [-3.01653771e-02 -8.67105454e-05 9.99544918e-01 -9.38401171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.91, Y:-34.46, Z:-9.38 [[ 9.78604136e-01 2.03671829e-01 2.91844246e-02 2.21912581e+02] [-2.03582646e-01 9.79039215e-01 -6.02679361e-03 -3.44600368e+01] [-2.98001842e-02 -4.35972190e-05 9.99555875e-01 -9.38444192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.94, Y:-34.47, Z:-9.39 [[ 9.78771581e-01 2.02862877e-01 2.92035267e-02 2.21938828e+02] [-2.02773280e-01 9.79207155e-01 -6.02864094e-03 -3.44675819e+01] [-2.98192898e-02 -2.10324711e-05 9.99555306e-01 -9.38630050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.97, Y:-34.47, Z:-9.39 [[ 9.78897102e-01 2.02249040e-01 2.92538775e-02 2.21966079e+02] [-2.02158942e-01 9.79334124e-01 -6.03625515e-03 -3.44746383e+01] [-2.98701473e-02 -5.06026448e-06 9.99553788e-01 -9.38717778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:221.99, Y:-34.48, Z:-9.39 [[ 9.78924837e-01 2.02079114e-01 2.94990843e-02 2.21994055e+02] [-2.01987499e-01 9.79369201e-01 -6.08427050e-03 -3.44814556e+01] [-3.01199986e-02 -2.40276488e-06 9.99546290e-01 -9.38738298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.02, Y:-34.49, Z:-9.39 [[ 9.78700050e-01 2.03152454e-01 2.95853289e-02 2.22021647e+02] [-2.03060829e-01 9.79147118e-01 -6.10086930e-03 -3.44876349e+01] [-3.02077961e-02 -3.67003199e-05 9.99543640e-01 -9.38780958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.05, Y:-34.49, Z:-9.39 [[ 9.78440569e-01 2.04411857e-01 2.94931370e-02 2.22050095e+02] [-2.04321450e-01 9.78884971e-01 -6.07932497e-03 -3.44922403e+01] [-3.01130747e-02 -7.78223344e-05 9.99546496e-01 -9.38876733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.08, Y:-34.50, Z:-9.39 [[ 9.78029075e-01 2.06337635e-01 2.97305952e-02 2.22079154e+02] [-2.06246702e-01 9.78480843e-01 -6.12673813e-03 -3.44954413e+01] [-3.03549945e-02 -1.39709202e-04 9.99539171e-01 -9.38950597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.11, Y:-34.49, Z:-9.39 [[ 9.76798549e-01 2.11989603e-01 3.04138495e-02 2.22108260e+02] [-2.11897222e-01 9.77271868e-01 -6.26608465e-03 -3.44921953e+01] [-3.10509443e-02 -3.23907834e-04 9.99517751e-01 -9.38969164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.14, Y:-34.49, Z:-9.39 [[ 9.76080758e-01 2.15270553e-01 3.04128653e-02 2.22136286e+02] [-2.15179813e-01 9.76554353e-01 -6.26449481e-03 -3.44916346e+01] [-3.10483772e-02 -4.29581811e-04 9.99517791e-01 -9.39158396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.16, Y:-34.50, Z:-9.39 [[ 9.76096123e-01 2.15200770e-01 3.04136129e-02 2.22163219e+02] [-2.15110109e-01 9.76569733e-01 -6.26086298e-03 -3.44970405e+01] [-3.10483563e-02 -4.31071482e-04 9.99517791e-01 -9.39276382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.19, Y:-34.50, Z:-9.39 [[ 9.75409344e-01 2.18391563e-01 2.96940485e-02 2.22192847e+02] [-2.18306701e-01 9.75861082e-01 -6.10999844e-03 -3.44990835e+01] [-3.03116385e-02 -5.22660217e-04 9.99540360e-01 -9.39364285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.22, Y:-34.50, Z:-9.39 [[ 9.74508712e-01 2.21963734e-01 3.26323514e-02 2.22222397e+02] [-2.21914853e-01 9.75052406e-01 -5.15793192e-03 -3.45032265e+01] [-3.29631266e-02 -2.21515388e-03 9.99454114e-01 -9.39478148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters Centerline goodness [0,1] 0.9999577809676602 Centerline is valid? [True, True] Translation: X:222.25, Y:-34.49, Z:-9.40 [[ 9.73891099e-01 2.25130512e-01 2.91955415e-02 2.22252366e+02] [-2.25003125e-01 9.74328244e-01 -7.62019496e-03 -3.44941645e+01] [-3.01615791e-02 8.52151970e-04 9.99544673e-01 -9.39899903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.28, Y:-34.50, Z:-9.40 [[ 9.73718063e-01 2.25927921e-01 2.88046692e-02 2.22280702e+02] [-2.25851505e-01 9.74143741e-01 -5.92197970e-03 -3.45013197e+01] [-2.93978288e-02 -7.39239293e-04 9.99567517e-01 -9.39956350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264000000002 meters Centerline goodness [0,1] 0.9999354574987629 Centerline is valid? [True, True] Translation: X:222.31, Y:-34.51, Z:-9.40 [[ 9.73606047e-01 2.26461587e-01 2.83974415e-02 2.22308643e+02] [-2.26387720e-01 9.74019808e-01 -5.83216324e-03 -3.45060858e+01] [-2.89804315e-02 -7.50602634e-04 9.99579697e-01 -9.40113674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71264000000002 meters Centerline goodness [0,1] 0.9998932878027958 Centerline is valid? [True, True] Translation: X:222.34, Y:-34.51, Z:-9.41 [[ 9.73799159e-01 2.25641345e-01 2.83051440e-02 2.22336175e+02] [-2.25567702e-01 9.74210170e-01 -5.81007607e-03 -3.45086933e+01] [-2.88861525e-02 -7.26879094e-04 9.99582444e-01 -9.40500710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.36, Y:-34.52, Z:-9.41 [[ 9.73725793e-01 2.25986150e-01 2.80774044e-02 2.22362859e+02] [-2.25823264e-01 9.74127775e-01 -8.88432278e-03 -3.45181520e+01] [-2.93587134e-02 2.31036313e-03 9.99566270e-01 -9.40559868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77264000000002 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:222.39, Y:-34.53, Z:-9.41 [[ 9.74636403e-01 2.22065259e-01 2.77651331e-02 2.22390616e+02] [-2.22081058e-01 9.75024866e-01 -2.55233728e-03 -3.45280943e+01] [-2.76384806e-02 -3.67850930e-03 9.99611216e-01 -9.40799688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.42, Y:-34.54, Z:-9.41 [[ 9.75139680e-01 2.19921817e-01 2.71477378e-02 2.22418096e+02] [-2.19852075e-01 9.75517350e-01 -5.56462119e-03 -3.45350656e+01] [-2.77068709e-02 -5.42203560e-04 9.99615944e-01 -9.40968217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.45, Y:-34.55, Z:-9.41 [[ 9.76090523e-01 2.15566885e-01 2.78964123e-02 2.22445727e+02] [-2.15491515e-01 9.76488982e-01 -5.71624820e-03 -3.45474224e+01] [-2.84727731e-02 -4.31864466e-04 9.99594475e-01 -9.40953910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.47, Y:-34.56, Z:-9.41 [[ 9.75899755e-01 2.16372439e-01 2.83308178e-02 2.22471421e+02] [-2.16220334e-01 9.76308774e-01 -8.36330433e-03 -3.45557753e+01] [-2.94692146e-02 2.03604776e-03 9.99563615e-01 -9.40742035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.50, Y:-34.56, Z:-9.41 [[ 9.76619697e-01 2.12916450e-01 2.96741186e-02 2.22500138e+02] [-2.12909165e-01 9.77065936e-01 -3.44160183e-03 -3.45627389e+01] [-2.97263441e-02 -2.95675568e-03 9.99553701e-01 -9.40927713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.53, Y:-34.57, Z:-9.41 [[ 9.76701711e-01 2.12544433e-01 2.96417389e-02 2.22527814e+02] [-2.12458188e-01 9.77151332e-01 -6.06575473e-03 -3.45667637e+01] [-3.02537071e-02 -3.73197134e-04 9.99542182e-01 -9.40982776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.56, Y:-34.57, Z:-9.41 [[ 9.76174215e-01 2.15147656e-01 2.82026170e-02 2.22555071e+02] [-2.14857608e-01 9.76559178e-01 -1.29761471e-02 -3.45693235e+01] [-3.03333121e-02 6.60743343e-03 9.99518000e-01 -9.40961126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.58, Y:-34.58, Z:-9.41 [[ 9.76108223e-01 2.15338799e-01 2.90161664e-02 2.22583224e+02] [-2.15243199e-01 9.76539401e-01 -6.41592196e-03 -3.45786863e+01] [-2.97170267e-02 1.71017138e-05 9.99558351e-01 -9.41041319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01264000000003 meters Centerline goodness [0,1] 0.9999788400093104 Centerline is valid? [True, True] Translation: X:222.61, Y:-34.58, Z:-9.42 [[ 9.76251099e-01 2.14419287e-01 3.09541947e-02 2.22611972e+02] [-2.14520812e-01 9.76719417e-01 -4.20714631e-05 -3.45802890e+01] [-3.02425839e-02 -6.59924666e-03 9.99520803e-01 -9.41540757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264000000003 meters Centerline goodness [0,1] 0.9999573032748388 Centerline is valid? [True, True] Translation: X:222.64, Y:-34.58, Z:-9.41 [[ 9.76028733e-01 2.15616156e-01 2.96240713e-02 2.22640726e+02] [-2.15531612e-01 9.76478084e-01 -6.05603761e-03 -3.45812778e+01] [-3.02330359e-02 -4.74057106e-04 9.99542765e-01 -9.41483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.67, Y:-34.59, Z:-9.42 [[ 9.75730344e-01 2.16951172e-01 2.97066491e-02 2.22669705e+02] [-2.16866834e-01 9.76182319e-01 -6.07095481e-03 -3.45852609e+01] [-3.03162064e-02 -5.18772107e-04 9.99540224e-01 -9.41530667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264000000004 meters Centerline goodness [0,1] 0.9999786055069425 Centerline is valid? [True, True] Translation: X:222.70, Y:-34.59, Z:-9.42 [[ 9.75464808e-01 2.18178824e-01 2.94348248e-02 2.22697597e+02] [-2.18096621e-01 9.75908651e-01 -6.01407184e-03 -3.45858519e+01] [-3.00378433e-02 -5.53120390e-04 9.99548609e-01 -9.41799287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13264000000004 meters Centerline goodness [0,1] 0.9998929450808265 Centerline is valid? [True, True] Translation: X:222.73, Y:-34.59, Z:-9.42 [[ 9.75072042e-01 2.20150492e-01 2.77177634e-02 2.22727420e+02] [-2.20078458e-01 9.75465747e-01 -5.66111779e-03 -3.45879709e+01] [-2.82840266e-02 -5.80084933e-04 9.99599759e-01 -9.41986674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.75, Y:-34.59, Z:-9.43 [[ 9.74148399e-01 2.23409925e-01 3.35097170e-02 2.22753855e+02] [-2.23490190e-01 9.74705203e-01 -1.37887311e-03 -3.45900669e+01] [-3.29701494e-02 -6.14586598e-03 9.99437441e-01 -9.42528559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19264000000004 meters Centerline goodness [0,1] 0.99991480479649 Centerline is valid? [True, True] Translation: X:222.78, Y:-34.59, Z:-9.42 [[ 9.74610211e-01 2.22183985e-01 2.77346820e-02 2.22784268e+02] [-2.21957420e-01 9.74993909e-01 -1.10354419e-02 -3.45854904e+01] [-2.94930445e-02 4.59933589e-03 9.99554404e-01 -9.42366145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264000000004 meters Centerline goodness [0,1] 0.9999579089148918 Centerline is valid? [True, True] Translation: X:222.81, Y:-34.59, Z:-9.43 [[ 9.74527568e-01 2.22394856e-01 2.89231294e-02 2.22811411e+02] [-2.22317649e-01 9.74956442e-01 -5.89905516e-03 -3.45888190e+01] [-2.95107108e-02 -6.81330244e-04 9.99564232e-01 -9.42651906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25264000000004 meters Centerline goodness [0,1] 0.9999786653012459 Centerline is valid? [True, True] Translation: X:222.84, Y:-34.59, Z:-9.43 [[ 9.73861004e-01 2.23867967e-01 3.84431738e-02 2.22842093e+02] [-2.24153171e-01 9.74548605e-01 3.22077576e-03 -3.45924771e+01] [-3.67437129e-02 -1.17537472e-02 9.99255597e-01 -9.43487327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.86, Y:-34.60, Z:-9.43 [[ 9.73594728e-01 2.25515770e-01 3.54392980e-02 2.22864546e+02] [-2.25391778e-01 9.74239281e-01 -7.50790777e-03 -3.46013105e+01] [-3.62195079e-02 -6.78066995e-04 9.99343628e-01 -9.42946554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.90, Y:-34.60, Z:-9.43 [[ 9.74494337e-01 2.22498673e-01 2.92425588e-02 2.22897216e+02] [-2.22072656e-01 9.74879657e-01 -1.71286238e-02 -3.45981631e+01] [-3.23190718e-02 1.01977741e-02 9.99425577e-01 -9.42930340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000005 meters Centerline goodness [0,1] 0.9999573969538822 Centerline is valid? [True, True] Translation: X:222.93, Y:-34.60, Z:-9.44 [[ 9.74723320e-01 2.21202059e-01 3.13703457e-02 2.22925037e+02] [-2.21110378e-01 9.75227753e-01 -6.40559227e-03 -3.46021085e+01] [-3.20101619e-02 -6.92628824e-04 9.99487303e-01 -9.43603030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:222.95, Y:-34.60, Z:-9.44 [[ 9.74452537e-01 2.22155941e-01 3.29998533e-02 2.22954723e+02] [-2.22103942e-01 9.75008700e-01 -5.27959104e-03 -3.46046426e+01] [-3.33480366e-02 -2.18468661e-03 9.99441412e-01 -9.44140147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264000000002 meters Centerline goodness [0,1] 0.9999364850845807 Centerline is valid? [True, True] Translation: X:222.98, Y:-34.61, Z:-9.44 [[ 9.75457080e-01 2.18071359e-01 3.04691225e-02 2.22981720e+02] [-2.17936033e-01 9.75932408e-01 -7.73439270e-03 -3.46097300e+01] [-3.14224536e-02 9.04248453e-04 9.99505784e-01 -9.43936791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43264000000002 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:223.01, Y:-34.62, Z:-9.44 [[ 9.75876562e-01 2.16210462e-01 3.02980558e-02 2.23008632e+02] [-2.16122947e-01 9.76346640e-01 -6.17334298e-03 -3.46207052e+01] [-3.09161463e-02 -5.23684383e-04 9.99521845e-01 -9.43822207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.04, Y:-34.63, Z:-9.44 [[ 9.76674444e-01 2.12548442e-01 3.04990084e-02 2.23035788e+02] [-2.12458195e-01 9.77150442e-01 -6.20724920e-03 -3.46257128e+01] [-3.11214607e-02 -4.17302603e-04 9.99515523e-01 -9.43981800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.06, Y:-34.63, Z:-9.44 [[ 9.77151271e-01 2.10317928e-01 3.06881641e-02 2.23062907e+02] [-2.10225520e-01 9.77632981e-01 -6.24375282e-03 -3.46316867e+01] [-3.13149345e-02 -3.50344250e-04 9.99509506e-01 -9.44116857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.09, Y:-34.64, Z:-9.44 [[ 9.76879071e-01 2.11329282e-01 3.23607129e-02 2.23085700e+02] [-2.11270721e-01 9.77413444e-01 -5.25747461e-03 -3.46393830e+01] [-3.27408542e-02 -1.70095424e-03 9.99462427e-01 -9.44205660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.12, Y:-34.65, Z:-9.44 [[ 9.78019660e-01 2.06142518e-01 3.13497554e-02 2.23119243e+02] [-2.06008718e-01 9.78521607e-01 -7.47476835e-03 -3.46452300e+01] [-3.22172806e-02 8.52147492e-04 9.99480525e-01 -9.44125547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.15, Y:-34.65, Z:-9.44 [[ 9.78878268e-01 2.01900678e-01 3.21473507e-02 2.23145874e+02] [-2.01794793e-01 9.79405998e-01 -6.53855461e-03 -3.46529247e+01] [-3.28054467e-02 -8.67189574e-05 9.99461753e-01 -9.44244474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.17, Y:-34.66, Z:-9.44 [[ 9.79270557e-01 1.99999989e-01 3.20808579e-02 2.23173246e+02] [-1.99893584e-01 9.79795899e-01 -6.52312456e-03 -3.46596136e+01] [-3.27373178e-02 -2.48538509e-05 9.99463990e-01 -9.44290217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.20, Y:-34.67, Z:-9.44 [[ 9.79539416e-01 1.98672367e-01 3.21220061e-02 2.23200628e+02] [-1.98565054e-01 9.80065962e-01 -6.52907010e-03 -3.46652861e+01] [-3.27788306e-02 1.71736254e-05 9.99462630e-01 -9.44338170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.23, Y:-34.67, Z:-9.45 [[ 9.79920483e-01 1.96906563e-01 3.13632419e-02 2.23228452e+02] [-1.96803441e-01 9.80422256e-01 -6.37221098e-03 -3.46705232e+01] [-3.20039505e-02 7.18661281e-05 9.99487740e-01 -9.44601242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.26, Y:-34.68, Z:-9.45 [[ 9.80092601e-01 1.96112734e-01 3.09562526e-02 2.23255401e+02] [-1.96011921e-01 9.80581351e-01 -6.28812147e-03 -3.46759023e+01] [-3.15883047e-02 9.51468009e-05 9.99500960e-01 -9.44826791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73264000000003 meters Centerline goodness [0,1] 0.999892322601486 Centerline is valid? [True, True] Translation: X:223.28, Y:-34.68, Z:-9.45 [[ 9.80409966e-01 1.94701508e-01 2.97929817e-02 2.23283464e+02] [-1.94607539e-01 9.80862531e-01 -6.04987641e-03 -3.46825503e+01] [-3.04007395e-02 1.33420284e-04 9.99537782e-01 -9.44895334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.31, Y:-34.69, Z:-9.45 [[ 9.80877868e-01 1.92167755e-01 3.08247039e-02 2.23309283e+02] [-1.92065932e-01 9.81362067e-01 -6.25870070e-03 -3.46908804e+01] [-3.14529156e-02 2.18645508e-04 9.99505211e-01 -9.45157854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.34, Y:-34.70, Z:-9.45 [[ 9.81289131e-01 1.90017717e-01 3.10629906e-02 2.23336712e+02] [-1.89913380e-01 9.81780620e-01 -6.30256296e-03 -3.46983494e+01] [-3.16946408e-02 2.85359005e-04 9.99497558e-01 -9.45154163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264000000004 meters Centerline goodness [0,1] 0.9998712473981245 Centerline is valid? [True, True] Translation: X:223.36, Y:-34.71, Z:-9.45 [[ 9.81787952e-01 1.87564796e-01 3.01971021e-02 2.23363610e+02] [-1.87465129e-01 9.82252169e-01 -6.12384997e-03 -3.47068503e+01] [-3.08097877e-02 3.51418488e-04 9.99525204e-01 -9.45173449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.39, Y:-34.72, Z:-9.45 [[ 9.82055581e-01 1.85852228e-01 3.20278783e-02 2.23389748e+02] [-1.85739257e-01 9.82577613e-01 -6.49323795e-03 -3.47157838e+01] [-3.26766590e-02 4.27886236e-04 9.99465884e-01 -9.45367742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264000000004 meters Centerline goodness [0,1] 0.9999141575637917 Centerline is valid? [True, True] Translation: X:223.42, Y:-34.73, Z:-9.45 [[ 9.82719148e-01 1.82524171e-01 3.07896499e-02 2.23417515e+02] [-1.82418238e-01 9.83201232e-01 -6.23893097e-03 -3.47270518e+01] [-3.14111775e-02 5.14523243e-04 9.99506415e-01 -9.45442648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.45, Y:-34.73, Z:-9.46 [[ 9.82742616e-01 1.82262993e-01 3.15777272e-02 2.23445219e+02] [-1.82151448e-01 9.83249670e-01 -6.39811139e-03 -3.47335989e+01] [-3.22149288e-02 5.35768001e-04 9.99480821e-01 -9.45616664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.47, Y:-34.74, Z:-9.46 [[ 9.82816954e-01 1.81891534e-01 3.14054946e-02 2.23473422e+02] [-1.81781063e-01 9.83318450e-01 -6.36167004e-03 -3.47414043e+01] [-3.20387362e-02 5.43432996e-04 9.99486480e-01 -9.45798609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.50, Y:-34.75, Z:-9.46 [[ 9.82797473e-01 1.82016715e-01 3.12896591e-02 2.23500338e+02] [-1.81907159e-01 9.83295290e-01 -6.33699124e-03 -3.47484740e+01] [-3.19204128e-02 5.36165990e-04 9.99490270e-01 -9.45978907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264000000004 meters Centerline goodness [0,1] 0.9999567614311966 Centerline is valid? [True, True] Translation: X:223.53, Y:-34.75, Z:-9.46 [[ 9.82555763e-01 1.83401280e-01 3.07919403e-02 2.23529359e+02] [-1.83295945e-01 9.83038015e-01 -6.23356530e-03 -3.47519086e+01] [-3.14128918e-02 4.80787715e-04 9.99506378e-01 -9.45829311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.56, Y:-34.76, Z:-9.46 [[ 9.82264153e-01 1.84820723e-01 3.15980013e-02 2.23556917e+02] [-1.84710581e-01 9.82772152e-01 -6.39524698e-03 -3.47573791e+01] [-3.22356099e-02 4.45336694e-04 9.99480198e-01 -9.46117176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.59, Y:-34.76, Z:-9.46 [[ 9.82076712e-01 1.85766350e-01 3.18778177e-02 2.23585503e+02] [-1.85654816e-01 9.82593858e-01 -6.44972045e-03 -3.47623633e+01] [-3.25210889e-02 4.15849858e-04 9.99470963e-01 -9.46202840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.61, Y:-34.77, Z:-9.46 [[ 9.81722761e-01 1.87559918e-01 3.22753251e-02 2.23613948e+02] [-1.87446607e-01 9.82253098e-01 -6.52851724e-03 -3.47676774e+01] [-3.29270262e-02 3.59293786e-04 9.99457694e-01 -9.46214411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.64, Y:-34.77, Z:-9.46 [[ 9.81648559e-01 1.87934056e-01 3.23558050e-02 2.23641288e+02] [-1.87820426e-01 9.82181587e-01 -6.54344789e-03 -3.47748228e+01] [-3.30090126e-02 3.46285112e-04 9.99454994e-01 -9.46360538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.67, Y:-34.78, Z:-9.47 [[ 9.81623242e-01 1.88081366e-01 3.22677945e-02 2.23666919e+02] [-1.87968511e-01 9.82153392e-01 -6.52330124e-03 -3.47832039e+01] [-3.29188352e-02 3.38094844e-04 9.99457971e-01 -9.46638559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.69, Y:-34.79, Z:-9.47 [[ 9.81591901e-01 1.88258744e-01 3.21867315e-02 2.23694222e+02] [-1.88146648e-01 9.82119411e-01 -6.50396873e-03 -3.47914265e+01] [-3.28356428e-02 3.28417386e-04 9.99460711e-01 -9.46817635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21264000000002 meters Centerline goodness [0,1] 0.9998932057498024 Centerline is valid? [True, True] Translation: X:223.72, Y:-34.80, Z:-9.47 [[ 9.81503633e-01 1.88777660e-01 3.18372924e-02 2.23720272e+02] [-1.88668331e-01 9.82019807e-01 -6.43108318e-03 -3.48017352e+01] [-3.24788965e-02 3.05442677e-04 9.99472375e-01 -9.46974198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.75, Y:-34.81, Z:-9.47 [[ 9.81363549e-01 1.89468814e-01 3.20492378e-02 2.23746724e+02] [-1.89358477e-01 9.81886699e-01 -6.47135259e-03 -3.48089806e+01] [-3.26948398e-02 2.81954701e-04 9.99465341e-01 -9.47101830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.77, Y:-34.82, Z:-9.47 [[ 9.81145367e-01 1.90593796e-01 3.20589171e-02 2.23773843e+02] [-1.90484057e-01 9.81668960e-01 -6.47132840e-03 -3.48154769e+01] [-3.27046388e-02 2.42601304e-04 9.99465031e-01 -9.47264541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.80, Y:-34.82, Z:-9.47 [[ 9.80414593e-01 1.94320959e-01 3.20404465e-02 2.23802962e+02] [-1.94213406e-01 9.80937996e-01 -6.46539079e-03 -3.48194039e+01] [-3.26860523e-02 1.16079229e-04 9.99465661e-01 -9.47206306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.83, Y:-34.82, Z:-9.47 [[ 9.79970231e-01 1.96538079e-01 3.21112257e-02 2.23831384e+02] [-1.96431274e-01 9.80496192e-01 -6.47862130e-03 -3.48240955e+01] [-3.27582303e-02 4.12070265e-05 9.99463304e-01 -9.47334476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.86, Y:-34.83, Z:-9.47 [[ 9.79440290e-01 1.99126092e-01 3.23344644e-02 2.23858774e+02] [-1.99019250e-01 9.79973876e-01 -6.52232160e-03 -3.48280392e+01] [-3.29856948e-02 -4.69562935e-05 9.99455823e-01 -9.47393476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.89, Y:-34.83, Z:-9.47 [[ 9.78840312e-01 2.01991930e-01 3.27246723e-02 2.23886768e+02] [-2.01884172e-01 9.79387175e-01 -6.59868036e-03 -3.48311582e+01] [-3.33830045e-02 -1.47539042e-04 9.99442621e-01 -9.47473471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.92, Y:-34.83, Z:-9.48 [[ 9.77441359e-01 2.08612892e-01 3.30007594e-02 2.23916580e+02] [-2.08507192e-01 9.77998219e-01 -6.65088188e-03 -3.48294159e+01] [-3.36621437e-02 -3.80048648e-04 9.99433197e-01 -9.47567432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.94, Y:-34.83, Z:-9.48 [[ 9.77456686e-01 2.08541027e-01 3.30010323e-02 2.23943531e+02] [-2.08435331e-01 9.78013546e-01 -6.64952765e-03 -3.48347100e+01] [-3.36621560e-02 -3.78955839e-04 9.99433197e-01 -9.47688807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:223.97, Y:-34.83, Z:-9.48 [[ 9.76758919e-01 2.11804014e-01 3.28796846e-02 2.23972268e+02] [-2.11701018e-01 9.77312037e-01 -6.62276991e-03 -3.48338311e+01] [-3.35364408e-02 -4.91813108e-04 9.99437374e-01 -9.47951226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.00, Y:-34.84, Z:-9.48 [[ 9.76089215e-01 2.14839331e-01 3.30742655e-02 2.24001274e+02] [-2.14736976e-01 9.76649220e-01 -6.65832671e-03 -3.48360950e+01] [-3.37324261e-02 -6.03146863e-04 9.99430718e-01 -9.47955023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264000000003 meters Centerline goodness [0,1] 0.9999356995884774 Centerline is valid? [True, True] Translation: X:224.03, Y:-34.83, Z:-9.48 [[ 9.75042199e-01 2.19586051e-01 3.27822547e-02 2.24030774e+02] [-2.19488228e-01 9.75592838e-01 -6.59789495e-03 -3.48324179e+01] [-3.34309386e-02 -7.62092994e-04 9.99440739e-01 -9.48141261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57264000000004 meters Centerline goodness [0,1] 0.9999787265726381 Centerline is valid? [True, True] Translation: X:224.06, Y:-34.83, Z:-9.48 [[ 9.74731729e-01 2.21167556e-01 3.13523448e-02 2.24062233e+02] [-2.20745135e-01 9.75193766e-01 -1.63922266e-02 -3.48322129e+01] [-3.42000398e-02 9.05714579e-03 9.99373967e-01 -9.48205726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264000000004 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:224.09, Y:-34.84, Z:-9.49 [[ 9.74573353e-01 2.21403705e-01 3.44554634e-02 2.24085345e+02] [-2.21635192e-01 9.75125031e-01 3.00263881e-03 -3.48446042e+01] [-3.29335895e-02 -1.05628350e-02 9.99401724e-01 -9.48776714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.12, Y:-34.85, Z:-9.49 [[ 9.74665102e-01 2.21314407e-01 3.23708521e-02 2.24118240e+02] [-2.21013115e-01 9.75188767e-01 -1.26519483e-02 -3.48453808e+01] [-3.43677498e-02 5.17702960e-03 9.99395846e-01 -9.48630904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.15, Y:-34.86, Z:-9.49 [[ 9.75125007e-01 2.18941046e-01 3.45838062e-02 2.24145291e+02] [-2.18899654e-01 9.75734435e-01 -5.02521158e-03 -3.48558158e+01] [-3.48448357e-02 -2.67017375e-03 9.99389167e-01 -9.48970445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69264000000004 meters Centerline goodness [0,1] 0.9999786009287197 Centerline is valid? [True, True] Translation: X:224.17, Y:-34.86, Z:-9.49 [[ 9.75604478e-01 2.16755775e-01 3.48257873e-02 2.24173539e+02] [-2.16664898e-01 9.76225005e-01 -6.40796733e-03 -3.48636731e+01] [-3.53867683e-02 -1.29388405e-03 9.99372855e-01 -9.49045808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264000000004 meters Centerline goodness [0,1] 0.9998932991890739 Centerline is valid? [True, True] Translation: X:224.20, Y:-34.87, Z:-9.49 [[ 9.76059021e-01 2.14925179e-01 3.34059052e-02 2.24197644e+02] [-2.14916210e-01 9.76624698e-01 -3.90149834e-03 -3.48708726e+01] [-3.34635623e-02 -3.37137787e-03 9.99434252e-01 -9.49242723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.23, Y:-34.89, Z:-9.49 [[ 9.77251947e-01 2.09075597e-01 3.55812656e-02 2.24228415e+02] [-2.09039876e-01 9.77895519e-01 -4.76272905e-03 -3.48871261e+01] [-3.57905307e-02 -2.78351711e-03 9.99355437e-01 -9.49455890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000004 meters Centerline goodness [0,1] 0.9999567174515236 Centerline is valid? [True, True] Translation: X:224.25, Y:-34.89, Z:-9.50 [[ 9.77759988e-01 2.07312180e-01 3.17343006e-02 2.24251258e+02] [-2.07128681e-01 9.78272303e-01 -9.00058517e-03 -3.48924037e+01] [-3.29107183e-02 2.22732822e-03 9.99455814e-01 -9.49544556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.28, Y:-34.90, Z:-9.50 [[ 9.78295304e-01 2.04723265e-01 3.20419025e-02 2.24278734e+02] [-2.04622784e-01 9.78819855e-01 -6.41934720e-03 -3.49032675e+01] [-3.26774401e-02 -2.76486078e-04 9.99465912e-01 -9.49793844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.31, Y:-34.91, Z:-9.50 [[ 9.78809319e-01 2.02298086e-01 3.17458941e-02 2.24306343e+02] [-2.02198229e-01 9.79323974e-01 -6.35844602e-03 -3.49122711e+01] [-3.23758166e-02 -1.95257355e-04 9.99475747e-01 -9.49967022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.33, Y:-34.92, Z:-9.50 [[ 9.79743047e-01 1.97834046e-01 3.10685110e-02 2.24332549e+02] [-1.97736204e-01 9.80235527e-01 -6.22139103e-03 -3.49236421e+01] [-3.16852613e-02 -4.80048435e-05 9.99497895e-01 -9.50392287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264000000002 meters Centerline goodness [0,1] 0.9997844595322772 Centerline is valid? [True, True] Translation: X:224.36, Y:-34.93, Z:-9.50 [[ 9.80143033e-01 1.95847594e-01 3.10379565e-02 2.24359508e+02] [-1.95749005e-01 9.80634346e-01 -6.21348970e-03 -3.49323688e+01] [-3.16537832e-02 1.44595406e-05 9.99498893e-01 -9.50236917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.39, Y:-34.94, Z:-9.50 [[ 9.80455973e-01 1.94241609e-01 3.12455130e-02 2.24385575e+02] [-1.94140953e-01 9.80953716e-01 -6.25277472e-03 -3.49396127e+01] [-3.18649511e-02 6.45366708e-05 9.99492181e-01 -9.50414407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.41, Y:-34.95, Z:-9.51 [[ 9.80716391e-01 1.92814486e-01 3.19050872e-02 2.24412456e+02] [-1.92708884e-01 9.81235223e-01 -6.38156400e-03 -3.49468050e+01] [-3.25368534e-02 1.10110671e-04 9.99470530e-01 -9.50560762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.44, Y:-34.95, Z:-9.50 [[ 9.80960894e-01 1.91430197e-01 3.27139662e-02 2.24440309e+02] [-1.91318476e-01 9.81506217e-01 -6.54109915e-03 -3.49528256e+01] [-3.33611251e-02 1.57776305e-04 9.99443350e-01 -9.50390774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264000000002 meters Centerline goodness [0,1] 0.9998714487723358 Centerline is valid? [True, True] Translation: X:224.47, Y:-34.96, Z:-9.50 [[ 9.80976701e-01 1.91204395e-01 3.35498458e-02 2.24467209e+02] [-1.91086815e-01 9.81550228e-01 -6.70658799e-03 -3.49580884e+01] [-3.42131879e-02 1.68073391e-04 9.99414543e-01 -9.50400322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.50, Y:-34.96, Z:-9.51 [[ 9.80846045e-01 1.91841785e-01 3.37307857e-02 2.24495036e+02] [-1.91723384e-01 9.81425855e-01 -6.74058556e-03 -3.49628837e+01] [-3.43973911e-02 1.44496326e-04 9.99408224e-01 -9.50642184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.52, Y:-34.97, Z:-9.51 [[ 9.80638306e-01 1.92970064e-01 3.33326721e-02 2.24523575e+02] [-1.92855167e-01 9.81204639e-01 -6.65888874e-03 -3.49655452e+01] [-3.39911386e-02 1.01583350e-04 9.99422129e-01 -9.50754241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11264000000003 meters Centerline goodness [0,1] 0.9998923249203204 Centerline is valid? [True, True] Translation: X:224.55, Y:-34.97, Z:-9.51 [[ 9.80557152e-01 1.93382222e-01 3.33314949e-02 2.24550808e+02] [-1.93267625e-01 9.81123493e-01 -6.65704581e-03 -3.49697642e+01] [-3.39896670e-02 8.57150144e-05 9.99422181e-01 -9.50986174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.58, Y:-34.97, Z:-9.51 [[ 9.80392715e-01 1.94219567e-01 3.32999113e-02 2.24578609e+02] [-1.94105738e-01 9.80958081e-01 -6.64871455e-03 -3.49732552e+01] [-3.39571276e-02 5.46474356e-05 9.99423289e-01 -9.51110313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.61, Y:-34.98, Z:-9.51 [[ 9.80108539e-01 1.95580920e-01 3.36950454e-02 2.24606778e+02] [-1.95465272e-01 9.80687567e-01 -6.72484793e-03 -3.49758600e+01] [-3.43595641e-02 4.86966646e-06 9.99409536e-01 -9.51352486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.64, Y:-34.98, Z:-9.51 [[ 9.79978597e-01 1.96296446e-01 3.33114780e-02 2.24635907e+02] [-1.96183907e-01 9.80544596e-01 -6.64605592e-03 -3.49795015e+01] [-3.39679869e-02 -2.21833287e-05 9.99422921e-01 -9.51361409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.66, Y:-34.98, Z:-9.52 [[ 9.79794700e-01 1.97222922e-01 3.32485290e-02 2.24663154e+02] [-1.97111386e-01 9.80358667e-01 -6.63214902e-03 -3.49820979e+01] [-3.39034954e-02 -5.55191923e-05 9.99425110e-01 -9.51632149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.69, Y:-34.98, Z:-9.52 [[ 9.79360784e-01 1.99541765e-01 3.21797840e-02 2.24692324e+02] [-1.99438632e-01 9.79889313e-01 -6.41608204e-03 -3.49823080e+01] [-3.28129028e-02 -1.34232952e-04 9.99461503e-01 -9.51831009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.72, Y:-34.98, Z:-9.52 [[ 9.79109688e-01 2.00733583e-01 3.24075153e-02 2.24720499e+02] [-2.00629688e-01 9.79645853e-01 -6.45996070e-03 -3.49848841e+01] [-3.30446190e-02 -1.76899580e-04 9.99453862e-01 -9.52041501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.75, Y:-34.99, Z:-9.52 [[ 9.78986198e-01 2.01322416e-01 3.24855020e-02 2.24748496e+02] [-2.01218414e-01 9.79525010e-01 -6.47341115e-03 -3.49882749e+01] [-3.31236045e-02 -1.99301019e-04 9.99451243e-01 -9.52217833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.78, Y:-34.99, Z:-9.52 [[ 9.78905180e-01 2.01749201e-01 3.22785918e-02 2.24776996e+02] [-2.01646819e-01 9.79437192e-01 -6.43012379e-03 -3.49909341e+01] [-3.29121256e-02 -2.14393875e-04 9.99458226e-01 -9.52143647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.80, Y:-34.99, Z:-9.52 [[ 9.78912660e-01 2.01709986e-01 3.22968266e-02 2.24803665e+02] [-2.01607507e-01 9.79445269e-01 -6.43252318e-03 -3.49936812e+01] [-3.29304782e-02 -2.14404322e-04 9.99457622e-01 -9.52325072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.83, Y:-35.00, Z:-9.52 [[ 9.78883727e-01 2.01768012e-01 3.28072838e-02 2.24831188e+02] [-2.01662410e-01 9.79433316e-01 -6.53091612e-03 -3.49965293e+01] [-3.34502767e-02 -2.22988403e-04 9.99440358e-01 -9.52494446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.86, Y:-35.00, Z:-9.52 [[ 9.78806698e-01 2.02126953e-01 3.28959495e-02 2.24859426e+02] [-2.02021055e-01 9.79359300e-01 -6.54639928e-03 -3.50002754e+01] [-3.35401578e-02 -2.38014955e-04 9.99437342e-01 -9.52462907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.89, Y:-35.00, Z:-9.53 [[ 9.78548341e-01 2.03354773e-01 3.30148596e-02 2.24888013e+02] [-2.03248846e-01 9.79105079e-01 -6.56886151e-03 -3.50002825e+01] [-3.36608260e-02 -2.82283574e-04 9.99433274e-01 -9.52619318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.92, Y:-35.00, Z:-9.53 [[ 9.78359400e-01 2.04325932e-01 3.26159154e-02 2.24917049e+02] [-2.04223203e-01 9.78902862e-01 -6.48609876e-03 -3.50028351e+01] [-3.32530911e-02 -3.15191017e-04 9.99446913e-01 -9.52796599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.95, Y:-35.00, Z:-9.53 [[ 9.78128740e-01 2.05461967e-01 3.23967243e-02 2.24945432e+02] [-2.05361284e-01 9.78665037e-01 -6.44107247e-03 -3.50041051e+01] [-3.30289369e-02 -3.52834817e-04 9.99454334e-01 -9.53015177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:224.97, Y:-35.01, Z:-9.53 [[ 9.77973805e-01 2.06225422e-01 3.22228642e-02 2.24974804e+02] [-2.06126255e-01 9.78504437e-01 -6.40578884e-03 -3.50059802e+01] [-3.28512521e-02 -3.77284623e-04 9.99460181e-01 -9.53186415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.00, Y:-35.01, Z:-9.53 [[ 9.77829135e-01 2.06919423e-01 3.21641754e-02 2.25004070e+02] [-2.06821172e-01 9.78357904e-01 -6.38863574e-03 -3.50081389e+01] [-3.27900080e-02 -4.05238280e-04 9.99462181e-01 -9.53338629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.03, Y:-35.01, Z:-9.53 [[ 9.77716472e-01 2.07392895e-01 3.25374702e-02 2.25032081e+02] [-2.07292791e-01 9.78257635e-01 -6.45738965e-03 -3.50081860e+01] [-3.31692454e-02 -4.31286756e-04 9.99449656e-01 -9.53405379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65264000000002 meters Centerline goodness [0,1] 0.9998297727466168 Centerline is valid? [True, True] Translation: X:225.06, Y:-35.02, Z:-9.54 [[ 9.77567677e-01 2.06737169e-01 4.02638749e-02 2.25062080e+02] [-2.07125018e-01 9.78298073e-01 5.66634221e-03 -3.50193657e+01] [-3.82186277e-02 -1.38788888e-02 9.99173015e-01 -9.53840956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.09, Y:-35.00, Z:-9.54 [[ 9.77803001e-01 2.07364791e-01 3.00189019e-02 2.25090652e+02] [-2.06836962e-01 9.78175709e-01 -1.97675065e-02 -3.50046625e+01] [-3.34628455e-02 1.31197087e-02 9.99353847e-01 -9.53612252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.12, Y:-35.02, Z:-9.54 [[ 9.78427507e-01 2.03839264e-01 3.36030882e-02 2.25117825e+02] [-2.03730792e-01 9.79004313e-01 -6.65735728e-03 -3.50186360e+01] [-3.42545990e-02 -3.32242276e-04 9.99413084e-01 -9.53735092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.15, Y:-35.03, Z:-9.54 [[ 9.78877828e-01 2.01617190e-01 3.38925696e-02 2.25145231e+02] [-2.01505683e-01 9.79464364e-01 -6.70964025e-03 -3.50272560e+01] [-3.45493429e-02 -2.61627321e-04 9.99402959e-01 -9.53685067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.17, Y:-35.03, Z:-9.54 [[ 9.79423890e-01 1.98949794e-01 3.38795435e-02 2.25171690e+02] [-1.98837018e-01 9.80009668e-01 -6.70008988e-03 -3.50343900e+01] [-3.45352617e-02 -1.74279319e-04 9.99403465e-01 -9.53980933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.20, Y:-35.04, Z:-9.54 [[ 9.80056950e-01 1.95846251e-01 3.36544181e-02 2.25198806e+02] [-1.95733214e-01 9.80634612e-01 -6.65339176e-03 -3.50442344e+01] [-3.43057290e-02 -6.65845707e-05 9.99411383e-01 -9.53917830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.22, Y:-35.06, Z:-9.54 [[ 9.81305185e-01 1.89542070e-01 3.33756986e-02 2.25224882e+02] [-1.89427301e-01 9.81872589e-01 -6.59673531e-03 -3.50575795e+01] [-3.40210424e-02 1.51142076e-04 9.99421105e-01 -9.54118067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.25, Y:-35.07, Z:-9.54 [[ 9.81904980e-01 1.86513816e-01 3.27903610e-02 2.25251108e+02] [-1.86401406e-01 9.82452306e-01 -6.47933370e-03 -3.50675444e+01] [-3.34234511e-02 2.49920630e-04 9.99441249e-01 -9.54440587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89264000000003 meters Centerline goodness [0,1] 0.9999788144570145 Centerline is valid? [True, True] Translation: X:225.28, Y:-35.08, Z:-9.55 [[ 9.82463922e-01 1.83642682e-01 3.22491516e-02 2.25276754e+02] [-1.83532510e-01 9.82993006e-01 -6.36923201e-03 -3.50789247e+01] [-3.28703533e-02 3.38772922e-04 9.99459567e-01 -9.54916033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.30, Y:-35.09, Z:-9.55 [[ 9.83252089e-01 1.79372579e-01 3.22615430e-02 2.25304149e+02] [-1.79260091e-01 9.83781098e-01 -6.36959809e-03 -3.50886269e+01] [-3.28808274e-02 4.79713495e-04 9.99459164e-01 -9.54710642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.33, Y:-35.10, Z:-9.55 [[ 9.83507380e-01 1.77981603e-01 3.21835716e-02 2.25330621e+02] [-1.77868963e-01 9.84033676e-01 -6.35273211e-03 -3.50982385e+01] [-3.28003877e-02 5.23500423e-04 9.99461785e-01 -9.54915771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.36, Y:-35.10, Z:-9.55 [[ 9.83681743e-01 1.76987802e-01 3.23349123e-02 2.25359256e+02] [-1.76873634e-01 9.84212887e-01 -6.38043909e-03 -3.51042946e+01] [-3.29536973e-02 5.57127990e-04 9.99456724e-01 -9.54899344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.39, Y:-35.11, Z:-9.55 [[ 9.83766079e-01 1.76478290e-01 3.25532623e-02 2.25385393e+02] [-1.76362347e-01 9.84304364e-01 -6.42199803e-03 -3.51137659e+01] [-3.31756614e-02 5.76574084e-04 9.99449370e-01 -9.55042013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.41, Y:-35.12, Z:-9.55 [[ 9.83697537e-01 1.76819601e-01 3.27716916e-02 2.25413463e+02] [-1.76702359e-01 9.84243114e-01 -6.46289786e-03 -3.51187175e+01] [-3.33980789e-02 5.66701498e-04 9.99441968e-01 -9.55089041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.44, Y:-35.13, Z:-9.55 [[ 9.83588530e-01 1.77475870e-01 3.24949148e-02 2.25440001e+02] [-1.77361007e-01 9.84125005e-01 -6.40683000e-03 -3.51266434e+01] [-3.31161160e-02 5.38353684e-04 9.99451366e-01 -9.55359711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264000000004 meters Centerline goodness [0,1] 0.9999357780489371 Centerline is valid? [True, True] Translation: X:225.47, Y:-35.13, Z:-9.55 [[ 9.83219164e-01 1.79649002e-01 3.17224076e-02 2.25468831e+02] [-1.79540735e-01 9.83730670e-01 -6.25243236e-03 -3.51303031e+01] [-3.23295485e-02 4.52046967e-04 9.99477161e-01 -9.55459190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.50, Y:-35.14, Z:-9.56 [[ 9.82891974e-01 1.81365905e-01 3.20901331e-02 2.25495805e+02] [-1.81256075e-01 9.83415604e-01 -6.32343218e-03 -3.51353845e+01] [-3.27047926e-02 3.98719153e-04 9.99464976e-01 -9.55651205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.52, Y:-35.14, Z:-9.56 [[ 9.82570611e-01 1.83059877e-01 3.23121740e-02 2.25524636e+02] [-1.82949507e-01 9.83101706e-01 -6.36502244e-03 -3.51402637e+01] [-3.29313336e-02 3.42587668e-04 9.99457558e-01 -9.55741723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.55, Y:-35.14, Z:-9.56 [[ 9.81841052e-01 1.86918211e-01 3.23995701e-02 2.25553617e+02] [-1.86809395e-01 9.82375457e-01 -6.38064123e-03 -3.51423326e+01] [-3.30212005e-02 2.12231421e-04 9.99454629e-01 -9.55812795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.58, Y:-35.15, Z:-9.56 [[ 9.81391846e-01 1.89177996e-01 3.28896786e-02 2.25581328e+02] [-1.89067181e-01 9.81942802e-01 -6.47564260e-03 -3.51453796e+01] [-3.35208323e-02 1.36784026e-04 9.99438010e-01 -9.56027992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.61, Y:-35.15, Z:-9.56 [[ 9.80934179e-01 1.91499833e-01 3.31051538e-02 2.25610578e+02] [-1.91388955e-01 9.81492644e-01 -6.51590609e-03 -3.51481377e+01] [-3.37402599e-02 5.57141876e-05 9.99430634e-01 -9.55980921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.64, Y:-35.14, Z:-9.56 [[ 9.79984875e-01 1.97229396e-01 2.70223884e-02 2.25644900e+02] [-1.96785998e-01 9.80277264e-01 -1.82142145e-02 -3.51402801e+01] [-3.00818115e-02 1.25320271e-02 9.99468875e-01 -9.56052254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.67, Y:-35.16, Z:-9.56 [[ 9.79546646e-01 1.97997525e-01 3.58517659e-02 2.25666879e+02] [-1.98318610e-01 9.80121624e-01 5.59733231e-03 -3.51575992e+01] [-3.40308330e-02 -1.25929205e-02 9.99341444e-01 -9.56312082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.70, Y:-35.16, Z:-9.56 [[ 9.79533421e-01 1.98480307e-01 3.34640732e-02 2.25695301e+02] [-1.98371484e-01 9.80104856e-01 -6.57466506e-03 -3.51556483e+01] [-3.41032422e-02 -1.98213692e-04 9.99418296e-01 -9.56318788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.72, Y:-35.16, Z:-9.56 [[ 9.79035896e-01 2.00872060e-01 3.37510052e-02 2.25723935e+02] [-2.00762863e-01 9.79617442e-01 -6.62868223e-03 -3.51566756e+01] [-3.43945905e-02 -2.86230590e-04 9.99408290e-01 -9.56424946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.75, Y:-35.16, Z:-9.57 [[ 9.78630561e-01 2.02780603e-01 3.40918084e-02 2.25751604e+02] [-2.02670466e-01 9.79224130e-01 -6.69215002e-03 -3.51586198e+01] [-3.47405597e-02 -3.60260178e-04 9.99396300e-01 -9.56554978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43264000000002 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:225.78, Y:-35.16, Z:-9.57 [[ 9.78088776e-01 2.05372233e-01 3.41261099e-02 2.25779381e+02] [-2.05263524e-01 9.78683830e-01 -6.69676989e-03 -3.51598430e+01] [-3.47740026e-02 -4.54810120e-04 9.99395098e-01 -9.56745460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.81, Y:-35.16, Z:-9.57 [[ 9.77968045e-01 2.05946030e-01 3.41282299e-02 2.25807921e+02] [-2.05837693e-01 9.78563235e-01 -6.69613363e-03 -3.51642915e+01] [-3.47756732e-02 -4.76271396e-04 9.99395030e-01 -9.56889949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.84, Y:-35.16, Z:-9.57 [[ 9.77527592e-01 2.08345855e-01 3.21218118e-02 2.25835443e+02] [-2.08089522e-01 9.78046074e-01 -1.11636533e-02 -3.51646019e+01] [-3.37425128e-02 4.22856665e-03 9.99421614e-01 -9.57121721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.86, Y:-35.18, Z:-9.57 [[ 9.77960770e-01 2.05833070e-01 3.50068469e-02 2.25864717e+02] [-2.05897665e-01 9.78571894e-01 -1.78873927e-03 -3.51764171e+01] [-3.46248982e-02 -5.45851121e-03 9.99385472e-01 -9.57355314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.89, Y:-35.18, Z:-9.57 [[ 9.78222725e-01 2.04699249e-01 3.43295566e-02 2.25893413e+02] [-2.04589321e-01 9.78824815e-01 -6.72251960e-03 -3.51827501e+01] [-3.49787166e-02 -4.47339233e-04 9.99387957e-01 -9.57328696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264000000003 meters Centerline goodness [0,1] 0.9999360040957379 Centerline is valid? [True, True] Translation: X:225.92, Y:-35.19, Z:-9.57 [[ 9.78540018e-01 2.03299092e-01 3.35992846e-02 2.25919995e+02] [-2.03193182e-01 9.79116604e-01 -6.57323668e-03 -3.51892662e+01] [-3.42339504e-02 -3.94970408e-04 9.99413768e-01 -9.57431659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61264000000003 meters Centerline goodness [0,1] 0.999849426746112 Centerline is valid? [True, True] Translation: X:225.95, Y:-35.20, Z:-9.57 [[ 9.79405843e-01 1.99108593e-01 3.34658384e-02 2.25947025e+02] [-1.99001150e-01 9.79977401e-01 -6.54496321e-03 -3.52024520e+01] [-3.40989237e-02 -2.49565101e-04 9.99418431e-01 -9.57406944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:225.97, Y:-35.21, Z:-9.58 [[ 9.79867281e-01 1.96657447e-01 3.44377658e-02 2.25973752e+02] [-1.96542217e-01 9.80472243e-01 -6.73332509e-03 -3.52121097e+01] [-3.50894320e-02 -1.70709886e-04 9.99384162e-01 -9.57624079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.00, Y:-35.22, Z:-9.58 [[ 9.79968990e-01 1.95757030e-01 3.66055052e-02 2.25997406e+02] [-1.95792803e-01 9.80641733e-01 -2.63998049e-03 -3.52245820e+01] [-3.64136808e-02 -4.57999545e-03 9.99326307e-01 -9.57864810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.03, Y:-35.23, Z:-9.58 [[ 9.80913840e-01 1.91556504e-01 3.33788074e-02 2.26027328e+02] [-1.91297388e-01 9.81472477e-01 -1.08206636e-02 -3.52293938e+01] [-3.48331493e-02 4.22886004e-03 9.99384195e-01 -9.57929515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.05, Y:-35.24, Z:-9.58 [[ 9.81473975e-01 1.88577275e-01 3.38739918e-02 2.26053484e+02] [-1.88461194e-01 9.82058348e-01 -6.61656146e-03 -3.52421102e+01] [-3.45139696e-02 1.10049927e-04 9.99404209e-01 -9.58223498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.08, Y:-35.26, Z:-9.58 [[ 9.82296314e-01 1.84220818e-01 3.40094275e-02 2.26080336e+02] [-1.84101306e-01 9.82884847e-01 -6.63981920e-03 -3.52565414e+01] [-3.46505438e-02 2.61089923e-04 9.99399455e-01 -9.58305156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.11, Y:-35.27, Z:-9.58 [[ 9.82611620e-01 1.82504625e-01 3.41535733e-02 2.26106757e+02] [-1.82383115e-01 9.83204942e-01 -6.66639492e-03 -3.52657987e+01] [-3.47966100e-02 3.21442014e-04 9.99394363e-01 -9.58414334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264000000004 meters Centerline goodness [0,1] 0.999850116694859 Centerline is valid? [True, True] Translation: X:226.13, Y:-35.27, Z:-9.59 [[ 9.82936070e-01 1.80936663e-01 3.31452190e-02 2.26134074e+02] [-1.80821402e-01 9.83494683e-01 -6.46752308e-03 -3.52748920e+01] [-3.37683587e-02 3.63796761e-04 9.99429620e-01 -9.58512343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85264000000004 meters Centerline goodness [0,1] 0.9998716934328422 Centerline is valid? [True, True] Translation: X:226.16, Y:-35.29, Z:-9.59 [[ 9.83265343e-01 1.78965807e-01 3.40661931e-02 2.26161184e+02] [-1.78842926e-01 9.83855195e-01 -6.64553145e-03 -3.52868327e+01] [-3.47055239e-02 4.41823103e-04 9.99397484e-01 -9.58562376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.19, Y:-35.29, Z:-9.59 [[ 9.83266903e-01 1.78704920e-01 3.53659278e-02 2.26189530e+02] [-1.78572375e-01 9.83902604e-01 -6.89728928e-03 -3.52943396e+01] [-3.60292080e-02 4.66498521e-04 9.99350628e-01 -9.58648294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91264000000004 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:226.22, Y:-35.30, Z:-9.59 [[ 9.83327968e-01 1.78544626e-01 3.44662773e-02 2.26217656e+02] [-1.78418705e-01 9.83931708e-01 -6.72009991e-03 -3.53013165e+01] [-3.51123009e-02 4.58633638e-04 9.99383268e-01 -9.58719971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.24, Y:-35.31, Z:-9.59 [[ 9.83248981e-01 1.78760342e-01 3.55834470e-02 2.26244601e+02] [-1.78626305e-01 9.83892537e-01 -6.93674897e-03 -3.53080493e+01] [-3.62503035e-02 4.64411695e-04 9.99342634e-01 -9.58883718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.27, Y:-35.32, Z:-9.59 [[ 9.82999602e-01 1.80229107e-01 3.50606690e-02 2.26271800e+02] [-1.80099991e-01 9.83624576e-01 -6.83273793e-03 -3.53153998e+01] [-3.57179939e-02 4.02152518e-04 9.99361828e-01 -9.59130711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.30, Y:-35.32, Z:-9.59 [[ 9.82763647e-01 1.81642831e-01 3.43728996e-02 2.26300408e+02] [-1.81519676e-01 9.83364513e-01 -6.69642539e-03 -3.53209543e+01] [-3.50174474e-02 3.41645834e-04 9.99386643e-01 -9.59436425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.33, Y:-35.33, Z:-9.60 [[ 9.82435532e-01 1.83509749e-01 3.38319001e-02 2.26329187e+02] [-1.83391603e-01 9.83017853e-01 -6.58942402e-03 -3.53250289e+01] [-3.44665854e-02 2.69197901e-04 9.99405814e-01 -9.59624743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.36, Y:-35.33, Z:-9.60 [[ 9.82044881e-01 1.85646257e-01 3.35159432e-02 2.26358462e+02] [-1.85531606e-01 9.82616625e-01 -6.52629628e-03 -3.53278011e+01] [-3.41449054e-02 1.90849106e-04 9.99416874e-01 -9.59710078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.39, Y:-35.33, Z:-9.60 [[ 9.81597561e-01 1.88043285e-01 3.32558345e-02 2.26386323e+02] [-1.87931832e-01 9.82160736e-01 -6.47415011e-03 -3.53306237e+01] [-3.38799953e-02 1.05180055e-04 9.99425903e-01 -9.59885807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.41, Y:-35.33, Z:-9.60 [[ 9.81131926e-01 1.90563267e-01 3.26463660e-02 2.26414568e+02] [-1.90457334e-01 9.81674916e-01 -6.35319737e-03 -3.53334132e+01] [-3.32588046e-02 1.55849436e-05 9.99446773e-01 -9.60148694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.44, Y:-35.33, Z:-9.61 [[ 9.80244430e-01 1.95219302e-01 3.17849148e-02 2.26442974e+02] [-1.95121376e-01 9.80759606e-01 -6.18416064e-03 -3.53332885e+01] [-3.23806280e-02 -1.39927291e-04 9.99475600e-01 -9.60514649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.47, Y:-35.34, Z:-9.61 [[ 9.79850178e-01 1.97210596e-01 3.16482028e-02 2.26470333e+02] [-1.97114601e-01 9.80361127e-01 -6.15594886e-03 -3.53352940e+01] [-3.22406861e-02 -2.06415279e-04 9.99480113e-01 -9.60693648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.50, Y:-35.34, Z:-9.61 [[ 9.79134808e-01 2.00343767e-01 3.40206212e-02 2.26495042e+02] [-2.00308767e-01 9.79722627e-01 -4.46891266e-03 -3.53402091e+01] [-3.42260912e-02 -2.43896075e-03 9.99411140e-01 -9.60719158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.53, Y:-35.34, Z:-9.61 [[ 9.79249447e-01 2.00195883e-01 3.14980842e-02 2.26526664e+02] [-2.00040433e-01 9.79754625e-01 -8.04363914e-03 -3.53399442e+01] [-3.24706971e-02 1.57583880e-03 9.99471446e-01 -9.60909405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.55, Y:-35.34, Z:-9.61 [[ 9.78821312e-01 2.01992395e-01 3.32853189e-02 2.26554083e+02] [-2.01889393e-01 9.79387011e-01 -6.46193563e-03 -3.53433412e+01] [-3.39044708e-02 -3.94872506e-04 9.99425000e-01 -9.60827969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.58, Y:-35.35, Z:-9.61 [[ 9.78789812e-01 2.02131491e-01 3.33671278e-02 2.26580777e+02] [-2.02028124e-01 9.79358309e-01 -6.47601055e-03 -3.53476601e+01] [-3.39873796e-02 -4.02445091e-04 9.99422181e-01 -9.60991947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.61, Y:-35.36, Z:-9.61 [[ 9.78902010e-01 2.01596303e-01 3.33134360e-02 2.26608791e+02] [-2.01493064e-01 9.79468622e-01 -6.46249977e-03 -3.53565589e+01] [-3.39322813e-02 -3.86272258e-04 9.99424060e-01 -9.60907507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.64, Y:-35.36, Z:-9.61 [[ 9.79066867e-01 2.00851223e-01 3.29674940e-02 2.26637147e+02] [-2.00749750e-01 9.79621691e-01 -6.39374274e-03 -3.53630854e+01] [-3.35798633e-02 -3.58314506e-04 9.99435973e-01 -9.61086928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.66, Y:-35.37, Z:-9.61 [[ 9.79289581e-01 1.99746719e-01 3.30630473e-02 2.26664038e+02] [-1.99644080e-01 9.79847511e-01 -6.41072589e-03 -3.53688225e+01] [-3.36772661e-02 -3.22884596e-04 9.99432708e-01 -9.61366098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.69, Y:-35.38, Z:-9.62 [[ 9.79922079e-01 1.96691178e-01 3.26389223e-02 2.26691452e+02] [-1.96589532e-01 9.80465468e-01 -6.32633197e-03 -3.53806266e+01] [-3.32456699e-02 -2.17158081e-04 9.99447186e-01 -9.61519367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45264000000003 meters Centerline goodness [0,1] 0.999871086951851 Centerline is valid? [True, True] Translation: X:226.72, Y:-35.39, Z:-9.62 [[ 9.80329487e-01 1.94815881e-01 3.16365087e-02 2.26718475e+02] [-1.94719447e-01 9.80839819e-01 -6.13082317e-03 -3.53899411e+01] [-3.22247292e-02 -1.50016750e-04 9.99480637e-01 -9.61755657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.74, Y:-35.40, Z:-9.62 [[ 9.80749446e-01 1.92537144e-01 3.25572272e-02 2.26744864e+02] [-1.92433846e-01 9.81289683e-01 -6.30658173e-03 -3.53987295e+01] [-3.31623224e-02 -7.99359149e-05 9.99449976e-01 -9.61891652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.77, Y:-35.41, Z:-9.62 [[ 9.81675431e-01 1.87650181e-01 3.31776604e-02 2.26771808e+02] [-1.87540191e-01 9.82235920e-01 -6.42452312e-03 -3.54131290e+01] [-3.37938527e-02 8.46517294e-05 9.99428821e-01 -9.61853124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.80, Y:-35.42, Z:-9.62 [[ 9.82141167e-01 1.85185540e-01 3.32421919e-02 2.26798879e+02] [-1.85073765e-01 9.82703560e-01 -6.43537295e-03 -3.54238702e+01] [-3.38589584e-02 1.68187100e-04 9.99426607e-01 -9.61969259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.82, Y:-35.43, Z:-9.62 [[ 9.82549051e-01 1.83073157e-01 3.28874000e-02 2.26824809e+02] [-1.82962621e-01 9.83099264e-01 -6.36522373e-03 -3.54337781e+01] [-3.34968804e-02 2.36979626e-04 9.99438794e-01 -9.62143485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.85, Y:-35.44, Z:-9.62 [[ 9.82893360e-01 1.81285041e-01 3.25019524e-02 2.26852716e+02] [-1.81176174e-01 9.83430551e-01 -6.28852702e-03 -3.54431232e+01] [-3.31034289e-02 2.92372068e-04 9.99451889e-01 -9.62307678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63264000000004 meters Centerline goodness [0,1] 0.999871915293314 Centerline is valid? [True, True] Translation: X:226.88, Y:-35.45, Z:-9.62 [[ 9.83240359e-01 1.79585976e-01 3.14209229e-02 2.26880631e+02] [-1.79483418e-01 9.83742224e-01 -6.07770660e-03 -3.54525102e+01] [-3.20015595e-02 3.36311771e-04 9.99487762e-01 -9.62479085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.91, Y:-35.46, Z:-9.63 [[ 9.83369999e-01 1.78829167e-01 3.16792232e-02 2.26909594e+02] [-1.78724556e-01 9.83880073e-01 -6.12664018e-03 -3.54602566e+01] [-3.22641784e-02 3.62899040e-04 9.99479310e-01 -9.62574034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.94, Y:-35.47, Z:-9.63 [[ 9.83451303e-01 1.78292074e-01 3.21787322e-02 2.26937009e+02] [-1.78183872e-01 9.83977534e-01 -6.22254657e-03 -3.54701979e+01] [-3.27725803e-02 3.85840426e-04 9.99462760e-01 -9.62827065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:226.97, Y:-35.48, Z:-9.63 [[ 9.83451303e-01 1.77511940e-01 3.62359748e-02 2.26969031e+02] [-1.77463515e-01 9.84116750e-01 -4.57413813e-03 -3.54765023e+01] [-3.64723939e-02 -1.93212133e-03 9.99332793e-01 -9.62664938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.00, Y:-35.48, Z:-9.63 [[ 9.83332056e-01 1.78721062e-01 3.34192866e-02 2.26995998e+02] [-1.78511199e-01 9.83895003e-01 -9.18557887e-03 -3.54819709e+01] [-3.45227255e-02 3.06675725e-03 9.99399208e-01 -9.62699782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.03, Y:-35.49, Z:-9.63 [[ 9.83229313e-01 1.79047256e-01 3.46727193e-02 2.27025135e+02] [-1.78922000e-01 9.83840397e-01 -6.70755257e-03 -3.54897314e+01] [-3.53133908e-02 3.91350044e-04 9.99376211e-01 -9.62682878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.05, Y:-35.50, Z:-9.63 [[ 9.83128175e-01 1.79565704e-01 3.48589822e-02 2.27053875e+02] [-1.79439419e-01 9.83745911e-01 -6.74369327e-03 -3.54978670e+01] [-3.55033172e-02 3.74839346e-04 9.99369488e-01 -9.62840107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.08, Y:-35.50, Z:-9.63 [[ 9.83035347e-01 1.80103798e-01 3.47005464e-02 2.27084108e+02] [-1.79979013e-01 9.83647547e-01 -6.71249992e-03 -3.55036231e+01] [-3.53420541e-02 3.53254596e-04 9.99375212e-01 -9.62908140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.11, Y:-35.51, Z:-9.63 [[ 9.82898061e-01 1.80872504e-01 3.45910185e-02 2.27112343e+02] [-1.80748978e-01 9.83506498e-01 -6.69142344e-03 -3.55106039e+01] [-3.52307860e-02 3.24695879e-04 9.99379150e-01 -9.63148430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.14, Y:-35.52, Z:-9.63 [[ 9.82617103e-01 1.82449284e-01 3.42912216e-02 2.27140309e+02] [-1.82328861e-01 9.83215230e-01 -6.63310386e-03 -3.55162634e+01] [-3.49258564e-02 2.65521911e-04 9.99389871e-01 -9.63458794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.17, Y:-35.52, Z:-9.63 [[ 9.82423561e-01 1.83605246e-01 3.36609760e-02 2.27170207e+02] [-1.83489915e-01 9.83000033e-01 -6.51043255e-03 -3.55201656e+01] [-3.42840901e-02 2.19552724e-04 9.99412104e-01 -9.63439104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264000000002 meters Centerline goodness [0,1] 0.9998497305884121 Centerline is valid? [True, True] Translation: X:227.20, Y:-35.52, Z:-9.64 [[ 9.82162104e-01 1.84993423e-01 3.36902641e-02 2.27199292e+02] [-1.84878736e-01 9.82739744e-01 -6.51526890e-03 -3.55245498e+01] [-3.43140434e-02 1.70436779e-04 9.99411085e-01 -9.63680154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.23, Y:-35.53, Z:-9.64 [[ 9.81880948e-01 1.86373455e-01 3.42744610e-02 2.27228408e+02] [-1.86255621e-01 9.82478967e-01 -6.62750144e-03 -3.55274622e+01] [-3.49091273e-02 1.23606396e-04 9.99390483e-01 -9.63647141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.26, Y:-35.53, Z:-9.64 [[ 9.81305641e-01 1.89414442e-01 3.40794425e-02 2.27257477e+02] [-1.89299816e-01 9.81897229e-01 -6.58867242e-03 -3.55289714e+01] [-3.47104998e-02 1.42692334e-05 9.99397409e-01 -9.63718980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.29, Y:-35.53, Z:-9.64 [[ 9.81007643e-01 1.90897196e-01 3.43840716e-02 2.27285754e+02] [-1.90781480e-01 9.81610034e-01 -6.64590493e-03 -3.55328158e+01] [-3.50204343e-02 -4.01605491e-05 9.99386596e-01 -9.63680851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.31, Y:-35.54, Z:-9.64 [[ 9.80731009e-01 1.92148822e-01 3.52919110e-02 2.27313224e+02] [-1.92027785e-01 9.81365794e-01 -6.81963176e-03 -3.55358748e+01] [-3.59446585e-02 -8.88031658e-05 9.99353778e-01 -9.63768127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.34, Y:-35.54, Z:-9.64 [[ 9.80412420e-01 1.93838156e-01 3.49035375e-02 2.27341741e+02] [-1.93720920e-01 9.81033509e-01 -6.74230364e-03 -3.55379406e+01] [-3.55484556e-02 -1.51307175e-04 9.99367942e-01 -9.63755169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.37, Y:-35.54, Z:-9.64 [[ 9.80345389e-01 1.94162234e-01 3.49849218e-02 2.27368759e+02] [-1.94044717e-01 9.80969418e-01 -6.75634947e-03 -3.55416885e+01] [-3.56309663e-02 -1.65083182e-04 9.99365002e-01 -9.64088577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.40, Y:-35.56, Z:-9.64 [[ 9.79960691e-01 1.94154994e-01 4.45071102e-02 2.27397678e+02] [-1.94593425e-01 9.80867439e-01 5.69785033e-03 -3.55566621e+01] [-4.25493091e-02 -1.42444603e-02 9.98992819e-01 -9.64383783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.43, Y:-35.55, Z:-9.64 [[ 9.80345601e-01 1.94709280e-01 3.17930717e-02 2.27428520e+02] [-1.94121825e-01 9.80760012e-01 -2.06522608e-02 -3.55452354e+01] [-3.52025603e-02 1.40746239e-02 9.99281084e-01 -9.64412667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.46, Y:-35.56, Z:-9.65 [[ 9.80496333e-01 1.93643272e-01 3.36039162e-02 2.27455550e+02] [-1.93534519e-01 9.81071997e-01 -6.49047586e-03 -3.55595581e+01] [-3.42246982e-02 -1.39629991e-04 9.99414154e-01 -9.64598187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.48, Y:-35.56, Z:-9.65 [[ 9.80505686e-01 1.93595857e-01 3.36042297e-02 2.27483355e+02] [-1.93487132e-01 9.81081355e-01 -6.48885250e-03 -3.55648369e+01] [-3.42246981e-02 -1.39629238e-04 9.99414154e-01 -9.64723458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.51, Y:-35.57, Z:-9.65 [[ 9.80642101e-01 1.92949438e-01 3.33404142e-02 2.27511573e+02] [-1.92842097e-01 9.81208694e-01 -6.43625376e-03 -3.55703073e+01] [-3.39557758e-02 -1.17773974e-04 9.99423329e-01 -9.64956872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.54, Y:-35.58, Z:-9.65 [[ 9.80896188e-01 1.91577620e-01 3.37740246e-02 2.27538971e+02] [-1.91466709e-01 9.81477463e-01 -6.51836579e-03 -3.55763717e+01] [-3.43972170e-02 -7.27611710e-05 9.99408238e-01 -9.65113037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.57, Y:-35.58, Z:-9.65 [[ 9.81034958e-01 1.90944298e-01 3.33269759e-02 2.27566206e+02] [-1.90836008e-01 9.81600872e-01 -6.43004220e-03 -3.55822274e+01] [-3.39415685e-02 -5.18908708e-05 9.99423818e-01 -9.65313130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.59, Y:-35.59, Z:-9.65 [[ 9.81150213e-01 1.90378280e-01 3.31718170e-02 2.27594392e+02] [-1.90270745e-01 9.81710807e-01 -6.39799233e-03 -3.55879642e+01] [-3.37831700e-02 -3.42347766e-05 9.99429185e-01 -9.65287814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41264000000004 meters Centerline goodness [0,1] 0.9998929519568382 Centerline is valid? [True, True] Translation: X:227.62, Y:-35.59, Z:-9.66 [[ 9.81173716e-01 1.90152069e-01 3.37687647e-02 2.27621951e+02] [-1.90040550e-01 9.81754648e-01 -6.51149666e-03 -3.55933822e+01] [-3.43908163e-02 -2.85252391e-05 9.99408461e-01 -9.65610355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.65, Y:-35.60, Z:-9.66 [[ 9.81455385e-01 1.88729361e-01 3.35641888e-02 2.27649904e+02] [-1.88618434e-01 9.82029138e-01 -6.46982216e-03 -3.55991542e+01] [-3.41820568e-02 1.90170781e-05 9.99415623e-01 -9.65522434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47264000000004 meters Centerline goodness [0,1] 0.9998932239947039 Centerline is valid? [True, True] Translation: X:227.68, Y:-35.60, Z:-9.66 [[ 9.81485543e-01 1.88421694e-01 3.44004885e-02 2.27678434e+02] [-1.88305042e-01 9.82088216e-01 -6.62923251e-03 -3.56049295e+01] [-3.50334056e-02 2.87104218e-05 9.99386141e-01 -9.65711380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.71, Y:-35.61, Z:-9.66 [[ 9.81679243e-01 1.87465220e-01 3.40977272e-02 2.27706489e+02] [-1.87350099e-01 9.82271239e-01 -6.56906928e-03 -3.56103295e+01] [-3.47246888e-02 6.05063796e-05 9.99396914e-01 -9.65888943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.73, Y:-35.62, Z:-9.66 [[ 9.81856241e-01 1.86557303e-01 3.39807886e-02 2.27733311e+02] [-1.86442464e-01 9.82444077e-01 -6.54546688e-03 -3.56163660e+01] [-3.46053292e-02 9.12455428e-05 9.99401052e-01 -9.66107083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.76, Y:-35.62, Z:-9.66 [[ 9.82077261e-01 1.85417387e-01 3.38326178e-02 2.27762736e+02] [-1.85302951e-01 9.82659848e-01 -6.51463461e-03 -3.56229789e+01] [-3.44538816e-02 1.28590599e-04 9.99406281e-01 -9.66093045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.79, Y:-35.63, Z:-9.66 [[ 9.82332163e-01 1.84070087e-01 3.37894171e-02 2.27790214e+02] [-1.83955170e-01 9.82913105e-01 -6.50559267e-03 -3.56309113e+01] [-3.44095459e-02 1.74914938e-04 9.99407801e-01 -9.66328634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.82, Y:-35.64, Z:-9.67 [[ 9.82934421e-01 1.81002254e-01 3.28345629e-02 2.27818905e+02] [-1.80892078e-01 9.83482643e-01 -6.32031640e-03 -3.56405590e+01] [-3.34362142e-02 2.72944221e-04 9.99440816e-01 -9.66507825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.85, Y:-35.65, Z:-9.67 [[ 9.83148013e-01 1.79824125e-01 3.29130455e-02 2.27847457e+02] [-1.79712776e-01 9.83698727e-01 -6.33500701e-03 -3.56486970e+01] [-3.35157081e-02 3.13354762e-04 9.99438142e-01 -9.66731868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.88, Y:-35.66, Z:-9.67 [[ 9.83371059e-01 1.78649797e-01 3.26436723e-02 2.27876236e+02] [-1.78539631e-01 9.83912662e-01 -6.28275277e-03 -3.56572036e+01] [-3.32409350e-02 3.50088063e-04 9.99447306e-01 -9.66946932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.91, Y:-35.67, Z:-9.67 [[ 9.83583814e-01 1.77549267e-01 3.22356750e-02 2.27905742e+02] [-1.77441264e-01 9.84111839e-01 -6.20370102e-03 -3.56657694e+01] [-3.28249720e-02 3.81920982e-04 9.99461042e-01 -9.67129948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.94, Y:-35.67, Z:-9.67 [[ 9.83584461e-01 1.77520105e-01 3.23762399e-02 2.27935472e+02] [-1.77411142e-01 9.84117099e-01 -6.23075249e-03 -3.56710608e+01] [-3.29680951e-02 3.84565641e-04 9.99456331e-01 -9.67287828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:227.96, Y:-35.68, Z:-9.68 [[ 9.83523441e-01 1.77877779e-01 3.22666395e-02 2.27964377e+02] [-1.77769749e-01 9.84052518e-01 -6.20951846e-03 -3.56775183e+01] [-3.28566032e-02 3.71174540e-04 9.99460007e-01 -9.67572248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264000000003 meters Centerline goodness [0,1] 0.999935583612471 Centerline is valid? [True, True] Translation: X:227.99, Y:-35.68, Z:-9.68 [[ 9.83429582e-01 1.78396738e-01 3.22623691e-02 2.27994708e+02] [-1.78288999e-01 9.83958575e-01 -6.20924803e-03 -3.56816382e+01] [-3.28525443e-02 3.54332721e-04 9.99460147e-01 -9.67687906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.02, Y:-35.69, Z:-9.68 [[ 9.83353407e-01 1.78751031e-01 3.26212573e-02 2.28023780e+02] [-1.78641071e-01 9.83894277e-01 -6.27845297e-03 -3.56881071e+01] [-3.32181483e-02 3.46441787e-04 9.99448065e-01 -9.67728096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.05, Y:-35.69, Z:-9.68 [[ 9.83307825e-01 1.78882665e-01 3.32672888e-02 2.28054385e+02] [-1.78768399e-01 9.83870353e-01 -6.40224625e-03 -3.56928549e+01] [-3.38759500e-02 3.48238892e-04 9.99425985e-01 -9.67621724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.08, Y:-35.70, Z:-9.68 [[ 9.83326786e-01 1.78701037e-01 3.36804393e-02 2.28082967e+02] [-1.78583803e-01 9.83903354e-01 -6.48187808e-03 -3.57000668e+01] [-3.42966155e-02 3.59023402e-04 9.99411634e-01 -9.67819164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.11, Y:-35.71, Z:-9.68 [[ 9.83366712e-01 1.78446883e-01 3.38617848e-02 2.28112951e+02] [-1.78328251e-01 9.83949477e-01 -6.51623351e-03 -3.57062249e+01] [-3.44810870e-02 3.69334263e-04 9.99405282e-01 -9.67873991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.14, Y:-35.71, Z:-9.68 [[ 9.83553934e-01 1.77446855e-01 3.36789662e-02 2.28142682e+02] [-1.77328915e-01 9.84130302e-01 -6.48105259e-03 -3.57136226e+01] [-3.42945335e-02 4.02210252e-04 9.99411689e-01 -9.67984964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264000000003 meters Centerline goodness [0,1] 0.9999788668399586 Centerline is valid? [True, True] Translation: X:228.17, Y:-35.72, Z:-9.68 [[ 9.83629358e-01 1.77030622e-01 3.36666653e-02 2.28171798e+02] [-1.76912528e-01 9.84205256e-01 -6.47856539e-03 -3.57219335e+01] [-3.42818134e-02 4.16452243e-04 9.99412119e-01 -9.68208700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.20, Y:-35.73, Z:-9.68 [[ 9.83763579e-01 1.76466897e-01 3.26902893e-02 2.28202846e+02] [-1.76355237e-01 9.84306484e-01 -6.29092779e-03 -3.57281017e+01] [-3.32874042e-02 4.23681938e-04 9.99445731e-01 -9.68375651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.23, Y:-35.74, Z:-9.69 [[ 9.83875806e-01 1.75989201e-01 3.18778772e-02 2.28231444e+02] [-1.75882761e-01 9.84392004e-01 -6.13492857e-03 -3.57367546e+01] [-3.24600086e-02 4.29238736e-04 9.99472943e-01 -9.68739355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.26, Y:-35.75, Z:-9.69 [[ 9.83918534e-01 1.75658012e-01 3.23817967e-02 2.28260304e+02] [-1.75547966e-01 9.84451148e-01 -6.23292910e-03 -3.57489395e+01] [-3.29731608e-02 4.48135904e-04 9.99456137e-01 -9.69095147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.29, Y:-35.75, Z:-9.69 [[ 9.83918837e-01 1.75725979e-01 3.20015858e-02 2.28292042e+02] [-1.75618328e-01 9.84439018e-01 -6.16625252e-03 -3.57523198e+01] [-3.25871804e-02 4.47027039e-04 9.99468797e-01 -9.68917593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.32, Y:-35.76, Z:-9.69 [[ 9.83852158e-01 1.76146126e-01 3.17407063e-02 2.28322573e+02] [-1.76040416e-01 9.84363935e-01 -6.11677389e-03 -3.57581624e+01] [-3.23218525e-02 4.30354052e-04 9.99477420e-01 -9.69071267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.35, Y:-35.77, Z:-9.69 [[ 9.83724823e-01 1.76838907e-01 3.18351089e-02 2.28352696e+02] [-1.76732955e-01 9.84239724e-01 -6.13416813e-03 -3.57660789e+01] [-3.24181384e-02 4.08020581e-04 9.99474311e-01 -9.69380657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.38, Y:-35.77, Z:-9.70 [[ 9.83667119e-01 1.77211247e-01 3.15463639e-02 2.28381974e+02] [-1.77107178e-01 9.84172757e-01 -6.08546057e-03 -3.57728155e+01] [-3.21254840e-02 3.98979987e-04 9.99483764e-01 -9.69596090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.41, Y:-35.78, Z:-9.70 [[ 9.83574431e-01 1.77891326e-01 3.05943587e-02 2.28410303e+02] [-1.77793753e-01 9.84050071e-01 -5.90247576e-03 -3.57801727e+01] [-3.11563801e-02 3.66038367e-04 9.99514455e-01 -9.69946482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.44, Y:-35.79, Z:-9.70 [[ 9.83488029e-01 1.78398138e-01 3.04203911e-02 2.28441272e+02] [-1.78301941e-01 9.83958324e-01 -5.86806988e-03 -3.57852641e+01] [-3.09792498e-02 3.47161708e-04 9.99519968e-01 -9.69913023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.47, Y:-35.79, Z:-9.70 [[ 9.83351103e-01 1.79028190e-01 3.11370381e-02 2.28471090e+02] [-1.78927686e-01 9.83843887e-01 -6.00742153e-03 -3.57908509e+01] [-3.17094824e-02 3.36126409e-04 9.99497071e-01 -9.69953612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.50, Y:-35.80, Z:-9.70 [[ 9.82973935e-01 1.80942752e-01 3.19681735e-02 2.28501380e+02] [-1.80837826e-01 9.83493590e-01 -6.16763427e-03 -3.57958639e+01] [-3.25564824e-02 2.81568743e-04 9.99469858e-01 -9.70020144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.53, Y:-35.80, Z:-9.70 [[ 9.82774426e-01 1.82037282e-01 3.18881633e-02 2.28530109e+02] [-1.81933443e-01 9.83291599e-01 -6.15257309e-03 -3.58004143e+01] [-3.24753608e-02 2.45068127e-04 9.99472506e-01 -9.70116802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.56, Y:-35.81, Z:-9.70 [[ 9.82565318e-01 1.83164879e-01 3.18751052e-02 2.28560665e+02] [-1.83061699e-01 9.83082186e-01 -6.15066789e-03 -3.58052745e+01] [-3.24624344e-02 2.08322045e-04 9.99472935e-01 -9.70292541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.59, Y:-35.81, Z:-9.70 [[ 9.82326226e-01 1.84434409e-01 3.19238784e-02 2.28591082e+02] [-1.84331583e-01 9.82844810e-01 -6.16007923e-03 -3.58093901e+01] [-3.25123487e-02 1.66628343e-04 9.99471320e-01 -9.70297773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.62, Y:-35.81, Z:-9.71 [[ 9.81813987e-01 1.87097687e-01 3.21830731e-02 2.28619671e+02] [-1.86994604e-01 9.82341310e-01 -6.21037861e-03 -3.58118588e+01] [-3.27767096e-02 7.93755795e-05 9.99462696e-01 -9.70529281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.65, Y:-35.82, Z:-9.71 [[ 9.81534747e-01 1.88559813e-01 3.21673203e-02 2.28649107e+02] [-1.88457643e-01 9.82061707e-01 -6.20652350e-03 -3.58150177e+01] [-3.27605944e-02 2.97411211e-05 9.99463227e-01 -9.70553454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.68, Y:-35.82, Z:-9.71 [[ 9.81272365e-01 1.89881689e-01 3.23958364e-02 2.28677939e+02] [-1.89778804e-01 9.81806979e-01 -6.24992156e-03 -3.58185982e+01] [-3.29932039e-02 -1.51677762e-05 9.99455576e-01 -9.70746322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.71, Y:-35.82, Z:-9.71 [[ 9.80989373e-01 1.91295562e-01 3.26474882e-02 2.28707188e+02] [-1.91191901e-01 9.81532477e-01 -6.29709112e-03 -3.58220935e+01] [-3.32491756e-02 -6.45558583e-05 9.99447091e-01 -9.70774514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.74, Y:-35.82, Z:-9.71 [[ 9.80658199e-01 1.92860946e-01 3.33789174e-02 2.28736765e+02] [-1.92753513e-01 9.81226091e-01 -6.43756415e-03 -3.58236929e+01] [-3.39938193e-02 -1.20853525e-04 9.99422036e-01 -9.70699736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.77, Y:-35.83, Z:-9.71 [[ 9.80604701e-01 1.93101454e-01 3.35596240e-02 2.28765508e+02] [-1.92993053e-01 9.81178787e-01 -6.47071507e-03 -3.58277105e+01] [-3.41774957e-02 -1.31560676e-04 9.99415770e-01 -9.70831871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.79, Y:-35.83, Z:-9.71 [[ 9.80695136e-01 1.92633110e-01 3.36085626e-02 2.28794742e+02] [-1.92524184e-01 9.81270845e-01 -6.47822246e-03 -3.58339251e+01] [-3.42270227e-02 -1.17299830e-04 9.99414077e-01 -9.70963814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.82, Y:-35.84, Z:-9.71 [[ 9.80912336e-01 1.91610460e-01 3.31122378e-02 2.28823648e+02] [-1.91504174e-01 9.81471051e-01 -6.38173786e-03 -3.58417521e+01] [-3.37215106e-02 -8.12063452e-05 9.99431265e-01 -9.71175696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.85, Y:-35.85, Z:-9.72 [[ 9.81211199e-01 1.90193181e-01 3.24212413e-02 2.28850679e+02] [-1.90090534e-01 9.81746685e-01 -6.24789590e-03 -3.58501210e+01] [-3.30177534e-02 -3.24656391e-05 9.99454765e-01 -9.71531214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.88, Y:-35.86, Z:-9.72 [[ 9.81554990e-01 1.88547240e-01 3.16186684e-02 2.28879006e+02] [-1.88448802e-01 9.82064121e-01 -6.09191544e-03 -3.58585937e+01] [-3.22001737e-02 2.10498252e-05 9.99481440e-01 -9.71752128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.91, Y:-35.87, Z:-9.72 [[ 9.82287259e-01 1.84713383e-01 3.15072357e-02 2.28907028e+02] [-1.84613695e-01 9.82792422e-01 -6.06949634e-03 -3.58704552e+01] [-3.20861897e-02 1.45321734e-04 9.99485095e-01 -9.72189530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.94, Y:-35.88, Z:-9.72 [[ 9.82649155e-01 1.82747016e-01 3.16885949e-02 2.28936173e+02] [-1.82645171e-01 9.83159948e-01 -6.10388236e-03 -3.58790278e+01] [-3.22704237e-02 2.10205996e-04 9.99479152e-01 -9.72152257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:228.97, Y:-35.89, Z:-9.72 [[ 9.82899231e-01 1.81407183e-01 3.16312317e-02 2.28966136e+02] [-1.81305076e-01 9.83408039e-01 -6.09090677e-03 -3.58889259e+01] [-3.22113418e-02 2.51844718e-04 9.99481048e-01 -9.72405732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.00, Y:-35.90, Z:-9.73 [[ 9.83154333e-01 1.80037317e-01 3.15297170e-02 2.28996484e+02] [-1.79934941e-01 9.83659734e-01 -6.07814284e-03 -3.58973796e+01] [-3.21088056e-02 3.02454686e-04 9.99484334e-01 -9.72542006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.03, Y:-35.91, Z:-9.73 [[ 9.83294403e-01 1.79226482e-01 3.17802605e-02 2.29027535e+02] [-1.79122079e-01 9.83807786e-01 -6.12550815e-03 -3.59072826e+01] [-3.23635210e-02 3.30631535e-04 9.99476109e-01 -9.72621369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.06, Y:-35.92, Z:-9.73 [[ 9.83259536e-01 1.79373428e-01 3.20290163e-02 2.29058028e+02] [-1.79267276e-01 9.83781003e-01 -6.17917033e-03 -3.59150110e+01] [-3.26179167e-02 3.33973662e-04 9.99467838e-01 -9.72731508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.09, Y:-35.92, Z:-9.73 [[ 9.83229858e-01 1.79538212e-01 3.20168282e-02 2.29089632e+02] [-1.79432066e-01 9.83750944e-01 -6.18177349e-03 -3.59219351e+01] [-3.26064495e-02 3.33258637e-04 9.99468213e-01 -9.72871458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.12, Y:-35.93, Z:-9.73 [[ 9.83188521e-01 1.79738446e-01 3.21624561e-02 2.29122439e+02] [-1.79631269e-01 9.83714379e-01 -6.21506993e-03 -3.59281210e+01] [-3.27557576e-02 3.33202588e-04 9.99463331e-01 -9.72923008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.15, Y:-35.94, Z:-9.73 [[ 9.83058241e-01 1.80330324e-01 3.28248149e-02 2.29152537e+02] [-1.80218772e-01 9.83606053e-01 -6.35033063e-03 -3.59366840e+01] [-3.34318438e-02 3.27097026e-04 9.99440946e-01 -9.72994545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264000000004 meters Centerline goodness [0,1] 0.999934926901219 Centerline is valid? [True, True] Translation: X:229.18, Y:-35.95, Z:-9.73 [[ 9.83060036e-01 1.80386761e-01 3.24589260e-02 2.29184825e+02] [-1.80277555e-01 9.83595704e-01 -6.28436409e-03 -3.59455652e+01] [-3.30600762e-02 3.26291368e-04 9.99453313e-01 -9.73277517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.21, Y:-35.95, Z:-9.73 [[ 9.82971386e-01 1.80771213e-01 3.30003453e-02 2.29214523e+02] [-1.80658306e-01 9.83525120e-01 -6.39639468e-03 -3.59540140e+01] [-3.36129526e-02 3.25686471e-04 9.99434872e-01 -9.73266832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.25, Y:-35.96, Z:-9.73 [[ 9.82893974e-01 1.81230115e-01 3.27884460e-02 2.29246934e+02] [-1.81118746e-01 9.83440668e-01 -6.36019278e-03 -3.59612096e+01] [-3.33981497e-02 3.12792933e-04 9.99442077e-01 -9.73357585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.28, Y:-35.97, Z:-9.74 [[ 9.82634361e-01 1.82824513e-01 3.17003063e-02 2.29278172e+02] [-1.82721041e-01 9.83145529e-01 -6.15541960e-03 -3.59691380e+01] [-3.22913760e-02 2.56213830e-04 9.99478465e-01 -9.73768119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.31, Y:-35.98, Z:-9.74 [[ 9.82441431e-01 1.83960903e-01 3.11001766e-02 2.29310679e+02] [-1.83861660e-01 9.82933536e-01 -6.04588948e-03 -3.59754674e+01] [-3.16816138e-02 2.21602218e-04 9.99497987e-01 -9.73888362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.34, Y:-35.98, Z:-9.74 [[ 9.82405315e-01 1.84153719e-01 3.10999236e-02 2.29342530e+02] [-1.84054532e-01 9.82897431e-01 -6.04719122e-03 -3.59818534e+01] [-3.16816478e-02 2.16710921e-04 9.99497987e-01 -9.74032149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.37, Y:-35.99, Z:-9.74 [[ 9.82091372e-01 1.85838890e-01 3.09910353e-02 2.29374077e+02] [-1.85741026e-01 9.82580215e-01 -6.03261537e-03 -3.59875976e+01] [-3.15722727e-02 1.68272790e-04 9.99501457e-01 -9.74176964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.40, Y:-35.99, Z:-9.74 [[ 9.81688790e-01 1.87884061e-01 3.14117514e-02 2.29404808e+02] [-1.87784380e-01 9.82191207e-01 -6.12039651e-03 -3.59928924e+01] [-3.20022710e-02 1.09688386e-04 9.99487790e-01 -9.74444946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.44, Y:-36.00, Z:-9.74 [[ 9.81332664e-01 1.89667521e-01 3.18187772e-02 2.29435530e+02] [-1.89565950e-01 9.81848373e-01 -6.20667601e-03 -3.59974142e+01] [-3.24184195e-02 5.90571881e-05 9.99474383e-01 -9.74489315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.47, Y:-36.00, Z:-9.75 [[ 9.80923351e-01 1.91779850e-01 3.17784408e-02 2.29465277e+02] [-1.91679609e-01 9.81437970e-01 -6.19986450e-03 -3.60017739e+01] [-3.23775776e-02 -9.68727343e-06 9.99475709e-01 -9.74616520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.50, Y:-36.01, Z:-9.75 [[ 9.80254357e-01 1.95174936e-01 3.17512242e-02 2.29496028e+02] [-1.95076647e-01 9.80768438e-01 -6.19455462e-03 -3.60057853e+01] [-3.23496204e-02 -1.21683189e-04 9.99476607e-01 -9.74626781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.53, Y:-36.01, Z:-9.75 [[ 9.80000347e-01 1.96498421e-01 3.14275413e-02 2.29525255e+02] [-1.96402801e-01 9.80504127e-01 -6.13155642e-03 -3.60092085e+01] [-3.20196751e-02 -1.63529707e-04 9.99487225e-01 -9.74941866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.55, Y:-36.01, Z:-9.75 [[ 9.79819118e-01 1.97425918e-01 3.12650583e-02 2.29554853e+02] [-1.97331764e-01 9.80317790e-01 -6.09960860e-03 -3.60136853e+01] [-3.18539137e-02 -1.93075996e-04 9.99492517e-01 -9.75089598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.58, Y:-36.02, Z:-9.75 [[ 9.79595576e-01 1.98487559e-01 3.15467397e-02 2.29583986e+02] [-1.98392276e-01 9.80103380e-01 -6.15378405e-03 -3.60196053e+01] [-3.21405158e-02 -2.30409857e-04 9.99483334e-01 -9.75083920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.61, Y:-36.03, Z:-9.75 [[ 9.79566217e-01 1.98616564e-01 3.16462678e-02 2.29613411e+02] [-1.98520781e-01 9.80077244e-01 -6.17210389e-03 -3.60263509e+01] [-3.22416690e-02 -2.36457358e-04 9.99480074e-01 -9.75218075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.64, Y:-36.03, Z:-9.75 [[ 9.79518410e-01 1.98747070e-01 3.22999578e-02 2.29641787e+02] [-1.98647354e-01 9.80050785e-01 -6.29973473e-03 -3.60328096e+01] [-3.29076528e-02 -2.45595008e-04 9.99458366e-01 -9.75249600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264000000003 meters Centerline goodness [0,1] 0.9999788274650124 Centerline is valid? [True, True] Translation: X:229.67, Y:-36.04, Z:-9.75 [[ 9.79528096e-01 1.98538325e-01 3.32752600e-02 2.29670259e+02] [-1.98432390e-01 9.80093094e-01 -6.48952102e-03 -3.60394145e+01] [-3.39012711e-02 -2.46221185e-04 9.99425156e-01 -9.75211691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.70, Y:-36.05, Z:-9.75 [[ 9.79582443e-01 1.98094228e-01 3.43061800e-02 2.29699014e+02] [-1.97981368e-01 9.80182952e-01 -6.69013607e-03 -3.60466362e+01] [-3.49516101e-02 -2.38444611e-04 9.99388977e-01 -9.75137970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.73, Y:-36.05, Z:-9.75 [[ 9.79652673e-01 1.97780192e-01 3.41121117e-02 2.29729207e+02] [-1.97668442e-01 9.80246369e-01 -6.65153495e-03 -3.60539255e+01] [-3.47538155e-02 -2.26693963e-04 9.99395878e-01 -9.75262349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.76, Y:-36.06, Z:-9.75 [[ 9.79750052e-01 1.97341992e-01 3.38522332e-02 2.29759165e+02] [-1.97231659e-01 9.80334685e-01 -6.60137728e-03 -3.60605746e+01] [-3.44892473e-02 -2.09032382e-04 9.99405047e-01 -9.75491606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.79, Y:-36.07, Z:-9.76 [[ 9.79818907e-01 1.97030393e-01 3.36739236e-02 2.29789717e+02] [-1.96920958e-01 9.80397361e-01 -6.56886555e-03 -3.60677952e+01] [-3.43080920e-02 -1.94802631e-04 9.99411285e-01 -9.75687114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.82, Y:-36.07, Z:-9.76 [[ 9.79879658e-01 1.96813291e-01 3.31720556e-02 2.29819322e+02] [-1.96706939e-01 9.80440970e-01 -6.47188286e-03 -3.60747186e+01] [-3.37969949e-02 -1.83507152e-04 9.99428702e-01 -9.75953078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.85, Y:-36.08, Z:-9.76 [[ 9.79904772e-01 1.96730860e-01 3.29181797e-02 2.29849672e+02] [-1.96626074e-01 9.80457514e-01 -6.42261814e-03 -3.60814639e+01] [-3.35384039e-02 -1.79018292e-04 9.99437413e-01 -9.76085986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.88, Y:-36.09, Z:-9.76 [[ 9.79756520e-01 1.97369278e-01 3.35041646e-02 2.29880055e+02] [-1.97261064e-01 9.80329193e-01 -6.53802919e-03 -3.60870145e+01] [-3.41355167e-02 -2.03390431e-04 9.99417193e-01 -9.76086499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.91, Y:-36.09, Z:-9.76 [[ 9.79650326e-01 1.97928215e-01 3.33115561e-02 2.29910389e+02] [-1.97821565e-01 9.80216493e-01 -6.50044342e-03 -3.60926830e+01] [-3.39391579e-02 -2.21582635e-04 9.99423876e-01 -9.76275422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.94, Y:-36.10, Z:-9.76 [[ 9.79563946e-01 1.98404156e-01 3.30191892e-02 2.29940676e+02] [-1.98299645e-01 9.80120266e-01 -6.44326336e-03 -3.60982857e+01] [-3.36411467e-02 -2.36105024e-04 9.99433949e-01 -9.76437071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:229.97, Y:-36.10, Z:-9.77 [[ 9.79272016e-01 1.99905409e-01 3.26212474e-02 2.29970962e+02] [-1.99804217e-01 9.79815160e-01 -6.36613638e-03 -3.61004154e+01] [-3.32354178e-02 -2.83683591e-04 9.99447511e-01 -9.76581504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.00, Y:-36.10, Z:-9.77 [[ 9.79114527e-01 2.00621735e-01 3.29494010e-02 2.29999682e+02] [-2.00518890e-01 9.79668731e-01 -6.43055757e-03 -3.61036314e+01] [-3.35696075e-02 -3.10724977e-04 9.99436334e-01 -9.76705868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.03, Y:-36.11, Z:-9.77 [[ 9.78985129e-01 2.01260935e-01 3.28960971e-02 2.30029034e+02] [-2.01158839e-01 9.79537608e-01 -6.41845271e-03 -3.61101056e+01] [-3.35147481e-02 -3.33770958e-04 9.99438167e-01 -9.76697509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.06, Y:-36.12, Z:-9.77 [[ 9.78879299e-01 2.01762110e-01 3.29752691e-02 2.30058165e+02] [-2.01659785e-01 9.79434494e-01 -6.43453773e-03 -3.61151060e+01] [-3.35953619e-02 -3.51149899e-04 9.99435455e-01 -9.76875563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.09, Y:-36.12, Z:-9.77 [[ 9.78755592e-01 2.02404218e-01 3.27112195e-02 2.30087738e+02] [-2.02303898e-01 9.79301994e-01 -6.38259622e-03 -3.61200096e+01] [-3.33260269e-02 -3.70605473e-04 9.99444465e-01 -9.77047008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.12, Y:-36.12, Z:-9.77 [[ 9.78634899e-01 2.02968875e-01 3.28233087e-02 2.30117504e+02] [-2.02868198e-01 9.79185111e-01 -6.40404963e-03 -3.61234597e+01] [-3.34399179e-02 -3.91579009e-04 9.99440653e-01 -9.77273747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.15, Y:-36.13, Z:-9.77 [[ 9.78412736e-01 2.04098452e-01 3.24398014e-02 2.30147391e+02] [-2.04000743e-01 9.78950275e-01 -6.32895980e-03 -3.61271825e+01] [-3.30486834e-02 -4.25408736e-04 9.99453653e-01 -9.77412590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99264000000002 meters Centerline goodness [0,1] 0.9999783923941228 Centerline is valid? [True, True] Translation: X:230.18, Y:-36.13, Z:-9.78 [[ 9.78309326e-01 2.04633246e-01 3.21884655e-02 2.30176282e+02] [-2.04537361e-01 9.78838618e-01 -6.27915068e-03 -3.61313373e+01] [-3.27922361e-02 -4.40792125e-04 9.99462093e-01 -9.77559459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.21, Y:-36.13, Z:-9.78 [[ 9.78210389e-01 2.05088667e-01 3.22966359e-02 2.30205423e+02] [-2.04992414e-01 9.78743290e-01 -6.29935743e-03 -3.61334133e+01] [-3.29020425e-02 -4.58468474e-04 9.99458476e-01 -9.77833302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05264000000003 meters Centerline goodness [0,1] 0.999913520992779 Centerline is valid? [True, True] Translation: X:230.23, Y:-36.14, Z:-9.78 [[ 9.78190779e-01 2.05265693e-01 3.17615423e-02 2.30234474e+02] [-2.05172723e-01 9.78706180e-01 -6.19416272e-03 -3.61396071e+01] [-3.23566669e-02 -4.57529278e-04 9.99476281e-01 -9.78041098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264000000003 meters Centerline goodness [0,1] 0.99995718903183 Centerline is valid? [True, True] Translation: X:230.26, Y:-36.14, Z:-9.78 [[ 9.78128853e-01 2.05443718e-01 3.25088520e-02 2.30262699e+02] [-2.05346443e-01 9.78668817e-01 -6.33918283e-03 -3.61420832e+01] [-3.31177450e-02 -4.75039510e-04 9.99451344e-01 -9.78101705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.29, Y:-36.15, Z:-9.78 [[ 9.78144239e-01 2.05346629e-01 3.26589802e-02 2.30290569e+02] [-2.05248437e-01 9.78689193e-01 -6.36731572e-03 -3.61475542e+01] [-3.32704978e-02 -4.75051457e-04 9.99446271e-01 -9.78215016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.32, Y:-36.15, Z:-9.78 [[ 9.78157601e-01 2.05287572e-01 3.26300497e-02 2.30318763e+02] [-2.05189574e-01 9.78701583e-01 -6.36008318e-03 -3.61524360e+01] [-3.32407273e-02 -4.74182306e-04 9.99447262e-01 -9.78324032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.35, Y:-36.16, Z:-9.78 [[ 9.78185520e-01 2.05176047e-01 3.24942697e-02 2.30347162e+02] [-2.05078862e-01 9.78724971e-01 -6.33180487e-03 -3.61599727e+01] [-3.31020879e-02 -4.70208017e-04 9.99451865e-01 -9.78262229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.38, Y:-36.16, Z:-9.78 [[ 9.78199508e-01 2.05014982e-01 3.30844182e-02 2.30376002e+02] [-2.04914167e-01 9.78758720e-01 -6.44605708e-03 -3.61628799e+01] [-3.37032011e-02 -4.73936133e-04 9.99431773e-01 -9.78447884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.40, Y:-36.17, Z:-9.79 [[ 9.78228287e-01 2.04884885e-01 3.30394144e-02 2.30403289e+02] [-2.04784304e-01 9.78785964e-01 -6.43625015e-03 -3.61658126e+01] [-3.36572054e-02 -4.69831527e-04 9.99433325e-01 -9.78608465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.43, Y:-36.17, Z:-9.79 [[ 9.78296655e-01 2.04677954e-01 3.22891528e-02 2.30431831e+02] [-2.04581846e-01 9.78829264e-01 -6.28804215e-03 -3.61685933e+01] [-3.28925912e-02 -4.54203877e-04 9.99458789e-01 -9.78830875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.46, Y:-36.17, Z:-9.79 [[ 9.78307968e-01 2.04728555e-01 3.16186527e-02 2.30460000e+02] [-2.04636471e-01 9.78818685e-01 -6.15599843e-03 -3.61747307e+01] [-3.22092367e-02 -4.47867201e-04 9.99481048e-01 -9.78914196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264000000004 meters Centerline goodness [0,1] 0.9999787125340599 Centerline is valid? [True, True] Translation: X:230.49, Y:-36.18, Z:-9.79 [[ 9.78405752e-01 2.04299835e-01 3.13649660e-02 2.30487086e+02] [-2.04209049e-01 9.78908265e-01 -6.10517668e-03 -3.61784250e+01] [-3.19507111e-02 -4.31669907e-04 9.99489352e-01 -9.79232679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.52, Y:-36.18, Z:-9.80 [[ 9.78508100e-01 2.04080439e-01 2.95478112e-02 2.30515485e+02] [-2.03999827e-01 9.78954040e-01 -5.74957715e-03 -3.61826543e+01] [-3.00993254e-02 -4.01740565e-04 9.99546832e-01 -9.79559605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264000000004 meters Centerline goodness [0,1] 0.9999577774024658 Centerline is valid? [True, True] Translation: X:230.54, Y:-36.18, Z:-9.80 [[ 9.78605184e-01 2.03547648e-01 3.00041370e-02 2.30543790e+02] [-2.03464318e-01 9.79064963e-01 -5.83698754e-03 -3.61841656e+01] [-3.05641044e-02 -3.92665005e-04 9.99532731e-01 -9.79906903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.57, Y:-36.19, Z:-9.80 [[ 9.78643537e-01 2.03320285e-01 3.02933747e-02 2.30572475e+02] [-2.03235282e-01 9.79112204e-01 -5.89162447e-03 -3.61911003e+01] [-3.08584997e-02 -3.90882352e-04 9.99523687e-01 -9.79586194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.60, Y:-36.20, Z:-9.80 [[ 9.78748798e-01 2.02646820e-01 3.13856156e-02 2.30600237e+02] [-2.02555327e-01 9.79251815e-01 -6.10100383e-03 -3.61950947e+01] [-3.19707700e-02 -3.85973465e-04 9.99488730e-01 -9.79553371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.63, Y:-36.20, Z:-9.80 [[ 9.78857253e-01 2.01994129e-01 3.22001674e-02 2.30628524e+02] [-2.01897546e-01 9.79386660e-01 -6.25705926e-03 -3.61973269e+01] [-3.28003037e-02 -3.76366934e-04 9.99461854e-01 -9.79835644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.66, Y:-36.20, Z:-9.80 [[ 9.79161994e-01 2.00401937e-01 3.28763155e-02 2.30656678e+02] [-2.00300415e-01 9.79713710e-01 -6.38672565e-03 -3.62041997e+01] [-3.34892892e-02 -3.31500592e-04 9.99439021e-01 -9.79585744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.68, Y:-36.21, Z:-9.80 [[ 9.79329620e-01 1.99520952e-01 3.32398156e-02 2.30684921e+02] [-1.99416720e-01 9.79893513e-01 -6.45569115e-03 -3.62100963e+01] [-3.38595253e-02 -3.06325433e-04 9.99426555e-01 -9.79628990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.71, Y:-36.22, Z:-9.80 [[ 9.79527700e-01 1.98500216e-01 3.35134327e-02 2.30714233e+02] [-1.98393727e-01 9.80100805e-01 -6.50694007e-03 -3.62170376e+01] [-3.41381713e-02 -2.75126784e-04 9.99417085e-01 -9.79654897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.74, Y:-36.22, Z:-9.80 [[ 9.79743939e-01 1.97451441e-01 3.33877545e-02 2.30742555e+02] [-1.97345165e-01 9.80312640e-01 -6.48182647e-03 -3.62228562e+01] [-3.40102837e-02 -2.38381718e-04 9.99421455e-01 -9.79805340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.77, Y:-36.23, Z:-9.80 [[ 9.80202979e-01 1.95249807e-01 3.28577516e-02 2.30770491e+02] [-1.95145684e-01 9.80753530e-01 -6.37771046e-03 -3.62287700e+01] [-3.34706026e-02 -1.60597607e-04 9.99439690e-01 -9.79994685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.80, Y:-36.23, Z:-9.80 [[ 9.80521755e-01 1.93680928e-01 3.26310596e-02 2.30798636e+02] [-1.93577413e-01 9.81064568e-01 -6.33236538e-03 -3.62349708e+01] [-3.32396348e-02 -1.07614081e-04 9.99447405e-01 -9.80198320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.83, Y:-36.24, Z:-9.80 [[ 9.80859627e-01 1.92015679e-01 3.23167399e-02 2.30827557e+02] [-1.91913270e-01 9.81391857e-01 -6.27061803e-03 -3.62423926e+01] [-3.29194423e-02 -5.14151444e-05 9.99458007e-01 -9.80233548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.86, Y:-36.25, Z:-9.80 [[ 9.81178730e-01 1.90355600e-01 3.24506730e-02 2.30857095e+02] [-1.90251469e-01 9.81715206e-01 -6.29550124e-03 -3.62501250e+01] [-3.30557030e-02 3.22371718e-06 9.99453511e-01 -9.80353659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.89, Y:-36.26, Z:-9.81 [[ 9.81878496e-01 1.86941401e-01 3.11051625e-02 2.30885030e+02] [-1.86844038e-01 9.82371060e-01 -6.03369613e-03 -3.62618765e+01] [-3.16847591e-02 1.12542318e-04 9.99497906e-01 -9.80829737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.91, Y:-36.27, Z:-9.81 [[ 9.82220097e-01 1.85208136e-01 3.06859514e-02 2.30914279e+02] [-1.85112450e-01 9.82699302e-01 -5.95507040e-03 -3.62700738e+01] [-3.12579905e-02 1.68838189e-04 9.99511335e-01 -9.80901053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.94, Y:-36.28, Z:-9.81 [[ 9.82480461e-01 1.83801973e-01 3.08054962e-02 2.30944123e+02] [-1.83704849e-01 9.82963269e-01 -5.97826988e-03 -3.62778499e+01] [-3.13794891e-02 2.14414318e-04 9.99507520e-01 -9.80973574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:230.97, Y:-36.29, Z:-9.81 [[ 9.82666338e-01 1.82756033e-01 3.10982457e-02 2.30973791e+02] [-1.82656535e-01 9.83158263e-01 -6.03493068e-03 -3.62851549e+01] [-3.16774172e-02 2.50025426e-04 9.99498113e-01 -9.81015419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264000000003 meters Centerline goodness [0,1] 0.9999357697989595 Centerline is valid? [True, True] Translation: X:231.00, Y:-36.29, Z:-9.81 [[ 9.82686016e-01 1.82591015e-01 3.14438427e-02 2.31003253e+02] [-1.82489191e-01 9.83188921e-01 -6.10253810e-03 -3.62913864e+01] [-3.20295064e-02 2.58717438e-04 9.99486890e-01 -9.81022309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.03, Y:-36.30, Z:-9.81 [[ 9.82636475e-01 1.82664860e-01 3.25439287e-02 2.31033308e+02] [-1.82555825e-01 9.83175202e-01 -6.31603990e-03 -3.62986352e+01] [-3.31501023e-02 2.65287431e-04 9.99450349e-01 -9.80981844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.06, Y:-36.31, Z:-9.81 [[ 9.82604672e-01 1.82871529e-01 3.23428997e-02 2.31062395e+02] [-1.82763953e-01 9.83136785e-01 -6.27689039e-03 -3.63065283e+01] [-3.29453590e-02 2.56585623e-04 9.99457121e-01 -9.81175381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.09, Y:-36.31, Z:-9.81 [[ 9.82513249e-01 1.83298581e-01 3.27008551e-02 2.31093723e+02] [-1.83188837e-01 9.83057257e-01 -6.34663433e-03 -3.63121379e+01] [-3.33101420e-02 2.45220675e-04 9.99445033e-01 -9.81193494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.12, Y:-36.32, Z:-9.81 [[ 9.82291639e-01 1.84625135e-01 3.18856575e-02 2.31123540e+02] [-1.84521483e-01 9.82808995e-01 -6.18879644e-03 -3.63176846e+01] [-3.24801184e-02 1.95614198e-04 9.99472363e-01 -9.81464114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.15, Y:-36.32, Z:-9.82 [[ 9.82110480e-01 1.85592940e-01 3.18475335e-02 2.31153446e+02] [-1.85489965e-01 9.82626701e-01 -6.18382578e-03 -3.63237169e+01] [-3.24419112e-02 1.65802235e-04 9.99473609e-01 -9.81589326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.18, Y:-36.33, Z:-9.82 [[ 9.81913221e-01 1.86679265e-01 3.15797079e-02 2.31182954e+02] [-1.86578577e-01 9.82420905e-01 -6.13182217e-03 -3.63291689e+01] [-3.21692493e-02 1.28820288e-04 9.99482427e-01 -9.81709782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.21, Y:-36.33, Z:-9.82 [[ 9.81913221e-01 1.86679265e-01 3.15797079e-02 2.31212377e+02] [-1.86578577e-01 9.82420905e-01 -6.13182217e-03 -3.63348821e+01] [-3.21692493e-02 1.28820288e-04 9.99482427e-01 -9.81842443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.24, Y:-36.34, Z:-9.82 [[ 9.81686044e-01 1.87954913e-01 3.10718773e-02 2.31243223e+02] [-1.87858087e-01 9.82177654e-01 -6.03290371e-03 -3.63391613e+01] [-3.16520174e-02 8.53139490e-05 9.99498946e-01 -9.81905135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.27, Y:-36.34, Z:-9.82 [[ 9.81062002e-01 1.91363595e-01 2.99553465e-02 2.31272862e+02] [-1.91275154e-01 9.81519217e-01 -5.81735130e-03 -3.63403210e+01] [-3.05149775e-02 -2.25311951e-05 9.99534309e-01 -9.82479719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264000000004 meters Centerline goodness [0,1] 0.9999356816671312 Centerline is valid? [True, True] Translation: X:231.30, Y:-36.34, Z:-9.83 [[ 9.80650730e-01 1.93483978e-01 2.98009405e-02 2.31302587e+02] [-1.93397431e-01 9.81103431e-01 -5.78716197e-03 -3.63443571e+01] [-3.03575281e-02 -8.82407181e-05 9.99539100e-01 -9.82522750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.33, Y:-36.35, Z:-9.82 [[ 9.80215331e-01 1.95649923e-01 2.99835348e-02 2.31332625e+02] [-1.95563347e-01 9.80673790e-01 -5.82186989e-03 -3.63480362e+01] [-3.05431151e-02 -1.56994308e-04 9.99533438e-01 -9.82309626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.36, Y:-36.35, Z:-9.83 [[ 9.79682924e-01 1.98199559e-01 3.06317431e-02 2.31361664e+02] [-1.98110465e-01 9.80161658e-01 -5.94707336e-03 -3.63481494e+01] [-3.12027675e-02 -2.42222652e-04 9.99513046e-01 -9.82703047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25264000000004 meters Centerline goodness [0,1] 0.9999786402375206 Centerline is valid? [True, True] Translation: X:231.39, Y:-36.35, Z:-9.83 [[ 9.78593104e-01 2.03441320e-01 3.10992812e-02 2.31391900e+02] [-2.03352163e-01 9.79087052e-01 -6.03673646e-03 -3.63461645e+01] [-3.16770252e-02 -4.16597416e-04 9.99498070e-01 -9.82520673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.42, Y:-36.35, Z:-9.82 [[ 9.78052717e-01 2.06006880e-01 3.12097603e-02 2.31420424e+02] [-2.05918433e-01 9.78550414e-01 -6.05692596e-03 -3.63484959e+01] [-3.17880923e-02 -5.02672039e-04 9.99494504e-01 -9.82499149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31264000000004 meters Centerline goodness [0,1] 0.9999577613516367 Centerline is valid? [True, True] Translation: X:231.45, Y:-36.35, Z:-9.83 [[ 9.77526117e-01 2.08406448e-01 3.17717434e-02 2.31448986e+02] [-2.08316134e-01 9.78042126e-01 -6.16346367e-03 -3.63472353e+01] [-3.23586090e-02 -5.93620023e-04 9.99476147e-01 -9.82695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.48, Y:-36.35, Z:-9.83 [[ 9.77121764e-01 2.10344260e-01 3.14380375e-02 2.31478065e+02] [-2.10256904e-01 9.77627161e-01 -6.09659819e-03 -3.63504393e+01] [-3.20170638e-02 -6.52945639e-04 9.99487109e-01 -9.82758517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37264000000005 meters Centerline goodness [0,1] 0.9999574323173847 Centerline is valid? [True, True] Translation: X:231.51, Y:-36.35, Z:-9.83 [[ 9.76797648e-01 2.11866400e-01 3.12887064e-02 2.31505712e+02] [-2.11780692e-01 9.77298387e-01 -6.06638301e-03 -3.63505012e+01] [-3.18636650e-02 -7.00715222e-04 9.99491979e-01 -9.83044378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.53, Y:-36.36, Z:-9.83 [[ 9.76638479e-01 2.12658662e-01 3.08799994e-02 2.31533919e+02] [-2.12575656e-01 9.77126284e-01 -5.98456404e-03 -3.63554717e+01] [-3.14463285e-02 -7.19580606e-04 9.99505183e-01 -9.83177759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43264000000002 meters Centerline goodness [0,1] 0.9998931760885357 Centerline is valid? [True, True] Translation: X:231.56, Y:-36.36, Z:-9.84 [[ 9.76593374e-01 2.13058053e-01 2.95236705e-02 2.31561629e+02] [-2.12982392e-01 9.77039290e-01 -5.72068490e-03 -3.63576440e+01] [-3.00646240e-02 -7.01238983e-04 9.99547711e-01 -9.83714241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264000000002 meters Centerline goodness [0,1] 0.9999357835477449 Centerline is valid? [True, True] Translation: X:231.59, Y:-36.36, Z:-9.84 [[ 9.76719529e-01 2.12439660e-01 2.98052494e-02 2.31589169e+02] [-2.12362337e-01 9.77173942e-01 -5.77273779e-03 -3.63601946e+01] [-3.03512715e-02 -6.91166689e-04 9.99539055e-01 -9.83812593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49264000000002 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:231.62, Y:-36.37, Z:-9.84 [[ 9.76941451e-01 2.11366276e-01 3.01612115e-02 2.31617430e+02] [-2.11286647e-01 9.77406697e-01 -5.83961701e-03 -3.63663281e+01] [-3.07140682e-02 -6.67697322e-04 9.99527989e-01 -9.83888230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264000000002 meters Centerline goodness [0,1] 0.999936106319085 Centerline is valid? [True, True] Translation: X:231.65, Y:-36.37, Z:-9.84 [[ 9.77244294e-01 2.09923097e-01 3.04283150e-02 2.31645898e+02] [-2.09841384e-01 9.77717698e-01 -5.89030200e-03 -3.63736370e+01] [-3.09868126e-02 -6.28855723e-04 9.99519596e-01 -9.83988356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55264000000003 meters Centerline goodness [0,1] 0.9999784853700516 Centerline is valid? [True, True] Translation: X:231.67, Y:-36.38, Z:-9.84 [[ 9.78117194e-01 2.05738985e-01 3.09552238e-02 2.31674403e+02] [-2.05652433e-01 9.78606771e-01 -5.98873419e-03 -3.63842610e+01] [-3.15251077e-02 -5.08333210e-04 9.99502831e-01 -9.83944805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.70, Y:-36.39, Z:-9.84 [[ 9.78644068e-01 2.03126292e-01 3.15515054e-02 2.31701648e+02] [-2.03035014e-01 9.79152451e-01 -6.10413286e-03 -3.63926760e+01] [-3.21336437e-02 -4.32286922e-04 9.99483488e-01 -9.84064350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61264000000003 meters Centerline goodness [0,1] 0.9998935400076652 Centerline is valid? [True, True] Translation: X:231.73, Y:-36.40, Z:-9.84 [[ 9.79296041e-01 1.99977225e-01 3.14384187e-02 2.31729027e+02] [-1.99885027e-01 9.79800490e-01 -6.08071112e-03 -3.64029244e+01] [-3.20193818e-02 -3.29252846e-04 9.99487194e-01 -9.84296815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.76, Y:-36.42, Z:-9.84 [[ 9.80647818e-01 1.93129772e-01 3.21052544e-02 2.31755939e+02] [-1.93030008e-01 9.81173216e-01 -6.20779908e-03 -3.64197364e+01] [-3.26997265e-02 -1.09612891e-04 9.99465215e-01 -9.84234644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.78, Y:-36.43, Z:-9.84 [[ 9.81345795e-01 1.89566601e-01 3.20146051e-02 2.31784387e+02] [-1.89465537e-01 9.81867865e-01 -6.18921610e-03 -3.64319711e+01] [-3.26073806e-02 8.09682907e-06 9.99468238e-01 -9.84295317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.81, Y:-36.44, Z:-9.85 [[ 9.82005550e-01 1.86162668e-01 3.17578398e-02 2.31812911e+02] [-1.86061444e-01 9.82518929e-01 -6.13943083e-03 -3.64441649e+01] [-3.23456116e-02 1.20045633e-04 9.99476737e-01 -9.84586032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.84, Y:-36.46, Z:-9.85 [[ 9.82598969e-01 1.82996947e-01 3.18022581e-02 2.31841411e+02] [-1.82893767e-01 9.83113456e-01 -6.14842175e-03 -3.64560072e+01] [-3.23903703e-02 2.24998063e-04 9.99475269e-01 -9.84754274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.87, Y:-36.47, Z:-9.85 [[ 9.83024753e-01 1.80776296e-01 3.13411162e-02 2.31872332e+02] [-1.80675011e-01 9.83524197e-01 -6.05766324e-03 -3.64667310e+01] [-3.19198280e-02 2.92276412e-04 9.99490390e-01 -9.84842366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.90, Y:-36.48, Z:-9.85 [[ 9.83368758e-01 1.78978298e-01 3.08650972e-02 2.31901727e+02] [-1.78879008e-01 9.83852960e-01 -5.97114501e-03 -3.64777963e+01] [-3.14354226e-02 3.50719479e-04 9.99505723e-01 -9.85107830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.93, Y:-36.49, Z:-9.85 [[ 9.83638828e-01 1.77590648e-01 3.02691023e-02 2.31932547e+02] [-1.77494355e-01 9.84104369e-01 -5.86052527e-03 -3.64892399e+01] [-3.08287303e-02 3.92045417e-04 9.99524605e-01 -9.85277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.96, Y:-36.50, Z:-9.85 [[ 9.83505532e-01 1.78383018e-01 2.99393908e-02 2.31964689e+02] [-1.78289038e-01 9.83961058e-01 -5.80133432e-03 -3.64954380e+01] [-3.04940542e-02 3.67779211e-04 9.99534881e-01 -9.85386762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:231.99, Y:-36.50, Z:-9.86 [[ 9.83271584e-01 1.79753528e-01 2.94221360e-02 2.31994838e+02] [-1.79663166e-01 9.83711626e-01 -5.70827909e-03 -3.65021062e+01] [-2.99689805e-02 3.26714521e-04 9.99550776e-01 -9.85754932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.03, Y:-36.51, Z:-9.86 [[ 9.82911665e-01 1.81732873e-01 2.92886037e-02 2.32026934e+02] [-1.81644153e-01 9.83347900e-01 -5.68421654e-03 -3.65067324e+01] [-2.98338959e-02 2.66979146e-04 9.99554835e-01 -9.85821360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264000000004 meters Centerline goodness [0,1] 0.999978606422352 Centerline is valid? [True, True] Translation: X:232.06, Y:-36.51, Z:-9.86 [[ 9.82014954e-01 1.86482914e-01 2.95085322e-02 2.32058454e+02] [-1.86394780e-01 9.82458195e-01 -5.73411908e-03 -3.65080967e+01] [-3.00602146e-02 1.30754306e-04 9.99548081e-01 -9.85797859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.09, Y:-36.51, Z:-9.86 [[ 9.81504329e-01 1.89149965e-01 2.95219071e-02 2.32088390e+02] [-1.89062929e-01 9.81948211e-01 -5.73764637e-03 -3.65110996e+01] [-3.00742595e-02 5.00265020e-05 9.99547666e-01 -9.85962150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.12, Y:-36.51, Z:-9.86 [[ 9.81003781e-01 1.91741720e-01 2.94396696e-02 2.32117941e+02] [-1.91656323e-01 9.81445420e-01 -5.72203873e-03 -3.65135041e+01] [-2.99905825e-02 -2.89572177e-05 9.99550181e-01 -9.86203634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.15, Y:-36.51, Z:-9.86 [[ 9.80161880e-01 1.96067918e-01 2.89838112e-02 2.32148189e+02] [-1.95987010e-01 9.80590305e-01 -5.63432078e-03 -3.65125934e+01] [-2.95259538e-02 -1.57904041e-04 9.99564002e-01 -9.86296294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000004 meters Centerline goodness [0,1] 0.9999785177228786 Centerline is valid? [True, True] Translation: X:232.18, Y:-36.51, Z:-9.86 [[ 9.79807355e-01 1.97839139e-01 2.89348084e-02 2.32175661e+02] [-1.97759278e-01 9.80234477e-01 -5.62470880e-03 -3.65147825e+01] [-2.94756843e-02 -2.10995777e-04 9.99565475e-01 -9.86462204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09264000000005 meters Centerline goodness [0,1] 0.999978465447811 Centerline is valid? [True, True] Translation: X:232.20, Y:-36.52, Z:-9.86 [[ 9.79492620e-01 1.99327854e-01 2.93703000e-02 2.32204158e+02] [-1.99246308e-01 9.79932823e-01 -5.70707521e-03 -3.65191201e+01] [-2.99185001e-02 -2.61885785e-04 9.99552307e-01 -9.86442601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000005 meters Centerline goodness [0,1] 0.9998499464094319 Centerline is valid? [True, True] Translation: X:232.23, Y:-36.52, Z:-9.87 [[ 9.79256452e-01 2.00474229e-01 2.94428974e-02 2.32232023e+02] [-2.00392837e-01 9.79698930e-01 -5.71986856e-03 -3.65225888e+01] [-2.99918614e-02 -2.98927555e-04 9.99550098e-01 -9.86779911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15264000000002 meters Centerline goodness [0,1] 0.9999783708958775 Centerline is valid? [True, True] Translation: X:232.26, Y:-36.53, Z:-9.87 [[ 9.78935003e-01 2.01956043e-01 3.00002831e-02 2.32260475e+02] [-2.01872297e-01 9.79394523e-01 -5.82608215e-03 -3.65289056e+01] [-3.05587255e-02 -3.52870331e-04 9.99532911e-01 -9.86515322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264000000002 meters Centerline goodness [0,1] 0.9999567548866978 Centerline is valid? [True, True] Translation: X:232.29, Y:-36.53, Z:-9.87 [[ 9.78856651e-01 2.02354977e-01 2.98683924e-02 2.32289765e+02] [-2.02272208e-01 9.79312172e-01 -5.79861724e-03 -3.65344589e+01] [-3.04238593e-02 -3.65530637e-04 9.99537020e-01 -9.86533476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.32, Y:-36.54, Z:-9.87 [[ 9.78789665e-01 2.02672248e-01 2.99123884e-02 2.32317884e+02] [-2.02589402e-01 9.79246556e-01 -5.80654731e-03 -3.65374115e+01] [-3.04684294e-02 -3.76544395e-04 9.99535659e-01 -9.86830068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.35, Y:-36.54, Z:-9.87 [[ 9.78736511e-01 2.02958899e-01 2.97073478e-02 2.32346842e+02] [-2.02877358e-01 9.79187182e-01 -5.76541884e-03 -3.65439670e+01] [-3.02591973e-02 -3.84122313e-04 9.99542012e-01 -9.86851923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27264000000002 meters Centerline goodness [0,1] 0.9999572155906388 Centerline is valid? [True, True] Translation: X:232.38, Y:-36.55, Z:-9.87 [[ 9.78579557e-01 2.03808551e-01 2.90538458e-02 2.32375473e+02] [-2.03730949e-01 9.79010681e-01 -5.63804439e-03 -3.65476708e+01] [-2.95931070e-02 -4.01892594e-04 9.99561947e-01 -9.87118456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.40, Y:-36.55, Z:-9.87 [[ 9.78471432e-01 2.04294288e-01 2.92831007e-02 2.32404230e+02] [-2.04215703e-01 9.78909427e-01 -5.68155921e-03 -3.65530934e+01] [-2.98262134e-02 -4.20825605e-04 9.99555011e-01 -9.87187606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33264000000003 meters Centerline goodness [0,1] 0.9999573060091792 Centerline is valid? [True, True] Translation: X:232.43, Y:-36.56, Z:-9.87 [[ 9.78343208e-01 2.04871995e-01 2.95301978e-02 2.32432945e+02] [-2.04792386e-01 9.78788674e-01 -5.72799145e-03 -3.65576037e+01] [-3.00773282e-02 -4.43618122e-04 9.99547476e-01 -9.87224808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264000000003 meters Centerline goodness [0,1] 0.9998720273008425 Centerline is valid? [True, True] Translation: X:232.46, Y:-36.56, Z:-9.87 [[ 9.78221999e-01 2.05440767e-01 2.95941129e-02 2.32460737e+02] [-2.05361111e-01 9.78669442e-01 -5.73914175e-03 -3.65613213e+01] [-3.01419076e-02 -4.63325171e-04 9.99545522e-01 -9.87415972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39264000000003 meters Centerline goodness [0,1] 0.9999786739459597 Centerline is valid? [True, True] Translation: X:232.49, Y:-36.56, Z:-9.87 [[ 9.77779874e-01 2.07377319e-01 3.06784104e-02 2.32489599e+02] [-2.07292742e-01 9.78260881e-01 -5.94711239e-03 -3.65618166e+01] [-3.12447850e-02 -5.44445006e-04 9.99511614e-01 -9.87272036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264000000003 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:232.52, Y:-36.56, Z:-9.87 [[ 9.77622337e-01 2.08067417e-01 3.10244475e-02 2.32517043e+02] [-2.07981326e-01 9.78114318e-01 -6.01235983e-03 -3.65635450e+01] [-3.15964325e-02 -5.74688460e-04 9.99500543e-01 -9.87494864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45264000000003 meters Centerline goodness [0,1] 0.99995757858567 Centerline is valid? [True, True] Translation: X:232.55, Y:-36.57, Z:-9.87 [[ 9.77515330e-01 2.08516481e-01 3.13792318e-02 2.32546064e+02] [-2.08428726e-01 9.78018670e-01 -6.07841482e-03 -3.65678120e+01] [-3.19569242e-02 -5.98589630e-04 9.99489068e-01 -9.87487267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264000000003 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:232.57, Y:-36.57, Z:-9.88 [[ 9.77605583e-01 2.08175622e-01 3.08258758e-02 2.32574300e+02] [-2.08090813e-01 9.78091292e-01 -5.96974489e-03 -3.65731104e+01] [-3.13932761e-02 -5.78525614e-04 9.99506942e-01 -9.87666261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51264000000003 meters Centerline goodness [0,1] 0.9999786780383795 Centerline is valid? [True, True] Translation: X:232.60, Y:-36.58, Z:-9.88 [[ 9.77790437e-01 2.07323993e-01 3.07021726e-02 2.32602679e+02] [-2.07239492e-01 9.78272180e-01 -5.94426384e-03 -3.65792780e+01] [-3.12674699e-02 -5.50458315e-04 9.99510902e-01 -9.87896609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.63, Y:-36.59, Z:-9.88 [[ 9.78108931e-01 2.05882238e-01 3.02559637e-02 2.32630674e+02] [-2.05799532e-01 9.78576648e-01 -5.85638560e-03 -3.65860562e+01] [-3.08135053e-02 -4.98480104e-04 9.99525027e-01 -9.88108941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.66, Y:-36.59, Z:-9.88 [[ 9.78449636e-01 2.04274114e-01 3.01396133e-02 2.32658147e+02] [-2.04191320e-01 9.78913626e-01 -5.83254479e-03 -3.65918244e+01] [-3.06955160e-02 -4.47396096e-04 9.99528681e-01 -9.88385063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264000000004 meters Centerline goodness [0,1] 0.9999140653532989 Centerline is valid? [True, True] Translation: X:232.69, Y:-36.60, Z:-9.88 [[ 9.78863687e-01 2.02305299e-01 2.99741363e-02 2.32686012e+02] [-2.02222552e-01 9.79322428e-01 -5.79844205e-03 -3.66012628e+01] [-3.05273995e-02 -3.85561983e-04 9.99533856e-01 -9.88480605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.71, Y:-36.61, Z:-9.89 [[ 9.79707616e-01 1.98093972e-01 3.05248219e-02 2.32713217e+02] [-1.98006175e-01 9.80182998e-01 -5.90292594e-03 -3.66114102e+01] [-3.10892455e-02 -2.60961731e-04 9.99516579e-01 -9.88613760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.74, Y:-36.62, Z:-9.89 [[ 9.80112996e-01 1.96061793e-01 3.06314892e-02 2.32740186e+02] [-1.95972384e-01 9.80591523e-01 -5.92371861e-03 -3.66195812e+01] [-3.11983935e-02 -1.97012365e-04 9.99513192e-01 -9.88700780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.77, Y:-36.63, Z:-9.89 [[ 9.80422980e-01 1.94516355e-01 3.05641674e-02 2.32768645e+02] [-1.94426660e-01 9.80899264e-01 -5.90835700e-03 -3.66287245e+01] [-3.11296413e-02 -1.49799992e-04 9.99515344e-01 -9.88666486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.80, Y:-36.64, Z:-9.89 [[ 9.80668425e-01 1.93232252e-01 3.08340128e-02 2.32795858e+02] [-1.93140350e-01 9.81153038e-01 -5.95990101e-03 -3.66363396e+01] [-3.14045304e-02 -1.10605282e-04 9.99506750e-01 -9.88826169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.82, Y:-36.64, Z:-9.89 [[ 9.80882294e-01 1.92043926e-01 3.14492594e-02 2.32824952e+02] [-1.91947756e-01 9.81386328e-01 -6.07732429e-03 -3.66447997e+01] [-3.20309865e-02 -7.54749982e-05 9.99486873e-01 -9.88820077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.85, Y:-36.65, Z:-9.89 [[ 9.80946932e-01 1.91699517e-01 3.15343040e-02 2.32852715e+02] [-1.91602655e-01 9.81453662e-01 -6.09356897e-03 -3.66497913e+01] [-3.21175924e-02 -6.45886015e-05 9.99484095e-01 -9.89180325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.88, Y:-36.66, Z:-9.89 [[ 9.80999990e-01 1.91432058e-01 3.15085105e-02 2.32882332e+02] [-1.91335255e-01 9.81505866e-01 -6.08736367e-03 -3.66561646e+01] [-3.20911045e-02 -5.69852041e-05 9.99484946e-01 -9.89022296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.91, Y:-36.66, Z:-9.89 [[ 9.81020371e-01 1.91237671e-01 3.20497112e-02 2.32911249e+02] [-1.91137406e-01 9.81543759e-01 -6.19206045e-03 -3.66626617e+01] [-3.26423492e-02 -5.13612248e-05 9.99467095e-01 -9.89138891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.94, Y:-36.67, Z:-9.89 [[ 9.81063440e-01 1.90976989e-01 3.22849248e-02 2.32941027e+02] [-1.90875122e-01 9.81594513e-01 -6.23697225e-03 -3.66699275e+01] [-3.28818232e-02 -4.35235256e-05 9.99459246e-01 -9.89115274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:232.97, Y:-36.68, Z:-9.89 [[ 9.81225006e-01 1.90241043e-01 3.17148734e-02 2.32971453e+02] [-1.90142368e-01 9.81737411e-01 -6.12655926e-03 -3.66783289e+01] [-3.23012007e-02 -1.88079843e-05 9.99478180e-01 -9.89318727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.00, Y:-36.69, Z:-9.89 [[ 9.81271999e-01 1.90080532e-01 3.12194655e-02 2.33002932e+02] [-1.89984871e-01 9.81768502e-01 -6.02973661e-03 -3.66859729e+01] [-3.17964234e-02 -1.44144255e-05 9.99494366e-01 -9.89388755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.03, Y:-36.69, Z:-9.90 [[ 9.81267331e-01 1.90104857e-01 3.12180816e-02 2.33033171e+02] [-1.90008980e-01 9.81763792e-01 -6.03689274e-03 -3.66918615e+01] [-3.17964248e-02 -7.91022643e-06 9.99494366e-01 -9.89525125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.06, Y:-36.70, Z:-9.90 [[ 9.81291635e-01 1.90019361e-01 3.09736982e-02 2.33063092e+02] [-1.89924967e-01 9.81780343e-01 -5.98868525e-03 -3.66997197e+01] [-3.15473342e-02 -6.03187113e-06 9.99502259e-01 -9.89896551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.09, Y:-36.71, Z:-9.90 [[ 9.81327856e-01 1.89928952e-01 3.03748776e-02 2.33093864e+02] [-1.89837924e-01 9.81797837e-01 -5.87957980e-03 -3.67078222e+01] [-3.09386915e-02 3.49175081e-06 9.99521284e-01 -9.90046955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.12, Y:-36.71, Z:-9.90 [[ 9.81257749e-01 1.90268916e-01 3.05117873e-02 2.33123552e+02] [-1.90177201e-01 9.81732010e-01 -5.90699331e-03 -3.67147325e+01] [-3.10783154e-02 -6.36334319e-06 9.99516952e-01 -9.90294678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264000000003 meters Centerline goodness [0,1] 0.9998505837904758 Centerline is valid? [True, True] Translation: X:233.15, Y:-36.72, Z:-9.90 [[ 9.80708760e-01 1.92177886e-01 3.57489454e-02 2.33153712e+02] [-1.92192223e-01 9.81352506e-01 -3.06732462e-03 -3.67227148e+01] [-3.56717891e-02 -3.86251716e-03 9.99356095e-01 -9.90258637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.19, Y:-36.72, Z:-9.90 [[ 9.80409194e-01 1.94665230e-01 3.00542911e-02 2.33186101e+02] [-1.94459892e-01 9.80863115e-01 -9.63848690e-03 -3.67224457e+01] [-3.13554238e-02 3.60530699e-03 9.99501795e-01 -9.90097260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.22, Y:-36.72, Z:-9.90 [[ 9.79470340e-01 1.99250274e-01 3.06134155e-02 2.33215996e+02] [-1.99162102e-01 9.79948594e-01 -5.93380062e-03 -3.67223113e+01] [-3.11818848e-02 -2.85050467e-04 9.99513686e-01 -9.90402280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.24, Y:-36.72, Z:-9.91 [[ 9.79037031e-01 2.01339952e-01 3.08012173e-02 2.33243861e+02] [-2.01251696e-01 9.79521362e-01 -5.97119711e-03 -3.67227082e+01] [-3.13726909e-02 -3.52774146e-04 9.99507694e-01 -9.90649011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.27, Y:-36.73, Z:-9.90 [[ 9.78677040e-01 2.03170712e-01 3.02144430e-02 2.33272672e+02] [-2.03086723e-01 9.79143246e-01 -5.85540072e-03 -3.67283988e+01] [-3.07739138e-02 -4.05605980e-04 9.99526289e-01 -9.90446179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23264000000003 meters Centerline goodness [0,1] 0.9998721935841179 Centerline is valid? [True, True] Translation: X:233.30, Y:-36.73, Z:-9.91 [[ 9.78301822e-01 2.04940706e-01 3.04113904e-02 2.33301880e+02] [-2.04856513e-01 9.78774280e-01 -5.89226903e-03 -3.67292611e+01] [-3.09734525e-02 -4.65553850e-04 9.99520099e-01 -9.90885473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.33, Y:-36.73, Z:-9.91 [[ 9.77850281e-01 2.07204333e-01 2.95836657e-02 2.33331153e+02] [-2.07125715e-01 9.78297547e-01 -5.73128297e-03 -3.67312647e+01] [-3.01291743e-02 -5.23201246e-04 9.99545876e-01 -9.91052954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.36, Y:-36.73, Z:-9.91 [[ 9.77731261e-01 2.07759931e-01 2.96207939e-02 2.33358638e+02] [-2.07681406e-01 9.78179696e-01 -5.73728897e-03 -3.67328684e+01] [-3.01664379e-02 -5.42161352e-04 9.99544742e-01 -9.91452676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.39, Y:-36.74, Z:-9.92 [[ 9.77737425e-01 2.07704195e-01 2.98076511e-02 2.33385665e+02] [-2.07624707e-01 9.78191530e-01 -5.77158631e-03 -3.67367037e+01] [-3.03563745e-02 -5.45708899e-04 9.99538990e-01 -9.91693513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35264000000004 meters Centerline goodness [0,1] 0.9999785568778814 Centerline is valid? [True, True] Translation: X:233.41, Y:-36.75, Z:-9.91 [[ 9.77853973e-01 2.07184154e-01 2.96029230e-02 2.33413084e+02] [-2.07105572e-01 9.78301818e-01 -5.73013371e-03 -3.67472621e+01] [-3.01477863e-02 -5.27696281e-04 9.99545313e-01 -9.91455963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264000000004 meters Centerline goodness [0,1] 0.9999577782938208 Centerline is valid? [True, True] Translation: X:233.44, Y:-36.75, Z:-9.92 [[ 9.78190777e-01 2.05492068e-01 3.02624305e-02 2.33440542e+02] [-2.05409177e-01 9.78658660e-01 -5.85642224e-03 -3.67504677e+01] [-3.08200380e-02 -4.87482734e-04 9.99524831e-01 -9.91807871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41264000000004 meters Centerline goodness [0,1] 0.9999574947399741 Centerline is valid? [True, True] Translation: X:233.47, Y:-36.76, Z:-9.92 [[ 9.78406349e-01 2.04426241e-01 3.05111223e-02 2.33467661e+02] [-2.04341526e-01 9.78881863e-01 -5.90253632e-03 -3.67622045e+01] [-3.10734175e-02 -4.59610271e-04 9.99516999e-01 -9.91597956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.50, Y:-36.77, Z:-9.92 [[ 9.78610389e-01 2.03478553e-01 3.03015615e-02 2.33496111e+02] [-2.03394590e-01 9.79079310e-01 -5.86052683e-03 -3.67691444e+01] [-3.08601235e-02 -4.28001230e-04 9.99523621e-01 -9.91670171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.52, Y:-36.78, Z:-9.92 [[ 9.78782028e-01 2.02663235e-01 3.02217663e-02 2.33522928e+02] [-2.02579366e-01 9.79248411e-01 -5.84376478e-03 -3.67753448e+01] [-3.07789330e-02 -4.02534311e-04 9.99526135e-01 -9.91868135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264000000004 meters Centerline goodness [0,1] 0.9998719234956347 Centerline is valid? [True, True] Translation: X:233.55, Y:-36.78, Z:-9.92 [[ 9.78871895e-01 2.02160793e-01 3.06729033e-02 2.33551341e+02] [-2.02074228e-01 9.79352265e-01 -5.92861382e-03 -3.67842066e+01] [-3.12381106e-02 -3.94849805e-04 9.99511893e-01 -9.91914418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.58, Y:-36.79, Z:-9.92 [[ 9.79002606e-01 2.01460244e-01 3.11073668e-02 2.33579228e+02] [-2.01370876e-01 9.79496619e-01 -6.01194341e-03 -3.67902485e+01] [-3.16807282e-02 -3.78409434e-04 9.99497968e-01 -9.91963136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.61, Y:-36.80, Z:-9.92 [[ 9.79037116e-01 2.01270008e-01 3.12523558e-02 2.33607260e+02] [-2.01179746e-01 9.79535728e-01 -6.03876094e-03 -3.67960108e+01] [-3.18282205e-02 -3.75169914e-04 9.99493283e-01 -9.92111654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.64, Y:-36.80, Z:-9.92 [[ 9.79084309e-01 2.01011638e-01 3.14362499e-02 2.33635500e+02] [-2.00920219e-01 9.79588783e-01 -6.07299497e-03 -3.68038058e+01] [-3.20153404e-02 -3.70204106e-04 9.99487309e-01 -9.92111995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.67, Y:-36.81, Z:-9.92 [[ 9.79161997e-01 2.00594725e-01 3.16787104e-02 2.33665485e+02] [-2.00501707e-01 9.79674245e-01 -6.11873155e-03 -3.68115173e+01] [-3.22622020e-02 -3.60406136e-04 9.99479375e-01 -9.92146160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.69, Y:-36.82, Z:-9.92 [[ 9.79330228e-01 1.99671050e-01 3.23075212e-02 2.33694511e+02] [-1.99573824e-01 9.79862928e-01 -6.23943524e-03 -3.68200687e+01] [-3.29027769e-02 -3.37268011e-04 9.99458500e-01 -9.92234602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264000000002 meters Centerline goodness [0,1] 0.9999142899997857 Centerline is valid? [True, True] Translation: X:233.72, Y:-36.83, Z:-9.93 [[ 9.79441582e-01 1.99176014e-01 3.19859788e-02 2.33723571e+02] [-1.99080361e-01 9.79963681e-01 -6.18009965e-03 -3.68269140e+01] [-3.25760251e-02 -3.14733623e-04 9.99469211e-01 -9.92613697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.75, Y:-36.83, Z:-9.93 [[ 9.79592850e-01 1.98460079e-01 3.18032352e-02 2.33752148e+02] [-1.98365116e-01 9.80108930e-01 -6.14547124e-03 -3.68334386e+01] [-3.23902655e-02 -2.88592752e-04 9.99475256e-01 -9.92783713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264000000002 meters Centerline goodness [0,1] 0.9998713743649109 Centerline is valid? [True, True] Translation: X:233.78, Y:-36.84, Z:-9.93 [[ 9.79634276e-01 1.98249666e-01 3.18395286e-02 2.33781820e+02] [-1.98154393e-01 9.80151514e-01 -6.15195836e-03 -3.68420357e+01] [-3.24271859e-02 -2.82473181e-04 9.99474061e-01 -9.92943344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.81, Y:-36.85, Z:-9.93 [[ 9.79657209e-01 1.98094249e-01 3.21001904e-02 2.33812417e+02] [-1.97997335e-01 9.80182937e-01 -6.20203778e-03 -3.68515640e+01] [-3.26926469e-02 -2.79881130e-04 9.99465413e-01 -9.92924519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.84, Y:-36.87, Z:-9.93 [[ 9.79486927e-01 1.96820005e-01 4.32116394e-02 2.33841145e+02] [-1.97467544e-01 9.80245166e-01 1.12242734e-02 -3.68701397e+01] [-4.01488391e-02 -1.95269254e-02 9.99002888e-01 -9.93181719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.87, Y:-36.86, Z:-9.93 [[ 9.79474093e-01 1.99518226e-01 2.86875998e-02 2.33874122e+02] [-1.98824599e-01 9.79708200e-01 -2.53105078e-02 -3.68555875e+01] [-3.31553843e-02 1.90871862e-02 9.99267932e-01 -9.93217129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.90, Y:-36.88, Z:-9.93 [[ 9.79322428e-01 1.99664579e-01 3.25827895e-02 2.33902087e+02] [-1.99565460e-01 9.79864248e-01 -6.29940092e-03 -3.68753629e+01] [-3.31844778e-02 -3.33254755e-04 9.99449188e-01 -9.93374335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.93, Y:-36.88, Z:-9.94 [[ 9.79228545e-01 2.00155451e-01 3.23921588e-02 2.33932716e+02] [-2.00057590e-01 9.79764093e-01 -6.26760513e-03 -3.68842062e+01] [-3.29911694e-02 -3.42879374e-04 9.99455584e-01 -9.93517789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.96, Y:-36.89, Z:-9.94 [[ 9.79196981e-01 2.00289219e-01 3.25192385e-02 2.33963526e+02] [-2.00190474e-01 9.79736756e-01 -6.29789351e-03 -3.68927622e+01] [-3.31216934e-02 -3.43163445e-04 9.99451267e-01 -9.93700774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:233.99, Y:-36.90, Z:-9.94 [[ 9.79090577e-01 2.00771404e-01 3.27488226e-02 2.33994540e+02] [-2.00671340e-01 9.79638054e-01 -6.34797165e-03 -3.69007269e+01] [-3.33564840e-02 -3.56510896e-04 9.99443454e-01 -9.93795216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.02, Y:-36.91, Z:-9.94 [[ 9.78816594e-01 2.02164012e-01 3.23695605e-02 2.34024746e+02] [-2.02066809e-01 9.79351601e-01 -6.28066784e-03 -3.69095115e+01] [-3.29709059e-02 -3.93191914e-04 9.99456235e-01 -9.94061964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.06, Y:-36.92, Z:-9.94 [[ 9.78607607e-01 2.03269817e-01 3.17573995e-02 2.34055892e+02] [-2.03176686e-01 9.79122672e-01 -6.16663474e-03 -3.69167265e+01] [-3.23478806e-02 -4.17647517e-04 9.99476583e-01 -9.94326849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.09, Y:-36.92, Z:-9.94 [[ 9.78351951e-01 2.04603795e-01 3.10603859e-02 2.34087193e+02] [-2.04515220e-01 9.78844772e-01 -6.03632870e-03 -3.69247560e+01] [-3.16383521e-02 -4.46667702e-04 9.99499282e-01 -9.94468875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07264000000004 meters Centerline goodness [0,1] 0.9999357037227544 Centerline is valid? [True, True] Translation: X:234.12, Y:-36.93, Z:-9.95 [[ 9.77739253e-01 2.07657161e-01 3.00741881e-02 2.34118634e+02] [-2.07575359e-01 9.78201529e-01 -5.85140172e-03 -3.69294256e+01] [-3.06337023e-02 -5.21515258e-04 9.99530542e-01 -9.94780838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.15, Y:-36.93, Z:-9.95 [[ 9.77384936e-01 2.09319325e-01 3.00683780e-02 2.34148337e+02] [-2.09238278e-01 9.77847173e-01 -5.85229459e-03 -3.69336418e+01] [-3.06272768e-02 -5.71511076e-04 9.99530712e-01 -9.94987235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13264000000004 meters Centerline goodness [0,1] 0.9999785885577253 Centerline is valid? [True, True] Translation: X:234.18, Y:-36.94, Z:-9.95 [[ 9.77014123e-01 2.11070873e-01 2.98745713e-02 2.34178340e+02] [-2.10991675e-01 9.77470562e-01 -5.81494421e-03 -3.69377785e+01] [-3.04288793e-02 -6.22003194e-04 9.99536741e-01 -9.95225045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.21, Y:-36.94, Z:-9.95 [[ 9.76653613e-01 2.12695930e-01 3.01357326e-02 2.34209366e+02] [-2.12616107e-01 9.77118202e-01 -5.86598770e-03 -3.69442111e+01] [-3.06938446e-02 -6.78304067e-04 9.99528603e-01 -9.95158600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19264000000004 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:234.24, Y:-36.95, Z:-9.95 [[ 9.76008006e-01 2.15629456e-01 3.02044657e-02 2.34240389e+02] [-2.15550648e-01 9.76474957e-01 -5.88013114e-03 -3.69473981e+01] [-3.07618339e-02 -7.71537084e-04 9.99526445e-01 -9.95332304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.27, Y:-36.95, Z:-9.95 [[ 9.75802077e-01 2.16577891e-01 3.00719693e-02 2.34270884e+02] [-2.16500200e-01 9.76265016e-01 -5.85507927e-03 -3.69530720e+01] [-3.06262924e-02 -7.97188864e-04 9.99530587e-01 -9.95453104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25264000000004 meters Centerline goodness [0,1] 0.9998932125923711 Centerline is valid? [True, True] Translation: X:234.30, Y:-36.96, Z:-9.96 [[ 9.75678894e-01 2.17109395e-01 3.02358358e-02 2.34300731e+02] [-2.17031076e-01 9.76146937e-01 -5.88807459e-03 -3.69590711e+01] [-3.07929748e-02 -8.17245852e-04 9.99525450e-01 -9.95697861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000004 meters Centerline goodness [0,1] 0.9999150887322747 Centerline is valid? [True, True] Translation: X:234.33, Y:-36.96, Z:-9.96 [[ 9.75792695e-01 2.16406217e-01 3.15747575e-02 2.34330051e+02] [-2.16320430e-01 9.76303058e-01 -6.14910646e-03 -3.69610238e+01] [-3.21572372e-02 -8.30011952e-04 9.99482478e-01 -9.95791580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31264000000004 meters Centerline goodness [0,1] 0.9999787982869016 Centerline is valid? [True, True] Translation: X:234.36, Y:-36.97, Z:-9.96 [[ 9.76037224e-01 2.15246114e-01 3.19444436e-02 2.34358985e+02] [-2.15157710e-01 9.76559505e-01 -6.22029323e-03 -3.69689070e+01] [-3.25345440e-02 -8.01855613e-04 9.99470290e-01 -9.95738614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000005 meters Centerline goodness [0,1] 0.9999573132990417 Centerline is valid? [True, True] Translation: X:234.39, Y:-36.98, Z:-9.96 [[ 9.76373374e-01 2.13646486e-01 3.24070086e-02 2.34389518e+02] [-2.13554671e-01 9.76910743e-01 -6.30889074e-03 -3.69792120e+01] [-3.30066272e-02 -7.60835120e-04 9.99454843e-01 -9.95747161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37264000000005 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:234.42, Y:-36.99, Z:-9.96 [[ 9.76736655e-01 2.11895622e-01 3.29507417e-02 2.34420284e+02] [-2.11799710e-01 9.77292042e-01 -6.41456524e-03 -3.69892778e+01] [-3.35617160e-02 -7.13616541e-04 9.99436392e-01 -9.95767701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264000000002 meters Centerline goodness [0,1] 0.9999788175983393 Centerline is valid? [True, True] Translation: X:234.45, Y:-37.00, Z:-9.96 [[ 9.77678522e-01 2.07319345e-01 3.41085988e-02 2.34449372e+02] [-2.07213524e-01 9.78273155e-01 -6.64755108e-03 -3.69995144e+01] [-3.47456925e-02 -5.68595026e-04 9.99396024e-01 -9.95852959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.48, Y:-37.01, Z:-9.96 [[ 9.78192662e-01 2.04929506e-01 3.38084851e-02 2.34479632e+02] [-2.04824133e-01 9.78776618e-01 -6.58845614e-03 -3.70105192e+01] [-3.44411238e-02 -4.80014185e-04 9.99406613e-01 -9.96004235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.51, Y:-37.03, Z:-9.96 [[ 9.79234673e-01 1.99808299e-01 3.42942817e-02 2.34508046e+02] [-1.99696472e-01 9.79834963e-01 -6.69057075e-03 -3.70255726e+01] [-3.49395678e-02 -2.96808188e-04 9.99389383e-01 -9.96167687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.54, Y:-37.04, Z:-9.96 [[ 9.79722519e-01 1.97413805e-01 3.42282873e-02 2.34538714e+02] [-1.97300964e-01 9.80320226e-01 -6.67716042e-03 -3.70372030e+01] [-3.48728459e-02 -2.11509666e-04 9.99391735e-01 -9.96256298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.57, Y:-37.05, Z:-9.96 [[ 9.80518282e-01 1.93418238e-01 3.42532376e-02 2.34568112e+02] [-1.93302583e-01 9.81116395e-01 -6.68806163e-03 -3.70514910e+01] [-3.49000061e-02 -6.34726151e-05 9.99390807e-01 -9.96476583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.60, Y:-37.06, Z:-9.97 [[ 9.80851209e-01 1.91739540e-01 3.41592421e-02 2.34599493e+02] [-1.91623302e-01 9.81445846e-01 -6.67541716e-03 -3.70618408e+01] [-3.48053877e-02 1.88421978e-06 9.99394109e-01 -9.96594885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.63, Y:-37.07, Z:-9.97 [[ 9.81100027e-01 1.90445658e-01 3.42518343e-02 2.34630473e+02] [-1.90327732e-01 9.81697738e-01 -6.70119431e-03 -3.70716528e+01] [-3.49011616e-02 5.54679931e-05 9.99390767e-01 -9.96810603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.66, Y:-37.08, Z:-9.97 [[ 9.81295987e-01 1.89496815e-01 3.38990230e-02 2.34661914e+02] [-1.89380620e-01 9.81881331e-01 -6.63568816e-03 -3.70807079e+01] [-3.45422596e-02 9.17561743e-05 9.99403234e-01 -9.96951407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264000000003 meters Centerline goodness [0,1] 0.9999567033966186 Centerline is valid? [True, True] Translation: X:234.69, Y:-37.09, Z:-9.97 [[ 9.81435823e-01 1.88883597e-01 3.32672763e-02 2.34691737e+02] [-1.88771107e-01 9.81999477e-01 -6.51892774e-03 -3.70896205e+01] [-3.38997664e-02 1.18008664e-04 9.99425231e-01 -9.97337376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67264000000003 meters Centerline goodness [0,1] 0.999978650270074 Centerline is valid? [True, True] Translation: X:234.72, Y:-37.10, Z:-9.97 [[ 9.81458325e-01 1.88806661e-01 3.30393744e-02 2.34723607e+02] [-1.88695496e-01 9.82014271e-01 -6.47924092e-03 -3.70978463e+01] [-3.36684610e-02 1.24723806e-04 9.99433049e-01 -9.97474498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.76, Y:-37.11, Z:-9.98 [[ 9.81390174e-01 1.89125218e-01 3.32412125e-02 2.34755536e+02] [-1.89012649e-01 9.81952971e-01 -6.52543734e-03 -3.71054793e+01] [-3.38754321e-02 1.20990451e-04 9.99426056e-01 -9.97560957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.79, Y:-37.11, Z:-9.98 [[ 9.81219069e-01 1.89963877e-01 3.35091709e-02 2.34786406e+02] [-1.89849740e-01 9.81791075e-01 -6.58486037e-03 -3.71139187e+01] [-3.41498905e-02 9.94831703e-05 9.99416717e-01 -9.97669618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.82, Y:-37.12, Z:-9.98 [[ 9.81047503e-01 1.90854843e-01 3.34697721e-02 2.34818576e+02] [-1.90741289e-01 9.81618268e-01 -6.58312267e-03 -3.71197113e+01] [-3.41109606e-02 7.42885903e-05 9.99418049e-01 -9.97692770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.85, Y:-37.13, Z:-9.98 [[ 9.80814732e-01 1.92063690e-01 3.33766393e-02 2.34850437e+02] [-1.91951233e-01 9.81382462e-01 -6.57167440e-03 -3.71251959e+01] [-3.40174285e-02 3.89079963e-05 9.99421239e-01 -9.97865620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.88, Y:-37.13, Z:-9.98 [[ 9.80426676e-01 1.94083222e-01 3.30943514e-02 2.34881452e+02] [-1.93973601e-01 9.80985067e-01 -6.52226394e-03 -3.71309461e+01] [-3.37309266e-02 -2.48289528e-05 9.99430950e-01 -9.98138371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.91, Y:-37.14, Z:-9.98 [[ 9.80202694e-01 1.95210698e-01 3.30977503e-02 2.34913007e+02] [-1.95101487e-01 9.80761327e-01 -6.52914899e-03 -3.71362045e+01] [-3.37355532e-02 -5.75308765e-05 9.99430793e-01 -9.98395672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.94, Y:-37.14, Z:-9.99 [[ 9.80167215e-01 1.95388958e-01 3.30966102e-02 2.34944823e+02] [-1.95279654e-01 9.80725829e-01 -6.53492237e-03 -3.71426934e+01] [-3.37355521e-02 -5.77779205e-05 9.99430793e-01 -9.98539481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:234.98, Y:-37.15, Z:-9.99 [[ 9.79875326e-01 1.96841202e-01 3.31343596e-02 2.34977943e+02] [-1.96732271e-01 9.80435378e-01 -6.54848828e-03 -3.71478500e+01] [-3.37751107e-02 -1.01895728e-04 9.99429453e-01 -9.98512594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.01, Y:-37.15, Z:-9.99 [[ 9.79771652e-01 1.97386562e-01 3.29553373e-02 2.35009028e+02] [-1.97278862e-01 9.80325728e-01 -6.52058878e-03 -3.71534422e+01] [-3.35940416e-02 -1.12703401e-04 9.99435555e-01 -9.98732358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97264000000004 meters Centerline goodness [0,1] 0.999870803815594 Centerline is valid? [True, True] Translation: X:235.04, Y:-37.16, Z:-9.99 [[ 9.79696143e-01 1.97804593e-01 3.26926688e-02 2.35040217e+02] [-1.97698722e-01 9.80241464e-01 -6.47205369e-03 -3.71596281e+01] [-3.33269115e-02 -1.22652808e-04 9.99444497e-01 -9.99005886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.07, Y:-37.16, Z:-9.99 [[ 9.79361724e-01 1.99446613e-01 3.27362509e-02 2.35072988e+02] [-1.99341172e-01 9.79908679e-01 -6.48676841e-03 -3.71641959e+01] [-3.33723003e-02 -1.72789928e-04 9.99442975e-01 -9.99094599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.11, Y:-37.17, Z:-9.99 [[ 9.79176837e-01 2.00415520e-01 3.23471864e-02 2.35105085e+02] [-2.00312883e-01 9.79710968e-01 -6.41626446e-03 -3.71695285e+01] [-3.29768122e-02 -1.96900616e-04 9.99456098e-01 -9.99252691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.14, Y:-37.17, Z:-10.00 [[ 9.78979357e-01 2.01424071e-01 3.20587177e-02 2.35135900e+02] [-2.01323582e-01 9.79504106e-01 -6.36561363e-03 -3.71725029e+01] [-3.26838334e-02 -2.22371535e-04 9.99465716e-01 -9.99601597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.17, Y:-37.18, Z:-10.00 [[ 9.78634445e-01 2.03008417e-01 3.25914965e-02 2.35168477e+02] [-2.02905366e-01 9.79176953e-01 -6.47354374e-03 -3.71756922e+01] [-3.32270261e-02 -2.77756638e-04 9.99447791e-01 -9.99588238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.20, Y:-37.18, Z:-10.00 [[ 9.78511056e-01 2.03489246e-01 3.32902313e-02 2.35200498e+02] [-2.03381767e-01 9.79077137e-01 -6.61937695e-03 -3.71805526e+01] [-3.39406763e-02 -2.93492517e-04 9.99423806e-01 -9.99699295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.23, Y:-37.19, Z:-10.00 [[ 9.78493973e-01 2.03430964e-01 3.41377783e-02 2.35231639e+02] [-2.03317664e-01 9.79089249e-01 -6.79483579e-03 -3.71860238e+01] [-3.48062118e-02 -2.92107482e-04 9.99394038e-01 -9.99784457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264000000002 meters Centerline goodness [0,1] 0.9999570483635426 Centerline is valid? [True, True] Translation: X:235.26, Y:-37.19, Z:-10.00 [[ 9.78860949e-01 2.01673528e-01 3.40445318e-02 2.35263183e+02] [-2.01559602e-01 9.79452775e-01 -6.78149124e-03 -3.71943920e+01] [-3.47126584e-02 -2.23865349e-04 9.99397309e-01 -9.99940193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.29, Y:-37.20, Z:-10.00 [[ 9.79188028e-01 2.00155472e-01 3.35945397e-02 2.35293757e+02] [-2.00043426e-01 9.79764135e-01 -6.69826544e-03 -3.72022101e+01] [-3.42554196e-02 -1.61505489e-04 9.99413098e-01 -1.00015213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264000000002 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:235.33, Y:-37.21, Z:-10.00 [[ 9.79582248e-01 1.98283332e-01 3.32014949e-02 2.35325202e+02] [-1.98172745e-01 9.80144740e-01 -6.62202541e-03 -3.72118605e+01] [-3.38553078e-02 -9.28128566e-05 9.99426740e-01 -1.00039308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27264000000002 meters Centerline goodness [0,1] 0.9997416187584781 Centerline is valid? [True, True] Translation: X:235.36, Y:-37.22, Z:-10.01 [[ 9.80364179e-01 1.94387609e-01 3.31592237e-02 2.35356444e+02] [-1.94274854e-01 9.80924796e-01 -6.62012523e-03 -3.72230358e+01] [-3.38135750e-02 4.81303124e-05 9.99428156e-01 -1.00061576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264000000003 meters Centerline goodness [0,1] 0.9998501551964037 Centerline is valid? [True, True] Translation: X:235.39, Y:-37.23, Z:-10.01 [[ 9.80632870e-01 1.93094047e-01 3.27698603e-02 2.35388708e+02] [-1.92982988e-01 9.81180248e-01 -6.54882763e-03 -3.72310326e+01] [-3.34176793e-02 9.79700806e-05 9.99441469e-01 -1.00075819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.42, Y:-37.24, Z:-10.01 [[ 9.80964051e-01 1.91370170e-01 3.29695257e-02 2.35421050e+02] [-1.91256552e-01 9.81517922e-01 -6.59546630e-03 -3.72394159e+01] [-3.36223559e-02 1.64277524e-04 9.99434595e-01 -1.00074879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.45, Y:-37.25, Z:-10.01 [[ 9.81057655e-01 1.90875826e-01 3.30499058e-02 2.35451939e+02] [-1.90761136e-01 9.81614172e-01 -6.61855533e-03 -3.72465252e+01] [-3.37055781e-02 1.88546786e-04 9.99431788e-01 -1.00090122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.48, Y:-37.25, Z:-10.01 [[ 9.81117386e-01 1.90599429e-01 3.28714524e-02 2.35482689e+02] [-1.90485607e-01 9.81667875e-01 -6.58917442e-03 -3.72535642e+01] [-3.35247417e-02 2.03215016e-04 9.99437867e-01 -1.00114860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.51, Y:-37.26, Z:-10.01 [[ 9.81106075e-01 1.90727924e-01 3.24611813e-02 2.35513907e+02] [-1.90616792e-01 9.81642918e-01 -6.51311934e-03 -3.72578967e+01] [-3.31075225e-02 2.02414715e-04 9.99451775e-01 -1.00148884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.55, Y:-37.26, Z:-10.02 [[ 9.81033865e-01 1.91140894e-01 3.22135743e-02 2.35546684e+02] [-1.91031486e-01 9.81562592e-01 -6.46914900e-03 -3.72619348e+01] [-3.28561585e-02 1.92647278e-04 9.99460072e-01 -1.00158174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.58, Y:-37.27, Z:-10.02 [[ 9.80932192e-01 1.91640623e-01 3.23404798e-02 2.35578385e+02] [-1.91530379e-01 9.81465148e-01 -6.50202805e-03 -3.72679491e+01] [-3.29871066e-02 1.83864276e-04 9.99455760e-01 -1.00192023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.61, Y:-37.27, Z:-10.02 [[ 9.80839320e-01 1.92061483e-01 3.26590749e-02 2.35610829e+02] [-1.91949174e-01 9.81382879e-01 -6.56951206e-03 -3.72733276e+01] [-3.33128072e-02 1.74753280e-04 9.99444959e-01 -1.00202375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.64, Y:-37.28, Z:-10.02 [[ 9.80748766e-01 1.92563881e-01 3.24192869e-02 2.35642757e+02] [-1.92453279e-01 9.81284426e-01 -6.52764014e-03 -3.72778782e+01] [-3.30695291e-02 1.62776937e-04 9.99453040e-01 -1.00226621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.67, Y:-37.28, Z:-10.02 [[ 9.80705478e-01 1.92869986e-01 3.19050689e-02 2.35674954e+02] [-1.92762851e-01 9.81224309e-01 -6.42955095e-03 -3.72832401e+01] [-3.25460965e-02 1.55383812e-04 9.99470223e-01 -1.00242380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264000000004 meters Centerline goodness [0,1] 0.999828182384399 Centerline is valid? [True, True] Translation: X:235.71, Y:-37.29, Z:-10.03 [[ 9.80711394e-01 1.92838082e-01 3.19160697e-02 2.35707069e+02] [-1.92730650e-01 9.81230578e-01 -6.43807172e-03 -3.72895904e+01] [-3.25585289e-02 1.62685430e-04 9.99469817e-01 -1.00266663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63264000000004 meters Centerline goodness [0,1] 0.9999144238586282 Centerline is valid? [True, True] Translation: X:235.74, Y:-37.30, Z:-10.03 [[ 9.80668990e-01 1.93126433e-01 3.14724288e-02 2.35739526e+02] [-1.93021922e-01 9.81173867e-01 -6.35464246e-03 -3.72952036e+01] [-3.21071741e-02 1.56932110e-04 9.99484419e-01 -1.00289252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.77, Y:-37.30, Z:-10.03 [[ 9.80671767e-01 1.93154055e-01 3.12153381e-02 2.35772394e+02] [-1.93051066e-01 9.81168429e-01 -6.30877455e-03 -3.73011388e+01] [-3.18460696e-02 1.60682798e-04 9.99492772e-01 -1.00307682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.80, Y:-37.31, Z:-10.03 [[ 9.80712572e-01 1.92951024e-01 3.11889975e-02 2.35804011e+02] [-1.92847907e-01 9.81208374e-01 -6.30968688e-03 -3.73080780e+01] [-3.18203661e-02 1.73256342e-04 9.99493589e-01 -1.00343301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.83, Y:-37.32, Z:-10.03 [[ 9.81053878e-01 1.91311230e-01 3.05499771e-02 2.35834805e+02] [-1.91211326e-01 9.81529399e-01 -6.18606019e-03 -3.73155193e+01] [-3.11691634e-02 2.27356725e-04 9.99514098e-01 -1.00343900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.86, Y:-37.33, Z:-10.04 [[ 9.81232101e-01 1.90439894e-01 3.02689598e-02 2.35863944e+02] [-1.90341225e-01 9.81698824e-01 -6.13496616e-03 -3.73254396e+01] [-3.08833445e-02 2.58394838e-04 9.99522962e-01 -1.00385956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.90, Y:-37.33, Z:-10.04 [[ 9.81331102e-01 1.89530373e-01 3.26727229e-02 2.35895394e+02] [-1.89571918e-01 9.81865096e-01 -1.84981875e-03 -3.73325423e+01] [-3.24308030e-02 -4.37854609e-03 9.99464392e-01 -1.00353765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.93, Y:-37.33, Z:-10.04 [[ 9.81412790e-01 1.89536325e-01 3.00818422e-02 2.35926494e+02] [-1.89289126e-01 9.81861018e-01 -1.08889285e-02 -3.73343862e+01] [-3.16000356e-02 4.99236810e-03 9.99488126e-01 -1.00384927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.96, Y:-37.34, Z:-10.04 [[ 9.81282954e-01 1.89950708e-01 3.16621680e-02 2.35957606e+02] [-1.89842185e-01 9.81793584e-01 -6.42681325e-03 -3.73416460e+01] [-3.23064911e-02 2.95707150e-04 9.99477965e-01 -1.00372399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:235.99, Y:-37.35, Z:-10.04 [[ 9.81073669e-01 1.90944062e-01 3.21686349e-02 2.35989546e+02] [-1.90832383e-01 9.81600882e-01 -6.53536420e-03 -3.73467174e+01] [-3.28246493e-02 2.72856488e-04 9.99461089e-01 -1.00379904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.02, Y:-37.35, Z:-10.04 [[ 9.80686310e-01 1.92844004e-01 3.26427857e-02 2.36020590e+02] [-1.92729862e-01 9.81229404e-01 -6.63761089e-03 -3.73495188e+01] [-3.33100846e-02 2.18174543e-04 9.99445041e-01 -1.00391676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.05, Y:-37.36, Z:-10.04 [[ 9.80547033e-01 1.93614349e-01 3.22645223e-02 2.36051938e+02] [-1.93503094e-01 9.81077696e-01 -6.56557787e-03 -3.73555783e+01] [-3.29251933e-02 1.94573026e-04 9.99457800e-01 -1.00420444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.08, Y:-37.36, Z:-10.04 [[ 9.80452162e-01 1.94100829e-01 3.22246076e-02 2.36084423e+02] [-1.93989923e-01 9.80981567e-01 -6.56317738e-03 -3.73618778e+01] [-3.28856642e-02 1.83632308e-04 9.99459103e-01 -1.00426492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.12, Y:-37.37, Z:-10.04 [[ 9.80466590e-01 1.93957566e-01 3.26455100e-02 2.36116110e+02] [-1.93843448e-01 9.81009900e-01 -6.65536948e-03 -3.73700656e+01] [-3.33164278e-02 1.97249186e-04 9.99444834e-01 -1.00427213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264000000002 meters Centerline goodness [0,1] 0.9998708177238083 Centerline is valid? [True, True] Translation: X:236.15, Y:-37.38, Z:-10.04 [[ 9.80553081e-01 1.93549005e-01 3.24721071e-02 2.36147898e+02] [-1.93435658e-01 9.81090585e-01 -6.62650304e-03 -3.73778663e+01] [-3.31406316e-02 2.16374573e-04 9.99450675e-01 -1.00439853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.18, Y:-37.39, Z:-10.04 [[ 9.80614185e-01 1.93167307e-01 3.28970011e-02 2.36179193e+02] [-1.93050520e-01 9.81165804e-01 -6.72028828e-03 -3.73851325e+01] [-3.35755525e-02 2.39226843e-04 9.99436154e-01 -1.00447560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.21, Y:-37.39, Z:-10.05 [[ 9.80650536e-01 1.93039761e-01 3.25603687e-02 2.36209804e+02] [-1.92925054e-01 9.81190904e-01 -6.65838163e-03 -3.73930712e+01] [-3.32332700e-02 2.47834611e-04 9.99447592e-01 -1.00475153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.24, Y:-37.40, Z:-10.05 [[ 9.80729652e-01 1.92760980e-01 3.18206724e-02 2.36240521e+02] [-1.92651168e-01 9.81245708e-01 -6.51060455e-03 -3.74005280e+01] [-3.24788887e-02 2.54853240e-04 9.99472389e-01 -1.00502398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.27, Y:-37.41, Z:-10.05 [[ 9.80666130e-01 1.93063816e-01 3.19421934e-02 2.36271797e+02] [-1.92953168e-01 9.81186170e-01 -6.54025839e-03 -3.74100344e+01] [-3.26039256e-02 2.50462486e-04 9.99468319e-01 -1.00512415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.30, Y:-37.42, Z:-10.05 [[ 9.80400732e-01 1.94247049e-01 3.29011887e-02 2.36302633e+02] [-1.94130076e-01 9.80952615e-01 -6.74388618e-03 -3.74170831e+01] [-3.35844871e-02 2.24600662e-04 9.99435857e-01 -1.00519749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.33, Y:-37.42, Z:-10.05 [[ 9.80089502e-01 1.95711299e-01 3.34911299e-02 2.36334381e+02] [-1.95590738e-01 9.80661539e-01 -6.87091986e-03 -3.74224623e+01] [-3.41881796e-02 1.83561600e-04 9.99415396e-01 -1.00521221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.37, Y:-37.43, Z:-10.05 [[ 9.79323093e-01 1.99444499e-01 3.38846816e-02 2.36366686e+02] [-1.99323114e-01 9.79909122e-01 -6.95758182e-03 -3.74259888e+01] [-3.45915600e-02 5.97203092e-05 9.99401531e-01 -1.00520907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.40, Y:-37.43, Z:-10.05 [[ 9.78883516e-01 2.01555476e-01 3.40947637e-02 2.36397918e+02] [-2.01433656e-01 9.79477100e-01 -7.00661059e-03 -3.74306807e+01] [-3.48072610e-02 -9.17728086e-06 9.99394044e-01 -1.00540164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.43, Y:-37.43, Z:-10.06 [[ 9.77972744e-01 2.06217054e-01 3.23084985e-02 2.36430898e+02] [-2.06110016e-01 9.78506260e-01 -6.64530184e-03 -3.74309866e+01] [-3.29844426e-02 -1.60181077e-04 9.99455852e-01 -1.00582497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.46, Y:-37.44, Z:-10.06 [[ 9.77555180e-01 2.08360556e-01 3.11728885e-02 2.36463112e+02] [-2.08261843e-01 9.78052059e-01 -6.41672084e-03 -3.74352531e+01] [-3.18256993e-02 -2.19424511e-04 9.99493410e-01 -1.00605772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.49, Y:-37.44, Z:-10.06 [[ 9.77189342e-01 2.10115041e-01 3.08651842e-02 2.36493425e+02] [-2.10018938e-01 9.77676633e-01 -6.35985583e-03 -3.74394601e+01] [-3.15124707e-02 -2.67489864e-04 9.99503323e-01 -1.00634942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.52, Y:-37.44, Z:-10.07 [[ 9.76874020e-01 2.11577552e-01 3.08559392e-02 2.36523944e+02] [-2.11482179e-01 9.77361162e-01 -6.35974498e-03 -3.74439410e+01] [-3.15029758e-02 -3.12811615e-04 9.99503609e-01 -1.00662735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.56, Y:-37.45, Z:-10.07 [[ 9.76549226e-01 2.13163399e-01 3.02154839e-02 2.36555833e+02] [-2.13072563e-01 9.77016500e-01 -6.23229681e-03 -3.74507910e+01] [-3.08495239e-02 -3.51945962e-04 9.99523978e-01 -1.00670253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264000000004 meters Centerline goodness [0,1] 0.9999356292243321 Centerline is valid? [True, True] Translation: X:236.59, Y:-37.46, Z:-10.07 [[ 9.76438902e-01 2.13728740e-01 2.97841701e-02 2.36586456e+02] [-2.13640553e-01 9.76892981e-01 -6.14954914e-03 -3.74562765e+01] [-3.04102821e-02 -3.58447556e-04 9.99537436e-01 -1.00706203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.62, Y:-37.46, Z:-10.07 [[ 9.76337919e-01 2.14201522e-01 2.96980816e-02 2.36618283e+02] [-2.14114022e-01 9.76789420e-01 -6.13313723e-03 -3.74635303e+01] [-3.03224993e-02 -3.70761250e-04 9.99540099e-01 -1.00706258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264000000004 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:236.65, Y:-37.47, Z:-10.07 [[ 9.76118857e-01 2.15214019e-01 2.95787608e-02 2.36648533e+02] [-2.15127476e-01 9.76566829e-01 -6.11537875e-03 -3.74683979e+01] [-3.02017519e-02 -3.93867652e-04 9.99543745e-01 -1.00729836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.68, Y:-37.47, Z:-10.07 [[ 9.76030764e-01 2.15667056e-01 2.91833495e-02 2.36680484e+02] [-2.15582910e-01 9.76466877e-01 -6.03712444e-03 -3.74747265e+01] [-2.97985830e-02 -3.99012245e-04 9.99555844e-01 -1.00745807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000004 meters Centerline goodness [0,1] 0.9999574640039133 Centerline is valid? [True, True] Translation: X:236.71, Y:-37.48, Z:-10.08 [[ 9.75829019e-01 2.16562711e-01 2.92970669e-02 2.36711958e+02] [-2.16478157e-01 9.76268617e-01 -6.06582855e-03 -3.74807043e+01] [-2.99154392e-02 -4.22963507e-04 9.99552344e-01 -1.00753754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.74, Y:-37.49, Z:-10.08 [[ 9.75744398e-01 2.16910949e-01 2.95382762e-02 2.36743932e+02] [-2.16824977e-01 9.76191300e-01 -6.12171235e-03 -3.74859865e+01] [-3.01628747e-02 -4.31409523e-04 9.99544904e-01 -1.00770597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000005 meters Centerline goodness [0,1] 0.9999362421099611 Centerline is valid? [True, True] Translation: X:236.77, Y:-37.49, Z:-10.08 [[ 9.75712111e-01 2.17086566e-01 2.93138188e-02 2.36774214e+02] [-2.17001855e-01 9.76152262e-01 -6.07918278e-03 -3.74917140e+01] [-2.99344594e-02 -4.29620808e-04 9.99551771e-01 -1.00791256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.81, Y:-37.50, Z:-10.08 [[ 9.75721503e-01 2.17099345e-01 2.89036914e-02 2.36805708e+02] [-2.17016945e-01 9.76149423e-01 -5.99577156e-03 -3.74987402e+01] [-2.95159997e-02 -4.22387569e-04 9.99564219e-01 -1.00794199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.84, Y:-37.50, Z:-10.08 [[ 9.75641217e-01 2.17430986e-01 2.91201384e-02 2.36836211e+02] [-2.17347336e-01 9.76075602e-01 -6.04600092e-03 -3.75035859e+01] [-2.97380445e-02 -4.30456818e-04 9.99557634e-01 -1.00804887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71264000000002 meters Centerline goodness [0,1] 0.9999786151148369 Centerline is valid? [True, True] Translation: X:236.87, Y:-37.51, Z:-10.08 [[ 9.75588186e-01 2.17671664e-01 2.90987620e-02 2.36866958e+02] [-2.17588079e-01 9.76021957e-01 -6.04714417e-03 -3.75081790e+01] [-2.97173225e-02 -4.32021289e-04 9.99558249e-01 -1.00818533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.90, Y:-37.51, Z:-10.08 [[ 9.75505197e-01 2.17966641e-01 2.96673925e-02 2.36898290e+02] [-2.17879772e-01 9.75956118e-01 -6.16930502e-03 -3.75122024e+01] [-3.02987759e-02 -4.45735589e-04 9.99540787e-01 -1.00809040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:236.93, Y:-37.52, Z:-10.08 [[ 9.75500029e-01 2.17989790e-01 2.96672468e-02 2.36928445e+02] [-2.17902910e-01 9.75950948e-01 -6.17000536e-03 -3.75185197e+01] [-3.02987758e-02 -4.45739009e-04 9.99540787e-01 -1.00822680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264000000003 meters Centerline goodness [0,1] 0.9999574848008163 Centerline is valid? [True, True] Translation: X:236.96, Y:-37.52, Z:-10.08 [[ 9.75487114e-01 2.17961313e-01 3.02944894e-02 2.36958438e+02] [-2.17870677e-01 9.75957305e-01 -6.30138925e-03 -3.75227877e+01] [-3.09395873e-02 -4.53356913e-04 9.99521154e-01 -1.00839686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83264000000003 meters Centerline goodness [0,1] 0.9999786489025536 Centerline is valid? [True, True] Translation: X:236.99, Y:-37.53, Z:-10.08 [[ 9.75605152e-01 2.17431495e-01 3.03006832e-02 2.36988923e+02] [-2.17340565e-01 9.76075486e-01 -6.30273448e-03 -3.75305991e+01] [-3.09461671e-02 -4.36587385e-04 9.99520957e-01 -1.00836694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.02, Y:-37.54, Z:-10.09 [[ 9.75401377e-01 2.17966485e-01 3.29054043e-02 2.37018020e+02] [-2.17911832e-01 9.75954167e-01 -5.28176289e-03 -3.75403931e+01] [-3.32654137e-02 -2.01863812e-03 9.99444514e-01 -1.00860097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.05, Y:-37.54, Z:-10.09 [[ 9.75998542e-01 2.15967958e-01 2.80122560e-02 2.37051833e+02] [-2.15848139e-01 9.76399889e-01 -7.26900841e-03 -3.75427135e+01] [-2.89210366e-02 1.04814827e-03 9.99581150e-01 -1.00893712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.08, Y:-37.55, Z:-10.09 [[ 9.76093566e-01 2.15505739e-01 2.82599942e-02 2.37081712e+02] [-2.15425625e-01 9.76502514e-01 -5.88566812e-03 -3.75482782e+01] [-2.88643506e-02 -3.42964128e-04 9.99583279e-01 -1.00923572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.11, Y:-37.56, Z:-10.09 [[ 9.76267619e-01 2.14810835e-01 2.75289103e-02 2.37111737e+02] [-2.14734474e-01 9.76655624e-01 -5.73567585e-03 -3.75567442e+01] [-2.81183504e-02 -3.11851463e-04 9.99604552e-01 -1.00915956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.14, Y:-37.56, Z:-10.09 [[ 9.76322309e-01 2.14583770e-01 2.73597376e-02 2.37141559e+02] [-2.14508231e-01 9.76705541e-01 -5.70131146e-03 -3.75618623e+01] [-2.79458163e-02 -3.02571352e-04 9.99609394e-01 -1.00938981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.17, Y:-37.57, Z:-10.09 [[ 9.76452500e-01 2.13962283e-01 2.75799892e-02 2.37171955e+02] [-2.13885264e-01 9.76841880e-01 -5.74756094e-03 -3.75665239e+01] [-2.81710498e-02 -2.86733039e-04 9.99603076e-01 -1.00946261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.20, Y:-37.57, Z:-10.09 [[ 9.76480416e-01 2.13765254e-01 2.81143047e-02 2.37201521e+02] [-2.13685124e-01 9.76885016e-01 -5.85945563e-03 -3.75723014e+01] [-2.87169910e-02 -2.85965022e-04 9.99587541e-01 -1.00948330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.23, Y:-37.58, Z:-10.09 [[ 9.76531336e-01 2.13498685e-01 2.83700700e-02 2.37231880e+02] [-2.13416989e-01 9.76943311e-01 -5.91238986e-03 -3.75792160e+01] [-2.89782375e-02 -2.81020934e-04 9.99580003e-01 -1.00946557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.26, Y:-37.59, Z:-10.09 [[ 9.76531084e-01 2.13474601e-01 2.85593539e-02 2.37263308e+02] [-2.13391846e-01 9.76948573e-01 -5.95029412e-03 -3.75866662e+01] [-2.91712567e-02 -2.83686073e-04 9.99574388e-01 -1.00945581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.29, Y:-37.59, Z:-10.10 [[ 9.76582779e-01 2.13307900e-01 2.80323866e-02 2.37294186e+02] [-2.13227929e-01 9.76984989e-01 -5.84654576e-03 -3.75923483e+01] [-2.86343353e-02 -2.67651831e-04 9.99589918e-01 -1.00977379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.33, Y:-37.60, Z:-10.10 [[ 9.76491592e-01 2.13700155e-01 2.82208026e-02 2.37325505e+02] [-2.13619154e-01 9.76899261e-01 -5.88983888e-03 -3.75977745e+01] [-2.88275407e-02 -2.77125816e-04 9.99584362e-01 -1.00981734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19264000000004 meters Centerline goodness [0,1] 0.9997872883519101 Centerline is valid? [True, True] Translation: X:237.36, Y:-37.60, Z:-10.10 [[ 9.76309992e-01 2.14508381e-01 2.83717109e-02 2.37355877e+02] [-2.14426826e-01 9.76722102e-01 -5.92223344e-03 -3.76023031e+01] [-2.89816458e-02 -3.01720224e-04 9.99579898e-01 -1.01008494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264000000004 meters Centerline goodness [0,1] 0.9999786119131644 Centerline is valid? [True, True] Translation: X:237.39, Y:-37.61, Z:-10.10 [[ 9.76102287e-01 2.15583023e-01 2.73547998e-02 2.37385170e+02] [-2.15507612e-01 9.76485462e-01 -5.71068030e-03 -3.76052737e+01] [-2.79426900e-02 -3.20959471e-04 9.99609475e-01 -1.01033663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.42, Y:-37.61, Z:-10.11 [[ 9.75571951e-01 2.18091207e-01 2.63741189e-02 2.37415588e+02] [-2.18022026e-01 9.75928318e-01 -5.50584854e-03 -3.76057824e+01] [-2.69400266e-02 -3.78787431e-04 9.99636980e-01 -1.01066149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.45, Y:-37.61, Z:-10.11 [[ 9.75316132e-01 2.19318005e-01 2.56525854e-02 2.37445502e+02] [-2.19252997e-01 9.75653346e-01 -5.35462784e-03 -3.76093457e+01] [-2.62023970e-02 -4.01951310e-04 9.99656577e-01 -1.01087338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31264000000004 meters Centerline goodness [0,1] 0.9998493392449744 Centerline is valid? [True, True] Translation: X:237.48, Y:-37.61, Z:-10.11 [[ 9.75031139e-01 2.20696430e-01 2.46447604e-02 2.37475065e+02] [-2.20636885e-01 9.75342456e-01 -5.14371170e-03 -3.76131955e+01] [-2.51722799e-02 -4.22264081e-04 9.99683039e-01 -1.01110432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000005 meters Centerline goodness [0,1] 0.9999787514342782 Centerline is valid? [True, True] Translation: X:237.50, Y:-37.62, Z:-10.11 [[ 9.75017833e-01 2.20710398e-01 2.50428870e-02 2.37502640e+02] [-2.20648916e-01 9.75339293e-01 -5.22684157e-03 -3.76164195e+01] [-2.55789299e-02 -4.29422132e-04 9.99672713e-01 -1.01129060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37264000000005 meters Centerline goodness [0,1] 0.9999786921224777 Centerline is valid? [True, True] Translation: X:237.53, Y:-37.62, Z:-10.11 [[ 9.75057893e-01 2.20492098e-01 2.54035417e-02 2.37529682e+02] [-2.20428802e-01 9.75388665e-01 -5.30043210e-03 -3.76206341e+01] [-2.59470300e-02 -4.31444114e-04 9.99663226e-01 -1.01143770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.56, Y:-37.63, Z:-10.11 [[ 9.75203824e-01 2.19832158e-01 2.55210653e-02 2.37557830e+02] [-2.19768096e-01 9.75537620e-01 -5.32315132e-03 -3.76270180e+01] [-2.60669591e-02 -4.17558411e-04 9.99660112e-01 -1.01139748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.59, Y:-37.63, Z:-10.12 [[ 9.75263675e-01 2.19555555e-01 2.56148807e-02 2.37585428e+02] [-2.19490953e-01 9.75599912e-01 -5.34166882e-03 -3.76310164e+01] [-2.61626684e-02 -4.12699000e-04 9.99657614e-01 -1.01159064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264000000002 meters Centerline goodness [0,1] 0.9998722099165105 Centerline is valid? [True, True] Translation: X:237.61, Y:-37.64, Z:-10.11 [[ 9.75234285e-01 2.19619749e-01 2.61773710e-02 2.37613753e+02] [-2.19552350e-01 9.75585458e-01 -5.45713246e-03 -3.76383592e+01] [-2.67367566e-02 -4.25320656e-04 9.99642419e-01 -1.01136625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49264000000002 meters Centerline goodness [0,1] 0.9999784918484106 Centerline is valid? [True, True] Translation: X:237.64, Y:-37.64, Z:-10.12 [[ 9.75124857e-01 2.20203152e-01 2.53393903e-02 2.37642143e+02] [-2.20140219e-01 9.75453940e-01 -5.28160163e-03 -3.76375294e+01] [-2.58804334e-02 -4.27997902e-04 9.99664954e-01 -1.01190974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.67, Y:-37.64, Z:-10.12 [[ 9.74997134e-01 2.20776829e-01 2.52622537e-02 2.37670103e+02] [-2.20714527e-01 9.75324251e-01 -5.26335340e-03 -3.76440979e+01] [-2.58009151e-02 -4.43991890e-04 9.99667002e-01 -1.01177843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55264000000003 meters Centerline goodness [0,1] 0.9999359097609434 Centerline is valid? [True, True] Translation: X:237.70, Y:-37.65, Z:-10.12 [[ 9.74882346e-01 2.21245839e-01 2.55869179e-02 2.37698221e+02] [-2.21182115e-01 9.75217957e-01 -5.32991691e-03 -3.76478674e+01] [-2.61320437e-02 -4.63326709e-04 9.99658392e-01 -1.01189433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264000000003 meters Centerline goodness [0,1] 0.9999361022364217 Centerline is valid? [True, True] Translation: X:237.73, Y:-37.65, Z:-10.12 [[ 9.74798170e-01 2.21615040e-01 2.55988736e-02 2.37727253e+02] [-2.21551431e-01 9.75134118e-01 -5.33061870e-03 -3.76515981e+01] [-2.61436803e-02 -4.75189707e-04 9.99658083e-01 -1.01203192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61264000000003 meters Centerline goodness [0,1] 0.9999144439928989 Centerline is valid? [True, True] Translation: X:237.76, Y:-37.66, Z:-10.12 [[ 9.74858737e-01 2.21342323e-01 2.56518698e-02 2.37755323e+02] [-2.21278388e-01 9.75196060e-01 -5.34040748e-03 -3.76562978e+01] [-2.61976606e-02 -4.70061511e-04 9.99656672e-01 -1.01211719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264000000003 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:237.78, Y:-37.66, Z:-10.12 [[ 9.75014582e-01 2.20664738e-01 2.55663455e-02 2.37783620e+02] [-2.20601028e-01 9.75349614e-01 -5.32135473e-03 -3.76627787e+01] [-2.61103606e-02 -4.51563649e-04 9.99658964e-01 -1.01226939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67264000000003 meters Centerline goodness [0,1] 0.999978750982767 Centerline is valid? [True, True] Translation: X:237.81, Y:-37.67, Z:-10.13 [[ 9.75349273e-01 2.19248975e-01 2.49736344e-02 2.37811620e+02] [-2.19187752e-01 9.75668859e-01 -5.19681205e-03 -3.76706795e+01] [-2.55053931e-02 -4.05207925e-04 9.99674602e-01 -1.01252466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.84, Y:-37.68, Z:-10.13 [[ 9.75586685e-01 2.18235189e-01 2.45768770e-02 2.37839087e+02] [-2.18175598e-01 9.75896133e-01 -5.11330266e-03 -3.76769973e+01] [-2.51003818e-02 -3.73604847e-04 9.99684866e-01 -1.01272297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73264000000003 meters Centerline goodness [0,1] 0.9999784575613959 Centerline is valid? [True, True] Translation: X:237.87, Y:-37.68, Z:-10.13 [[ 9.75788525e-01 2.17441832e-01 2.35755027e-02 2.37866822e+02] [-2.17386805e-01 9.76073221e-01 -4.90340255e-03 -3.76837871e+01] [-2.40776217e-02 -3.40319270e-04 9.99710034e-01 -1.01291031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264000000003 meters Centerline goodness [0,1] 0.9996996417154749 Centerline is valid? [True, True] Translation: X:237.89, Y:-37.69, Z:-10.13 [[ 9.76214763e-01 2.15568126e-01 2.31326467e-02 2.37894820e+02] [-2.15514647e-01 9.76488760e-01 -4.81019993e-03 -3.76922388e+01] [-2.36256953e-02 -2.89635992e-04 9.99720832e-01 -1.01313000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.92, Y:-37.70, Z:-10.13 [[ 9.76326981e-01 2.14987711e-01 2.37888636e-02 2.37921904e+02] [-2.14931007e-01 9.76616712e-01 -4.94564035e-03 -3.76980472e+01] [-2.42958536e-02 -2.84402285e-04 9.99704772e-01 -1.01315190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264000000004 meters Centerline goodness [0,1] 0.9998931715238014 Centerline is valid? [True, True] Translation: X:237.95, Y:-37.70, Z:-10.13 [[ 9.76534365e-01 2.13986265e-01 2.43004698e-02 2.37949085e+02] [-2.13926824e-01 9.76836633e-01 -5.05041790e-03 -3.77039262e+01] [-2.48183092e-02 -2.66615676e-04 9.99691943e-01 -1.01322553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:237.98, Y:-37.71, Z:-10.13 [[ 9.76747952e-01 2.12894952e-01 2.52819551e-02 2.37977000e+02] [-2.12830295e-01 9.77075062e-01 -5.25250976e-03 -3.77122472e+01] [-2.58206007e-02 -2.50387821e-04 9.99666561e-01 -1.01316147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.01, Y:-37.72, Z:-10.13 [[ 9.76931405e-01 2.12090177e-01 2.49557135e-02 2.38005596e+02] [-2.12026957e-01 9.77250073e-01 -5.18308649e-03 -3.77207376e+01] [-2.54872545e-02 -2.27764020e-04 9.99675121e-01 -1.01322962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.03, Y:-37.73, Z:-10.13 [[ 9.77386505e-01 2.10022838e-01 2.46176091e-02 2.38034595e+02] [-2.09960691e-01 9.77696465e-01 -5.11179537e-03 -3.77325536e+01] [-2.51421431e-02 -1.72530401e-04 9.99683871e-01 -1.01331185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.06, Y:-37.74, Z:-10.14 [[ 9.77586791e-01 2.08999843e-01 2.53600578e-02 2.38063133e+02] [-2.08933540e-01 9.77915662e-01 -5.26619403e-03 -3.77403321e+01] [-2.59006314e-02 -1.50404939e-04 9.99664511e-01 -1.01357544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.09, Y:-37.75, Z:-10.13 [[ 9.77759479e-01 2.08172099e-01 2.55103754e-02 2.38092822e+02] [-2.08104753e-01 9.78092204e-01 -5.29639166e-03 -3.77495723e+01] [-2.60540603e-02 -1.30233216e-04 9.99660527e-01 -1.01343136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.12, Y:-37.76, Z:-10.14 [[ 9.78092304e-01 2.06799096e-01 2.38658324e-02 2.38121786e+02] [-2.06739763e-01 9.78383425e-01 -4.95425386e-03 -3.77599985e+01] [-2.43744701e-02 -8.82989439e-05 9.99702895e-01 -1.01409329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.15, Y:-37.77, Z:-10.14 [[ 9.78246658e-01 2.06132293e-01 2.33013557e-02 2.38150654e+02] [-2.06075453e-01 9.78524130e-01 -4.84086581e-03 -3.77686547e+01] [-2.37987976e-02 -6.62766452e-05 9.99716766e-01 -1.01430193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.18, Y:-37.78, Z:-10.15 [[ 9.78406471e-01 2.05309581e-01 2.38485549e-02 2.38179155e+02] [-2.05249802e-01 9.78697080e-01 -4.95430891e-03 -3.77796251e+01] [-2.43576781e-02 -4.75832687e-05 9.99703307e-01 -1.01459349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.21, Y:-37.79, Z:-10.14 [[ 9.78441304e-01 2.05215387e-01 2.32219621e-02 2.38209022e+02] [-2.05158682e-01 9.78716835e-01 -4.82414767e-03 -3.77884438e+01] [-2.37177146e-02 -4.40417932e-05 9.99718694e-01 -1.01444164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.24, Y:-37.80, Z:-10.15 [[ 9.78346904e-01 2.05681374e-01 2.30761286e-02 2.38240320e+02] [-2.05625568e-01 9.78619011e-01 -4.79130549e-03 -3.77972108e+01] [-2.35682204e-02 -5.74831541e-05 9.99722229e-01 -1.01451122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15264000000002 meters Centerline goodness [0,1] 0.9998722806420026 Centerline is valid? [True, True] Translation: X:238.27, Y:-37.81, Z:-10.15 [[ 9.78045446e-01 2.07018381e-01 2.38850389e-02 2.38270453e+02] [-2.06958874e-01 9.78337049e-01 -4.96410220e-03 -3.78059385e+01] [-2.43952788e-02 -8.81031972e-05 9.99702387e-01 -1.01476280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.30, Y:-37.81, Z:-10.15 [[ 9.77730316e-01 2.08507501e-01 2.38338418e-02 2.38302364e+02] [-2.08448601e-01 9.78020760e-01 -4.95715288e-03 -3.78126550e+01] [-2.43435956e-02 -1.21372335e-04 9.99703643e-01 -1.01470884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.33, Y:-37.82, Z:-10.15 [[ 9.77411646e-01 2.09878751e-01 2.48472345e-02 2.38332200e+02] [-2.09815005e-01 9.77727409e-01 -5.17472493e-03 -3.78171142e+01] [-2.53798870e-02 -1.55486222e-04 9.99677867e-01 -1.01508189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.36, Y:-37.82, Z:-10.15 [[ 9.76569689e-01 2.13638212e-01 2.58912400e-02 2.38363584e+02] [-2.13570248e-01 9.76912814e-01 -5.39473087e-03 -3.78226677e+01] [-2.64460048e-02 -2.61267897e-04 9.99650209e-01 -1.01477316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.39, Y:-37.84, Z:-10.15 [[ 9.75766256e-01 2.13847989e-01 4.63600253e-02 2.38388011e+02] [-2.15079980e-01 9.76316210e-01 2.33935973e-02 -3.78441266e+01] [-4.02593704e-02 -3.27977961e-02 9.98650834e-01 -1.01537493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:238.43, Y:-37.81, Z:-10.15 [[ 9.75390283e-01 2.19537036e-01 2.04275555e-02 2.38427013e+02] [-2.18716927e-01 9.75116156e-01 -3.62130909e-02 -3.78122400e+01] [-2.78693540e-02 3.08540448e-02 9.99135290e-01 -1.01512694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33264000000003 meters Centerline goodness [0,1] 0.9999575866822182 Centerline is valid? [True, True] Translation: X:238.45, Y:-37.83, Z:-10.15 [[ 9.74858067e-01 2.21192240e-01 2.69395957e-02 2.38452517e+02] [-2.21121452e-01 9.75230107e-01 -5.61625788e-03 -3.78302094e+01] [-2.75145774e-02 -4.81868220e-04 9.99621286e-01 -1.01525595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264000000003 meters Centerline goodness [0,1] 0.9999786274551711 Centerline is valid? [True, True] Translation: X:238.48, Y:-37.83, Z:-10.16 [[ 9.73498715e-01 2.27259524e-01 2.55609343e-02 2.38483540e+02] [-2.27197919e-01 9.73834033e-01 -5.32751922e-03 -3.78269148e+01] [-2.61028372e-02 -6.21057957e-04 9.99659070e-01 -1.01568590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39264000000003 meters Centerline goodness [0,1] 0.9999358178939711 Centerline is valid? [True, True] Translation: X:238.51, Y:-37.83, Z:-10.16 [[ 9.72845748e-01 2.30106177e-01 2.49459175e-02 2.38512734e+02] [-2.30048431e-01 9.73165291e-01 -5.19952895e-03 -3.78303522e+01] [-2.54729448e-02 -6.80429540e-04 9.99675280e-01 -1.01577147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264000000003 meters Centerline goodness [0,1] 0.9992326875119892 Centerline is valid? [True, True] Translation: X:238.54, Y:-37.82, Z:-10.16 [[ 9.71692512e-01 2.34934438e-01 2.48891904e-02 2.38544045e+02] [-2.34878570e-01 9.72010884e-01 -5.18631386e-03 -3.78243228e+01] [-2.54110077e-02 -8.06435112e-04 9.99676763e-01 -1.01615610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45264000000003 meters Centerline goodness [0,1] 0.9994019394250074 Centerline is valid? [True, True] Translation: X:238.57, Y:-37.83, Z:-10.16 [[ 9.71223951e-01 2.36824977e-01 2.52580195e-02 2.38573771e+02] [-2.36768081e-01 9.71551942e-01 -5.26306751e-03 -3.78264852e+01] [-2.57859038e-02 -8.68675597e-04 9.99667111e-01 -1.01613115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264000000003 meters Centerline goodness [0,1] 0.9997021846880385 Centerline is valid? [True, True] Translation: X:238.60, Y:-37.83, Z:-10.16 [[ 9.70888427e-01 2.38129683e-01 2.58827302e-02 2.38602455e+02] [-2.38070407e-01 9.71232926e-01 -5.39303121e-03 -3.78304000e+01] [-2.64224006e-02 -9.25880525e-04 9.99650439e-01 -1.01608376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51264000000003 meters Centerline goodness [0,1] 0.9960565993968916 Centerline is valid? [True, True] Translation: X:238.63, Y:-37.83, Z:-10.16 [[ 9.70620042e-01 2.39236933e-01 2.57375901e-02 2.38631193e+02] [-2.39178729e-01 9.70960753e-01 -5.36198696e-03 -3.78260817e+01] [-2.62729752e-02 -9.51432079e-04 9.99654353e-01 -1.01644040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264000000003 meters Centerline goodness [0,1] 0.9977196197945527 Centerline is valid? [True, True] Translation: X:238.66, Y:-37.83, Z:-10.16 [[ 9.70616237e-01 2.39259163e-01 2.56743551e-02 2.38659836e+02] [-2.39201313e-01 9.70955275e-01 -5.34651447e-03 -3.78308945e+01] [-2.62078531e-02 -9.51925690e-04 9.99656062e-01 -1.01649934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57264000000004 meters Centerline goodness [0,1] 0.9995959853704176 Centerline is valid? [True, True] Translation: X:238.69, Y:-37.84, Z:-10.16 [[ 9.70755201e-01 2.38636364e-01 2.62111772e-02 2.38687231e+02] [-2.38575876e-01 9.71108527e-01 -5.45707320e-03 -3.78392777e+01] [-2.67561538e-02 -9.55872372e-04 9.99641533e-01 -1.01632078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264000000004 meters Centerline goodness [0,1] 0.9996394103298335 Centerline is valid? [True, True] Translation: X:238.72, Y:-37.84, Z:-10.16 [[ 9.70909005e-01 2.37953569e-01 2.67171038e-02 2.38715414e+02] [-2.37890501e-01 9.71276060e-01 -5.56105879e-03 -3.78442511e+01] [-2.72729571e-02 -9.56463141e-04 9.99627566e-01 -1.01635179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63264000000004 meters Centerline goodness [0,1] 0.9996799453773444 Centerline is valid? [True, True] Translation: X:238.74, Y:-37.85, Z:-10.16 [[ 9.71430720e-01 2.35751156e-01 2.72717476e-02 2.38744940e+02] [-2.35684631e-01 9.71813025e-01 -5.67450665e-03 -3.78506372e+01] [-2.78408111e-02 -9.15141687e-04 9.99611951e-01 -1.01637634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264000000004 meters Centerline goodness [0,1] 0.9998936260743766 Centerline is valid? [True, True] Translation: X:238.77, Y:-37.85, Z:-10.16 [[ 9.71667578e-01 2.34757094e-01 2.74084926e-02 2.38772355e+02] [-2.34689489e-01 9.72053658e-01 -5.70352523e-03 -3.78538714e+01] [-2.79814685e-02 -8.90554581e-04 9.99608045e-01 -1.01642743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69264000000004 meters Centerline goodness [0,1] 0.9998936260743766 Centerline is valid? [True, True] Translation: X:238.80, Y:-37.86, Z:-10.17 [[ 9.71684225e-01 2.34688139e-01 2.74088438e-02 2.38799292e+02] [-2.34620554e-01 9.72070309e-01 -5.70183705e-03 -3.78593395e+01] [-2.79814767e-02 -8.90292986e-04 9.99608045e-01 -1.01655063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264000000004 meters Centerline goodness [0,1] 0.9998934946534316 Centerline is valid? [True, True] Translation: X:238.83, Y:-37.86, Z:-10.17 [[ 9.72115038e-01 2.32823487e-01 2.80281532e-02 2.38827680e+02] [-2.32752111e-01 9.72518631e-01 -5.82812937e-03 -3.78616846e+01] [-2.86148266e-02 -8.57999635e-04 9.99590144e-01 -1.01658279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75264000000004 meters Centerline goodness [0,1] 0.9999570077386071 Centerline is valid? [True, True] Translation: X:238.86, Y:-37.87, Z:-10.16 [[ 9.72305182e-01 2.31995618e-01 2.82960372e-02 2.38855999e+02] [-2.31922561e-01 9.72716466e-01 -5.88245238e-03 -3.78690793e+01] [-2.88887244e-02 -8.42950470e-04 9.99582278e-01 -1.01649483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000004 meters Centerline goodness [0,1] 0.9999571440815976 Centerline is valid? [True, True] Translation: X:238.88, Y:-37.87, Z:-10.17 [[ 9.72503987e-01 2.31118515e-01 2.86395918e-02 2.38884054e+02] [-2.31043331e-01 9.72925252e-01 -5.95257983e-03 -3.78689574e+01] [-2.92399335e-02 -8.28079064e-04 9.99572079e-01 -1.01671897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81264000000004 meters Centerline goodness [0,1] 0.9999146375296101 Centerline is valid? [True, True] Translation: X:238.91, Y:-37.87, Z:-10.17 [[ 9.73098947e-01 2.28529862e-01 2.91983185e-02 2.38913980e+02] [-2.28450629e-01 9.73536601e-01 -6.06604634e-03 -3.78722715e+01] [-2.98119045e-02 -7.67510936e-04 9.99555232e-01 -1.01682768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000005 meters Centerline goodness [0,1] 0.9999571541806809 Centerline is valid? [True, True] Translation: X:238.94, Y:-37.88, Z:-10.17 [[ 9.73564038e-01 2.26549138e-01 2.91299003e-02 2.38941753e+02] [-2.26469384e-01 9.73999482e-01 -6.05202452e-03 -3.78797577e+01] [-2.97435887e-02 -7.04997159e-04 9.99557313e-01 -1.01693412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87264000000005 meters Centerline goodness [0,1] 0.9999575479707931 Centerline is valid? [True, True] Translation: X:238.97, Y:-37.89, Z:-10.17 [[ 9.74637297e-01 2.21981061e-01 2.83997978e-02 2.38969929e+02] [-2.21903366e-01 9.75050821e-01 -5.89861596e-03 -3.78883605e+01] [-2.90006272e-02 -5.52999596e-04 9.99579240e-01 -1.01715766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.00, Y:-37.89, Z:-10.17 [[ 9.75168022e-01 2.19772628e-01 2.73371840e-02 2.38998235e+02] [-2.19699777e-01 9.75551009e-01 -5.67768620e-03 -3.78948928e+01] [-2.79166174e-02 -4.69275205e-04 9.99610145e-01 -1.01744061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.03, Y:-37.90, Z:-10.18 [[ 9.75601087e-01 2.17908843e-01 2.68002995e-02 2.39025899e+02] [-2.17838164e-01 9.75969041e-01 -5.56466194e-03 -3.79002703e+01] [-2.73688516e-02 -4.09237807e-04 9.99625319e-01 -1.01779747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.05, Y:-37.90, Z:-10.18 [[ 9.75959290e-01 2.16332886e-01 2.65244351e-02 2.39053074e+02] [-2.16263089e-01 9.76319595e-01 -5.50683290e-03 -3.79049304e+01] [-2.70876348e-02 -3.61811541e-04 9.99632997e-01 -1.01803526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.08, Y:-37.91, Z:-10.18 [[ 9.76272735e-01 2.14859639e-01 2.69607485e-02 2.39080980e+02] [-2.14787012e-01 9.76644883e-01 -5.59567878e-03 -3.79065919e+01] [-2.75333626e-02 -3.27909979e-04 9.99620831e-01 -1.01810579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264000000002 meters Centerline goodness [0,1] 0.9999786393250026 Centerline is valid? [True, True] Translation: X:239.11, Y:-37.91, Z:-10.18 [[ 9.76348414e-01 2.14522846e-01 2.69021035e-02 2.39108740e+02] [-2.14450446e-01 9.76718919e-01 -5.58207123e-03 -3.79096963e+01] [-2.74732753e-02 -3.19121706e-04 9.99622487e-01 -1.01823407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.14, Y:-37.91, Z:-10.18 [[ 9.76319289e-01 2.14694086e-01 2.65912552e-02 2.39137197e+02] [-2.14623471e-01 9.76681292e-01 -5.51544428e-03 -3.79085041e+01] [-2.71553148e-02 -3.22272856e-04 9.99631174e-01 -1.01844578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.17, Y:-37.91, Z:-10.19 [[ 9.76298563e-01 2.14818385e-01 2.63472394e-02 2.39165530e+02] [-2.14749153e-01 9.76653959e-01 -5.46303866e-03 -3.79117773e+01] [-2.69056968e-02 -3.24490562e-04 9.99637924e-01 -1.01859371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.19, Y:-37.92, Z:-10.19 [[ 9.76326284e-01 2.14743338e-01 2.59284723e-02 2.39193733e+02] [-2.14676297e-01 9.76670465e-01 -5.37498044e-03 -3.79153985e+01] [-2.64778143e-02 -3.18493734e-04 9.99649350e-01 -1.01881060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.22, Y:-37.92, Z:-10.19 [[ 9.76480148e-01 2.14071067e-01 2.56923923e-02 2.39222922e+02] [-2.14005040e-01 9.76818043e-01 -5.32480555e-03 -3.79172529e+01] [-2.62366792e-02 -2.98734543e-04 9.99655714e-01 -1.01896085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17264000000003 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:239.25, Y:-37.92, Z:-10.19 [[ 9.76573870e-01 2.13658758e-01 2.55619047e-02 2.39250686e+02] [-2.13593280e-01 9.76908313e-01 -5.29697455e-03 -3.79204665e+01] [-2.61033822e-02 -2.86964130e-04 9.99659207e-01 -1.01910575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.28, Y:-37.92, Z:-10.19 [[ 9.76614821e-01 2.13410302e-01 2.60678922e-02 2.39278346e+02] [-2.13342177e-01 9.76962620e-01 -5.39955639e-03 -3.79228437e+01] [-2.66196772e-02 -2.88094088e-04 9.99645592e-01 -1.01920277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.31, Y:-37.92, Z:-10.19 [[ 9.76563644e-01 2.13555553e-01 2.67857355e-02 2.39307948e+02] [-2.13483732e-01 9.76930875e-01 -5.54629372e-03 -3.79244723e+01] [-2.73522538e-02 -3.02009981e-04 9.99625811e-01 -1.01898058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.34, Y:-37.93, Z:-10.19 [[ 9.76550659e-01 2.13622716e-01 2.67234923e-02 2.39335791e+02] [-2.13551286e-01 9.76916190e-01 -5.53224563e-03 -3.79269429e+01] [-2.72884256e-02 -3.04318036e-04 9.99627555e-01 -1.01922899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.36, Y:-37.93, Z:-10.19 [[ 9.76680776e-01 2.12943540e-01 2.73808551e-02 2.39363481e+02] [-2.12868336e-01 9.77064462e-01 -5.66649202e-03 -3.79294929e+01] [-2.79595033e-02 -2.94163243e-04 9.99609013e-01 -1.01943550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.39, Y:-37.93, Z:-10.19 [[ 9.76738139e-01 2.12570098e-01 2.82234107e-02 2.39391920e+02] [-2.12490097e-01 9.77145776e-01 -5.83882015e-03 -3.79348166e+01] [-2.88195451e-02 -2.94196927e-04 9.99584587e-01 -1.01933707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.42, Y:-37.94, Z:-10.19 [[ 9.76829036e-01 2.12092080e-01 2.86702685e-02 2.39419901e+02] [-2.12009362e-01 9.77249645e-01 -5.92980974e-03 -3.79399755e+01] [-2.92756754e-02 -2.85955000e-04 9.99571335e-01 -1.01928755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.45, Y:-37.94, Z:-10.20 [[ 9.77133431e-01 2.10643614e-01 2.89745682e-02 2.39448016e+02] [-2.10558532e-01 9.77562892e-01 -5.99142160e-03 -3.79426748e+01] [-2.95865173e-02 -2.46424204e-04 9.99562193e-01 -1.01952620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.48, Y:-37.95, Z:-10.20 [[ 9.77395455e-01 2.09453566e-01 2.87633039e-02 2.39475032e+02] [-2.09369260e-01 9.77818572e-01 -5.94589413e-03 -3.79480792e+01] [-2.93706815e-02 -2.10661763e-04 9.99568566e-01 -1.01976030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264000000004 meters Centerline goodness [0,1] 0.9998927107696929 Centerline is valid? [True, True] Translation: X:239.50, Y:-37.96, Z:-10.20 [[ 9.77698530e-01 2.08181623e-01 2.76766383e-02 2.39502782e+02] [-2.08103109e-01 9.78090172e-01 -5.71946108e-03 -3.79554654e+01] [-2.82609346e-02 -1.67685790e-04 9.99600566e-01 -1.02018788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.53, Y:-37.97, Z:-10.20 [[ 9.78239814e-01 2.05731364e-01 2.68602271e-02 2.39530295e+02] [-2.05656524e-01 9.78608500e-01 -5.54953116e-03 -3.79655950e+01] [-2.74273592e-02 -9.52086288e-05 9.99623795e-01 -1.02036681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.56, Y:-37.97, Z:-10.21 [[ 9.78426705e-01 2.04839320e-01 2.68707183e-02 2.39556253e+02] [-2.04764105e-01 9.78795611e-01 -5.55097239e-03 -3.79703022e+01] [-2.74379986e-02 -7.09389595e-05 9.99623505e-01 -1.02082231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.59, Y:-37.97, Z:-10.21 [[ 9.78493066e-01 2.04429318e-01 2.75676047e-02 2.39585029e+02] [-2.04350083e-01 9.78881326e-01 -5.69156372e-03 -3.79740649e+01] [-2.81489359e-02 -6.42866596e-05 9.99603738e-01 -1.02066153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000004 meters Centerline goodness [0,1] 0.9998927061651037 Centerline is valid? [True, True] Translation: X:239.61, Y:-37.98, Z:-10.21 [[ 9.78476474e-01 2.04478128e-01 2.77936006e-02 2.39613673e+02] [-2.04397631e-01 9.78871131e-01 -5.73739727e-03 -3.79779094e+01] [-2.83795255e-02 -6.70378654e-05 9.99597218e-01 -1.02061217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.64, Y:-37.98, Z:-10.21 [[ 9.78382687e-01 2.04769066e-01 2.89300535e-02 2.39641955e+02] [-2.04682023e-01 9.78810310e-01 -5.97044766e-03 -3.79811194e+01] [-2.95395976e-02 -8.00792472e-05 9.99563608e-01 -1.02059967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.67, Y:-37.98, Z:-10.21 [[ 9.78322901e-01 2.05038570e-01 2.90428338e-02 2.39669108e+02] [-2.04950978e-01 9.78753890e-01 -5.99332060e-03 -3.79846892e+01] [-2.96546484e-02 -8.89543794e-05 9.99560200e-01 -1.02096859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.70, Y:-37.99, Z:-10.21 [[ 9.78288410e-01 2.05239114e-01 2.87870267e-02 2.39697076e+02] [-2.05153277e-01 9.78711856e-01 -5.93605622e-03 -3.79914904e+01] [-2.93925153e-02 -9.85778577e-05 9.99567942e-01 -1.02095357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.72, Y:-38.00, Z:-10.21 [[ 9.78387202e-01 2.04712372e-01 2.91775096e-02 2.39724003e+02] [-2.04623994e-01 9.78822169e-01 -6.01528358e-03 -3.79966456e+01] [-2.97909962e-02 -8.51420543e-05 9.99556146e-01 -1.02120214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.75, Y:-38.00, Z:-10.21 [[ 9.78497238e-01 2.04072893e-01 2.99567920e-02 2.39752813e+02] [-2.03979499e-01 9.78955693e-01 -6.17369897e-03 -3.80025821e+01] [-3.05862567e-02 -6.96240364e-05 9.99532129e-01 -1.02105909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264000000002 meters Centerline goodness [0,1] 0.9998923063668476 Centerline is valid? [True, True] Translation: X:239.78, Y:-38.01, Z:-10.21 [[ 9.78952361e-01 2.01940171e-01 2.95371307e-02 2.39780972e+02] [-2.01848431e-01 9.79397860e-01 -6.08633775e-03 -3.80085584e+01] [-3.01576786e-02 -3.78876483e-06 9.99545154e-01 -1.02123497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.81, Y:-38.02, Z:-10.21 [[ 9.79168497e-01 2.00735193e-01 3.05685641e-02 2.39808190e+02] [-2.00636391e-01 9.79645539e-01 -6.29741362e-03 -3.80154652e+01] [-3.12104699e-02 3.30626678e-05 9.99512834e-01 -1.02135557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.83, Y:-38.02, Z:-10.21 [[ 9.79502516e-01 1.99033749e-01 3.09901414e-02 2.39834557e+02] [-1.98931409e-01 9.79992632e-01 -6.38239282e-03 -3.80230143e+01] [-3.16404218e-02 8.66573257e-05 9.99499313e-01 -1.02145975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.86, Y:-38.03, Z:-10.21 [[ 9.79513384e-01 1.98903019e-01 3.14820477e-02 2.39863361e+02] [-1.98797419e-01 9.80019174e-01 -6.48114329e-03 -3.80277884e+01] [-3.21421293e-02 8.98167901e-05 9.99483304e-01 -1.02147865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.89, Y:-38.03, Z:-10.22 [[ 9.79472317e-01 1.99139877e-01 3.12616282e-02 2.39892174e+02] [-1.99035920e-01 9.79971072e-01 -6.43425331e-03 -3.80321900e+01] [-3.19168077e-02 7.99860775e-05 9.99490526e-01 -1.02163118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.92, Y:-38.04, Z:-10.22 [[ 9.79446706e-01 1.99302800e-01 3.10248899e-02 2.39920742e+02] [-1.99200540e-01 9.79937952e-01 -6.38404418e-03 -3.80375266e+01] [-3.16748249e-02 7.26562180e-05 9.99498224e-01 -1.02178167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.95, Y:-38.04, Z:-10.22 [[ 9.79432824e-01 1.99376607e-01 3.09888959e-02 2.39948156e+02] [-1.99274661e-01 9.79922938e-01 -6.37539932e-03 -3.80417747e+01] [-3.16378353e-02 6.89736390e-05 9.99499396e-01 -1.02193179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:239.98, Y:-38.04, Z:-10.22 [[ 9.79443780e-01 1.99417953e-01 3.03704004e-02 2.39976260e+02] [-1.99320126e-01 9.79914525e-01 -6.24592378e-03 -3.80449095e+01] [-3.10059458e-02 6.40991709e-05 9.99519198e-01 -1.02216454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.00, Y:-38.05, Z:-10.22 [[ 9.79480222e-01 1.99238528e-01 3.03727533e-02 2.40004224e+02] [-1.99140669e-01 9.79951021e-01 -6.24414291e-03 -3.80475535e+01] [-3.10078845e-02 6.75640603e-05 9.99519138e-01 -1.02232911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.03, Y:-38.05, Z:-10.23 [[ 9.79580558e-01 1.98686460e-01 3.07509519e-02 2.40031169e+02] [-1.98585955e-01 9.80063102e-01 -6.31939216e-03 -3.80536209e+01] [-3.13934510e-02 8.36465352e-05 9.99507101e-01 -1.02252072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.06, Y:-38.06, Z:-10.23 [[ 9.79886951e-01 1.97130802e-01 3.10001768e-02 2.40058398e+02] [-1.97027939e-01 9.80377187e-01 -6.36884939e-03 -3.80592588e+01] [-3.16473626e-02 1.32851464e-04 9.99499088e-01 -1.02253893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07264000000004 meters Centerline goodness [0,1] 0.9999132170441726 Centerline is valid? [True, True] Translation: X:240.09, Y:-38.06, Z:-10.23 [[ 9.80119615e-01 1.96001922e-01 3.08023866e-02 2.40085442e+02] [-1.95899887e-01 9.80603497e-01 -6.32575168e-03 -3.80645566e+01] [-3.14447875e-02 1.65809243e-04 9.99505477e-01 -1.02273991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.11, Y:-38.07, Z:-10.23 [[ 9.80332114e-01 1.94793984e-01 3.16898942e-02 2.40112245e+02] [-1.94685418e-01 9.80844157e-01 -6.50596367e-03 -3.80713579e+01] [-3.23501701e-02 2.08444828e-04 9.99476575e-01 -1.02280260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.14, Y:-38.08, Z:-10.23 [[ 9.80590675e-01 1.93383040e-01 3.23253372e-02 2.40140182e+02] [-1.93269381e-01 9.81123302e-01 -6.63421503e-03 -3.80777166e+01] [-3.29980863e-02 2.57951465e-04 9.99455382e-01 -1.02278461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264000000004 meters Centerline goodness [0,1] 0.9998918895543687 Centerline is valid? [True, True] Translation: X:240.17, Y:-38.09, Z:-10.23 [[ 9.81219605e-01 1.90197584e-01 3.21397780e-02 2.40168021e+02] [-1.90083568e-01 9.81745766e-01 -6.59458513e-03 -3.80858870e+01] [-3.28073651e-02 3.61492526e-04 9.99461628e-01 -1.02293670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.19, Y:-38.09, Z:-10.23 [[ 9.81472325e-01 1.88850657e-01 3.23651863e-02 2.40194408e+02] [-1.88734354e-01 9.82005735e-01 -6.63932465e-03 -3.80937117e+01] [-3.30366394e-02 4.07890874e-04 9.99454058e-01 -1.02301677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.22, Y:-38.10, Z:-10.23 [[ 9.81782351e-01 1.87285382e-01 3.20562077e-02 2.40220642e+02] [-1.87170523e-01 9.82305441e-01 -6.57388626e-03 -3.81013603e+01] [-3.27201800e-02 4.54148362e-04 9.99464448e-01 -1.02323987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.25, Y:-38.11, Z:-10.24 [[ 9.82346532e-01 1.84513846e-01 3.08209448e-02 2.40248727e+02] [-1.84406372e-01 9.82829775e-01 -6.31850783e-03 -3.81104652e+01] [-3.14575945e-02 5.23385649e-04 9.99504950e-01 -1.02354081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.28, Y:-38.12, Z:-10.24 [[ 9.82592707e-01 1.83230870e-01 3.06271278e-02 2.40275337e+02] [-1.83124128e-01 9.83069750e-01 -6.27850834e-03 -3.81189761e+01] [-3.12590195e-02 5.60650426e-04 9.99511160e-01 -1.02380193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.30, Y:-38.13, Z:-10.24 [[ 9.82932065e-01 1.81284869e-01 3.13105644e-02 2.40301927e+02] [-1.81172395e-01 9.83430422e-01 -6.41629451e-03 -3.81312753e+01] [-3.19549387e-02 6.34171655e-04 9.99489109e-01 -1.02391506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000005 meters Centerline goodness [0,1] 0.9999787261200698 Centerline is valid? [True, True] Translation: X:240.33, Y:-38.14, Z:-10.24 [[ 9.82969682e-01 1.80985002e-01 3.18595903e-02 2.40330403e+02] [-1.80868435e-01 9.83485639e-01 -6.52745282e-03 -3.81384342e+01] [-3.25148206e-02 6.53893982e-04 9.99471040e-01 -1.02392076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.36, Y:-38.14, Z:-10.24 [[ 9.82952800e-01 1.81082853e-01 3.18244126e-02 2.40359677e+02] [-1.80966620e-01 9.83467630e-01 -6.51948467e-03 -3.81440550e+01] [-3.24788465e-02 6.49189318e-04 9.99472212e-01 -1.02394415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.39, Y:-38.15, Z:-10.24 [[ 9.82909257e-01 1.81349155e-01 3.16524176e-02 2.40388661e+02] [-1.81234338e-01 9.83418568e-01 -6.48347967e-03 -3.81503611e+01] [-3.23033487e-02 6.36167240e-04 9.99477908e-01 -1.02411985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43264000000002 meters Centerline goodness [0,1] 0.9999570990368734 Centerline is valid? [True, True] Translation: X:240.42, Y:-38.16, Z:-10.24 [[ 9.82834272e-01 1.81784982e-01 3.14803791e-02 2.40416450e+02] [-1.81671664e-01 9.83338110e-01 -6.44729799e-03 -3.81607531e+01] [-3.21278785e-02 6.17532569e-04 9.99483576e-01 -1.02446125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264000000002 meters Centerline goodness [0,1] 0.9999785334020265 Centerline is valid? [True, True] Translation: X:240.45, Y:-38.17, Z:-10.25 [[ 9.82763953e-01 1.82220382e-01 3.11567832e-02 2.40445182e+02] [-1.82109608e-01 9.83257533e-01 -6.38079303e-03 -3.81661918e+01] [-3.17978523e-02 5.96863796e-04 9.99494142e-01 -1.02453883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.47, Y:-38.17, Z:-10.25 [[ 9.82444720e-01 1.84069625e-01 3.03437773e-02 2.40473306e+02] [-1.83965457e-01 9.82913068e-01 -6.21373972e-03 -3.81727762e+01] [-3.09690560e-02 5.22448935e-04 9.99520207e-01 -1.02481281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.50, Y:-38.18, Z:-10.25 [[ 9.82186753e-01 1.85431845e-01 3.04008817e-02 2.40500800e+02] [-1.85327971e-01 9.82657011e-01 -6.22431230e-03 -3.81790734e+01] [-3.10278252e-02 4.79303372e-04 9.99518406e-01 -1.02502056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.53, Y:-38.18, Z:-10.25 [[ 9.81398518e-01 1.89680009e-01 2.96385385e-02 2.40530122e+02] [-1.89583246e-01 9.81845905e-01 -6.06721139e-03 -3.81821788e+01] [-3.02513064e-02 3.35381923e-04 9.99542268e-01 -1.02510593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.56, Y:-38.19, Z:-10.25 [[ 9.81407715e-01 1.89632390e-01 2.96387236e-02 2.40557870e+02] [-1.89535632e-01 9.81855103e-01 -6.06630696e-03 -3.81877691e+01] [-3.02513003e-02 3.35926230e-04 9.99542268e-01 -1.02523281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.59, Y:-38.19, Z:-10.25 [[ 9.80894217e-01 1.92277672e-01 2.95944574e-02 2.40585617e+02] [-1.92182447e-01 9.81340529e-01 -6.05592962e-03 -3.81904948e+01] [-3.02066605e-02 2.52691118e-04 9.99543643e-01 -1.02547748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.61, Y:-38.19, Z:-10.26 [[ 9.80259234e-01 1.95420836e-01 3.00421696e-02 2.40614687e+02] [-1.95324247e-01 9.80719467e-01 -6.14541837e-03 -3.81906673e+01] [-3.06638834e-02 1.56138952e-04 9.99529740e-01 -1.02555129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.64, Y:-38.19, Z:-10.26 [[ 9.79118929e-01 2.00898784e-01 3.10773554e-02 2.40644558e+02] [-2.00798227e-01 9.79612004e-01 -6.35558937e-03 -3.81899844e+01] [-3.17205806e-02 -1.74000132e-05 9.99496776e-01 -1.02555630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.67, Y:-38.19, Z:-10.25 [[ 9.78732979e-01 2.02737326e-01 3.12942964e-02 2.40673431e+02] [-2.02636348e-01 9.79233154e-01 -6.39844974e-03 -3.81945633e+01] [-3.19416172e-02 -7.89881544e-05 9.99489733e-01 -1.02546148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.70, Y:-38.20, Z:-10.26 [[ 9.78439635e-01 2.04124019e-01 3.14525941e-02 2.40701267e+02] [-2.04022774e-01 9.78945029e-01 -6.42950753e-03 -3.81989026e+01] [-3.21027775e-02 -1.26160506e-04 9.99484565e-01 -1.02557067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.73, Y:-38.20, Z:-10.26 [[ 9.78257193e-01 2.04865762e-01 3.22937150e-02 2.40728524e+02] [-2.04759521e-01 9.78790067e-01 -6.59877541e-03 -3.82036296e+01] [-3.29606306e-02 -1.57146105e-04 9.99456638e-01 -1.02569739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.75, Y:-38.21, Z:-10.26 [[ 9.78305938e-01 2.04654635e-01 3.21554332e-02 2.40754902e+02] [-2.04549244e-01 9.78834234e-01 -6.56881127e-03 -3.82102936e+01] [-3.28191765e-02 -1.51062480e-04 9.99461294e-01 -1.02585434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.78, Y:-38.22, Z:-10.26 [[ 9.78640874e-01 2.03108014e-01 3.17675186e-02 2.40782358e+02] [-2.03004437e-01 9.79156333e-01 -6.48647475e-03 -3.82216333e+01] [-3.24228220e-02 -1.01017894e-04 9.99474237e-01 -1.02590937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.81, Y:-38.23, Z:-10.26 [[ 9.78813412e-01 2.02269230e-01 3.18035094e-02 2.40809819e+02] [-2.02165027e-01 9.79329951e-01 -6.49221407e-03 -3.82290880e+01] [-3.24593044e-02 -7.48911288e-05 9.99473055e-01 -1.02604614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264000000004 meters Centerline goodness [0,1] 0.9998258408620877 Centerline is valid? [True, True] Translation: X:240.84, Y:-38.24, Z:-10.26 [[ 9.79071596e-01 2.01109086e-01 3.12081012e-02 2.40837105e+02] [-2.01008209e-01 9.79568851e-01 -6.36911934e-03 -3.82369584e+01] [-3.18513716e-02 -3.72607040e-05 9.99492616e-01 -1.02622264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.86, Y:-38.25, Z:-10.26 [[ 9.79245782e-01 2.00066284e-01 3.24219052e-02 2.40863967e+02] [-1.99956888e-01 9.79782365e-01 -6.61522227e-03 -3.82463734e+01] [-3.30898939e-02 -5.05473984e-06 9.99452380e-01 -1.02619960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.89, Y:-38.26, Z:-10.26 [[ 9.79616282e-01 1.98084323e-01 3.33847409e-02 2.40890022e+02] [-1.97967256e-01 9.80184981e-01 -6.80943201e-03 -3.82585195e+01] [-3.40720634e-02 6.15449101e-05 9.99419377e-01 -1.02618031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.92, Y:-38.27, Z:-10.26 [[ 9.79755085e-01 1.97290226e-01 3.40079528e-02 2.40917478e+02] [-1.97168348e-01 9.80345122e-01 -6.93423182e-03 -3.82666404e+01] [-3.47075868e-02 8.85570090e-05 9.99397506e-01 -1.02614256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.94, Y:-38.28, Z:-10.26 [[ 9.79861019e-01 1.96736508e-01 3.41632828e-02 2.40944797e+02] [-1.96613241e-01 9.80456391e-01 -6.96407187e-03 -3.82756666e+01] [-3.48656961e-02 1.06868791e-04 9.99392001e-01 -1.02624204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:240.97, Y:-38.28, Z:-10.26 [[ 9.79893686e-01 1.96676449e-01 3.35669275e-02 2.40973017e+02] [-1.96557456e-01 9.80468441e-01 -6.84128759e-03 -3.82829166e+01] [-3.42568332e-02 1.05904638e-04 9.99413057e-01 -1.02648555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.00, Y:-38.29, Z:-10.27 [[ 9.79859687e-01 1.96914475e-01 3.31614651e-02 2.41002075e+02] [-1.96798522e-01 9.80420665e-01 -6.75732233e-03 -3.82900553e+01] [-3.38428002e-02 9.51004360e-05 9.99427164e-01 -1.02672911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.03, Y:-38.30, Z:-10.27 [[ 9.79567185e-01 1.98640987e-01 3.14624995e-02 2.41030525e+02] [-1.98537527e-01 9.80072322e-01 -6.41041457e-03 -3.82972250e+01] [-3.21088960e-02 3.29449201e-05 9.99484376e-01 -1.02705105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.06, Y:-38.30, Z:-10.27 [[ 9.79181300e-01 2.00585589e-01 3.11352562e-02 2.41058423e+02] [-2.00485262e-01 9.79676181e-01 -6.34344560e-03 -3.83010967e+01] [-3.17748727e-02 -3.07766866e-05 9.99495051e-01 -1.02736535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15264000000002 meters Centerline goodness [0,1] 0.9999142606048914 Centerline is valid? [True, True] Translation: X:241.09, Y:-38.30, Z:-10.28 [[ 9.78752429e-01 2.02771320e-01 3.04544533e-02 2.41087038e+02] [-2.02676454e-01 9.79226114e-01 -6.20270357e-03 -3.83031097e+01] [-3.10795263e-02 -1.01489393e-04 9.99516910e-01 -1.02766469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264000000002 meters Centerline goodness [0,1] 0.9999787152526499 Centerline is valid? [True, True] Translation: X:241.12, Y:-38.30, Z:-10.28 [[ 9.77856422e-01 2.07071158e-01 3.03043421e-02 2.41115217e+02] [-2.06979324e-01 9.78325855e-01 -6.17097296e-03 -3.83014923e+01] [-3.09253519e-02 -2.38046680e-04 9.99521669e-01 -1.02790934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21264000000002 meters Centerline goodness [0,1] 0.9999142514148517 Centerline is valid? [True, True] Translation: X:241.14, Y:-38.30, Z:-10.28 [[ 9.77642680e-01 2.08204556e-01 2.94219818e-02 2.41143313e+02] [-2.08118574e-01 9.78085268e-01 -5.98901621e-03 -3.83049210e+01] [-3.00241474e-02 -2.68143031e-04 9.99549138e-01 -1.02825942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.17, Y:-38.31, Z:-10.28 [[ 9.77409256e-01 2.09284350e-01 2.95162177e-02 2.41171394e+02] [-2.09198367e-01 9.77854779e-01 -6.00623406e-03 -3.83099979e+01] [-3.01195853e-02 -3.04195779e-04 9.99546256e-01 -1.02822387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27264000000002 meters Centerline goodness [0,1] 0.9998934583422118 Centerline is valid? [True, True] Translation: X:241.20, Y:-38.31, Z:-10.28 [[ 9.77161361e-01 2.10431017e-01 2.95712967e-02 2.41199785e+02] [-2.10345281e-01 9.77608649e-01 -6.01600336e-03 -3.83143329e+01] [-3.01751092e-02 -3.41576698e-04 9.99544569e-01 -1.02838837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.23, Y:-38.32, Z:-10.28 [[ 9.77017553e-01 2.11051010e-01 2.99027079e-02 2.41227976e+02] [-2.10963677e-01 9.77474980e-01 -6.08191945e-03 -3.83201271e+01] [-3.05127441e-02 -3.66243167e-04 9.99534311e-01 -1.02834481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.26, Y:-38.32, Z:-10.29 [[ 9.76876557e-01 2.11703617e-01 2.98960084e-02 2.41255272e+02] [-2.11616669e-01 9.77333837e-01 -6.07924146e-03 -3.83226422e+01] [-3.05053780e-02 -3.87825258e-04 9.99534527e-01 -1.02864715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.28, Y:-38.33, Z:-10.29 [[ 9.76757578e-01 2.12222039e-01 3.01071565e-02 2.41282664e+02] [-2.12134155e-01 9.77221387e-01 -6.12052405e-03 -3.83258900e+01] [-3.07202673e-02 -4.08487970e-04 9.99527938e-01 -1.02875567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.31, Y:-38.33, Z:-10.29 [[ 9.76624692e-01 2.12859384e-01 2.99181205e-02 2.41310637e+02] [-2.12772981e-01 9.77082749e-01 -6.07942778e-03 -3.83317789e+01] [-3.05265427e-02 -4.28448405e-04 9.99533865e-01 -1.02871566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.34, Y:-38.34, Z:-10.29 [[ 9.76706546e-01 2.12552983e-01 2.94202709e-02 2.41338363e+02] [-2.12469335e-01 9.77149456e-01 -5.97684616e-03 -3.83380112e+01] [-3.00183982e-02 -4.13280638e-04 9.99549261e-01 -1.02891702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.37, Y:-38.34, Z:-10.29 [[ 9.76776153e-01 2.12206122e-01 2.96126536e-02 2.41366146e+02] [-2.12121263e-01 9.77224844e-01 -6.01442898e-03 -3.83431678e+01] [-3.02145194e-02 -4.06722678e-04 9.99543354e-01 -1.02915632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.39, Y:-38.35, Z:-10.29 [[ 9.77191913e-01 2.10314605e-01 2.93893024e-02 2.41393641e+02] [-2.10230210e-01 9.77633697e-01 -5.96760457e-03 -3.83520989e+01] [-2.99870468e-02 -3.47024311e-04 9.99550227e-01 -1.02933250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.42, Y:-38.36, Z:-10.29 [[ 9.77524907e-01 2.08776293e-01 2.92833561e-02 2.41420948e+02] [-2.08691857e-01 9.77963378e-01 -5.94468852e-03 -3.83613899e+01] [-2.98791599e-02 -3.00116857e-04 9.99553473e-01 -1.02936087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.45, Y:-38.37, Z:-10.29 [[ 9.78214535e-01 2.05317879e-01 3.06739755e-02 2.41446984e+02] [-2.05223578e-01 9.78695318e-01 -6.22548683e-03 -3.83724688e+01] [-3.12986800e-02 -2.05161310e-04 9.99510055e-01 -1.02928797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.47, Y:-38.38, Z:-10.29 [[ 9.78548611e-01 2.03637624e-01 3.12143143e-02 2.41474718e+02] [-2.03539185e-01 9.79046319e-01 -6.33296424e-03 -3.83808188e+01] [-3.18498893e-02 -1.56222729e-04 9.99492651e-01 -1.02923166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.50, Y:-38.39, Z:-10.29 [[ 9.78749547e-01 2.02579167e-01 3.17963098e-02 2.41501327e+02] [-2.02476513e-01 9.79265881e-01 -6.44953362e-03 -3.83877459e+01] [-3.24435824e-02 -1.25527809e-04 9.99473561e-01 -1.02933682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.53, Y:-38.40, Z:-10.30 [[ 9.79053386e-01 2.01185582e-01 3.12862386e-02 2.41527887e+02] [-2.01085546e-01 9.79553141e-01 -6.34412599e-03 -3.83968045e+01] [-3.19228800e-02 -7.99723354e-05 9.99490332e-01 -1.02966104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.56, Y:-38.40, Z:-10.30 [[ 9.79162625e-01 2.00725649e-01 3.08183087e-02 2.41555828e+02] [-2.00628420e-01 9.79647493e-01 -6.24719673e-03 -3.84044502e+01] [-3.14450515e-02 -6.60070397e-05 9.99505480e-01 -1.02979528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.58, Y:-38.41, Z:-10.30 [[ 9.79187795e-01 2.00639440e-01 3.05790414e-02 2.41583283e+02] [-2.00543713e-01 9.79665153e-01 -6.19742782e-03 -3.84102407e+01] [-3.12006697e-02 -6.39888092e-05 9.99513139e-01 -1.03011363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.61, Y:-38.42, Z:-10.30 [[ 9.79136016e-01 2.00886663e-01 3.06139114e-02 2.41611300e+02] [-2.00790910e-01 9.79614487e-01 -6.20220393e-03 -3.84156013e+01] [-3.12357711e-02 -7.41938835e-05 9.99512041e-01 -1.03018113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.64, Y:-38.42, Z:-10.30 [[ 9.79068751e-01 2.01347616e-01 2.97240326e-02 2.41639166e+02] [-2.01257604e-01 9.79519847e-01 -6.02055289e-03 -3.84213652e+01] [-3.03275038e-02 -8.76523711e-05 9.99540012e-01 -1.03033794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.67, Y:-38.43, Z:-10.31 [[ 9.78931203e-01 2.02045457e-01 2.95183453e-02 2.41666466e+02] [-2.01957042e-01 9.79376139e-01 -5.97761667e-03 -3.84256445e+01] [-3.01173134e-02 -1.09762215e-04 9.99546365e-01 -1.03053837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.70, Y:-38.43, Z:-10.31 [[ 9.78778666e-01 2.02802242e-01 2.93866182e-02 2.41695408e+02] [-2.02715014e-01 9.79219706e-01 -5.94896978e-03 -3.84295968e+01] [-2.99824200e-02 -1.34384017e-04 9.99550417e-01 -1.03067207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.72, Y:-38.43, Z:-10.31 [[ 9.78217809e-01 2.05428908e-01 2.98141378e-02 2.41723972e+02] [-2.05340383e-01 9.78672016e-01 -6.03417808e-03 -3.84284315e+01] [-3.04178569e-02 -2.19306021e-04 9.99537246e-01 -1.03075064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.76, Y:-38.43, Z:-10.31 [[ 9.78082558e-01 2.05427362e-01 3.39721798e-02 2.41756702e+02] [-2.05320972e-01 9.78672242e-01 -6.62879742e-03 -3.84322876e+01] [-3.46093658e-02 -4.91689859e-04 9.99400795e-01 -1.03079309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.78, Y:-38.43, Z:-10.31 [[ 9.77178945e-01 2.10261776e-01 3.01876570e-02 2.41781577e+02] [-2.10159623e-01 9.77645121e-01 -6.55369485e-03 -3.84307435e+01] [-3.08908071e-02 5.99059898e-05 9.99522763e-01 -1.03085086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.81, Y:-38.43, Z:-10.31 [[ 9.76921257e-01 2.11493723e-01 2.99209312e-02 2.41809038e+02] [-2.11407537e-01 9.77379268e-01 -6.05139338e-03 -3.84326204e+01] [-3.05239296e-02 -4.13775542e-04 9.99533951e-01 -1.03113497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.84, Y:-38.44, Z:-10.31 [[ 9.76945052e-01 2.10586218e-01 3.50971686e-02 2.41840373e+02] [-2.10688185e-01 9.77552982e-01 -8.09326666e-04 -3.84408566e+01] [-3.44797749e-02 -6.60389109e-03 9.99383577e-01 -1.03133645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.87, Y:-38.44, Z:-10.31 [[ 9.76652151e-01 2.12984892e-01 2.80715365e-02 2.41867060e+02] [-2.12718874e-01 9.77037537e-01 -1.21791697e-02 -3.84375156e+01] [-3.00209240e-02 5.92346664e-03 9.99531719e-01 -1.03129468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264000000002 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:241.89, Y:-38.44, Z:-10.32 [[ 9.76759003e-01 2.12188713e-01 3.02952002e-02 2.41893749e+02] [-2.12100858e-01 9.77228607e-01 -6.12168390e-03 -3.84432995e+01] [-3.09042885e-02 -4.46228096e-04 9.99522249e-01 -1.03158094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.92, Y:-38.45, Z:-10.32 [[ 9.76935445e-01 2.11370174e-01 3.03279641e-02 2.41922392e+02] [-2.11281812e-01 9.77405991e-01 -6.12581648e-03 -3.84480773e+01] [-3.09375487e-02 -4.23219962e-04 9.99521230e-01 -1.03162951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.95, Y:-38.46, Z:-10.31 [[ 9.77401525e-01 2.09064736e-01 3.12761044e-02 2.41950610e+02] [-2.08969629e-01 9.77901736e-01 -6.31580085e-03 -3.84553555e+01] [-3.19053681e-02 -3.62682575e-04 9.99490828e-01 -1.03144108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:241.98, Y:-38.46, Z:-10.32 [[ 9.77706262e-01 2.07687946e-01 3.09222015e-02 2.41978808e+02] [-2.07594340e-01 9.78195081e-01 -6.24282428e-03 -3.84620554e+01] [-3.15445048e-02 -3.15625622e-04 9.99502298e-01 -1.03159559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.01, Y:-38.47, Z:-10.32 [[ 9.78029501e-01 2.06226411e-01 3.04788796e-02 2.42006298e+02] [-2.06134802e-01 9.78504265e-01 -6.15198559e-03 -3.84678719e+01] [-3.10924156e-02 -2.65934405e-04 9.99516479e-01 -1.03188907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.03, Y:-38.48, Z:-10.32 [[ 9.78576249e-01 2.03579736e-01 3.07215901e-02 2.42033824e+02] [-2.03485423e-01 9.79058352e-01 -6.19884978e-03 -3.84751232e+01] [-3.13401896e-02 -1.85348586e-04 9.99508758e-01 -1.03202712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.06, Y:-38.48, Z:-10.32 [[ 9.78837609e-01 2.02343340e-01 3.05631782e-02 2.42061920e+02] [-2.02249440e-01 9.79314634e-01 -6.16542199e-03 -3.84823295e+01] [-3.11784997e-02 -1.46438759e-04 9.99513822e-01 -1.03200573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.09, Y:-38.49, Z:-10.32 [[ 9.79269953e-01 1.99234932e-01 3.65486093e-02 2.42091844e+02] [-1.99414706e-01 9.79914320e-01 1.30418723e-03 -3.84932926e+01] [-3.55546660e-02 -8.56548153e-03 9.99331025e-01 -1.03245689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.12, Y:-38.50, Z:-10.32 [[ 9.79858235e-01 1.96275372e-01 3.67942546e-02 2.42120570e+02] [-1.96249512e-01 9.80544348e-01 -4.34868233e-03 -3.84983079e+01] [-3.69319376e-02 -2.95976231e-03 9.99313400e-01 -1.03238480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.15, Y:-38.50, Z:-10.32 [[ 9.80043548e-01 1.96566822e-01 2.95994801e-02 2.42147486e+02] [-1.96099176e-01 9.80419236e-01 -1.79787256e-02 -3.84970281e+01] [-3.25539207e-02 1.18155003e-02 9.99400138e-01 -1.03225833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.17, Y:-38.51, Z:-10.32 [[ 9.80820458e-01 1.92058521e-01 3.32378432e-02 2.42174737e+02] [-1.91941781e-01 9.81383456e-01 -6.69806133e-03 -3.85145356e+01] [-3.39054892e-02 1.89864752e-04 9.99425026e-01 -1.03220977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.20, Y:-38.52, Z:-10.32 [[ 9.81239767e-01 1.89863120e-01 3.34740919e-02 2.42202677e+02] [-1.89743471e-01 9.81810534e-01 -6.74467751e-03 -3.85240033e+01] [-3.41457816e-02 2.66655389e-04 9.99416827e-01 -1.03236595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264000000004 meters Centerline goodness [0,1] 0.9999572877736252 Centerline is valid? [True, True] Translation: X:242.23, Y:-38.53, Z:-10.33 [[ 9.81656396e-01 1.87740555e-01 3.32295622e-02 2.42230612e+02] [-1.87621447e-01 9.82218596e-01 -6.69498923e-03 -3.85331418e+01] [-3.38956149e-02 3.37600475e-04 9.99425322e-01 -1.03269895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.26, Y:-38.54, Z:-10.33 [[ 9.82276063e-01 1.84406053e-01 3.35878534e-02 2.42259787e+02] [-1.84282434e-01 9.82850039e-01 -6.76650506e-03 -3.85449937e+01] [-3.42596075e-02 4.56924579e-04 9.99412863e-01 -1.03275272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.29, Y:-38.55, Z:-10.33 [[ 9.82484089e-01 1.83425666e-01 3.28639552e-02 2.42289587e+02] [-1.83306754e-01 9.83033465e-01 -6.62119236e-03 -3.85529504e+01] [-3.35208644e-02 4.81031194e-04 9.99437902e-01 -1.03300874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47264000000004 meters Centerline goodness [0,1] 0.9998916928408967 Centerline is valid? [True, True] Translation: X:242.32, Y:-38.56, Z:-10.33 [[ 9.82583465e-01 1.83065187e-01 3.18884117e-02 2.42320194e+02] [-1.82953061e-01 9.83100661e-01 -6.42406427e-03 -3.85574919e+01] [-3.25255412e-02 4.78096789e-04 9.99470790e-01 -1.03319371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264000000004 meters Centerline goodness [0,1] 0.9998916928408967 Centerline is valid? [True, True] Translation: X:242.35, Y:-38.56, Z:-10.33 [[ 9.82578985e-01 1.83089296e-01 3.18880660e-02 2.42350388e+02] [-1.82977128e-01 9.83096170e-01 -6.42578009e-03 -3.85636201e+01] [-3.25255271e-02 4.79049770e-04 9.99470790e-01 -1.03333262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53264000000004 meters Centerline goodness [0,1] 0.9999786096256684 Centerline is valid? [True, True] Translation: X:242.38, Y:-38.57, Z:-10.33 [[ 9.82340428e-01 1.84288881e-01 3.23247762e-02 2.42379486e+02] [-1.84174256e-01 9.82872021e-01 -6.51411370e-03 -3.85705359e+01] [-3.29715969e-02 4.45685631e-04 9.99456190e-01 -1.03339751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000004 meters Centerline goodness [0,1] 0.9999783886583679 Centerline is valid? [True, True] Translation: X:242.41, Y:-38.57, Z:-10.33 [[ 9.82160175e-01 1.85297411e-01 3.20352864e-02 2.42410065e+02] [-1.85185269e-01 9.82682401e-01 -6.45876603e-03 -3.85749986e+01] [-3.26773048e-02 4.11079630e-04 9.99465870e-01 -1.03348285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.44, Y:-38.58, Z:-10.34 [[ 9.81953570e-01 1.86424808e-01 3.18273006e-02 2.42440146e+02] [-1.86314710e-01 9.82469161e-01 -6.41683315e-03 -3.85809746e+01] [-3.24655982e-02 3.71137940e-04 9.99472785e-01 -1.03370301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.47, Y:-38.59, Z:-10.34 [[ 9.81754676e-01 1.87525489e-01 3.14951833e-02 2.42470061e+02] [-1.87418243e-01 9.82259681e-01 -6.34987362e-03 -3.85859020e+01] [-3.21272119e-02 3.31246195e-04 9.99483733e-01 -1.03382935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65264000000002 meters Centerline goodness [0,1] 0.9997633441621308 Centerline is valid? [True, True] Translation: X:242.50, Y:-38.59, Z:-10.34 [[ 9.81421946e-01 1.89099549e-01 3.24395605e-02 2.42499745e+02] [-1.88986628e-01 9.81957880e-01 -6.54042286e-03 -3.85886684e+01] [-3.30910730e-02 2.88271397e-04 9.99452299e-01 -1.03399437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.53, Y:-38.60, Z:-10.34 [[ 9.81195630e-01 1.89425833e-01 3.70538855e-02 2.42531218e+02] [-1.89605537e-01 9.81859397e-01 1.36530888e-03 -3.85993101e+01] [-3.61230809e-02 -8.36525696e-03 9.99312336e-01 -1.03379197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.56, Y:-38.60, Z:-10.34 [[ 9.81159353e-01 1.89758557e-01 3.63044628e-02 2.42562968e+02] [-1.89687904e-01 9.81829520e-01 -5.41231613e-03 -3.86040167e+01] [-3.66718266e-02 -1.57617287e-03 9.99326119e-01 -1.03410687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.59, Y:-38.60, Z:-10.34 [[ 9.81042834e-01 1.91385237e-01 3.04409211e-02 2.42591587e+02] [-1.90884550e-01 9.81436097e-01 -1.86084895e-02 -3.86045559e+01] [-3.34372090e-02 1.24450237e-02 9.99363335e-01 -1.03424372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.62, Y:-38.62, Z:-10.34 [[ 9.80917534e-01 1.91621321e-01 3.28946976e-02 2.42620409e+02] [-1.91506075e-01 9.81468909e-01 -6.64856235e-03 -3.86166355e+01] [-3.35591293e-02 2.22156966e-04 9.99436709e-01 -1.03430713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264000000003 meters Centerline goodness [0,1] 0.9999573069205482 Centerline is valid? [True, True] Translation: X:242.65, Y:-38.62, Z:-10.35 [[ 9.80402232e-01 1.94355896e-01 3.22063483e-02 2.42649178e+02] [-1.94246903e-01 9.80931073e-01 -6.50927084e-03 -3.86201538e+01] [-3.28573229e-02 1.25720246e-04 9.99460044e-01 -1.03484781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.68, Y:-38.63, Z:-10.35 [[ 9.80028983e-01 1.96198666e-01 3.23925236e-02 2.42676468e+02] [-1.96089372e-01 9.80564164e-01 -6.54821276e-03 -3.86250725e+01] [-3.30476984e-02 6.56086675e-05 9.99453773e-01 -1.03489927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.71, Y:-38.63, Z:-10.35 [[ 9.79685228e-01 1.97927604e-01 3.22725638e-02 2.42705705e+02] [-1.97820132e-01 9.80216641e-01 -6.52161953e-03 -3.86285933e+01] [-3.29249126e-02 4.97147302e-06 9.99457828e-01 -1.03491236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.73, Y:-38.63, Z:-10.35 [[ 9.79081749e-01 2.00822110e-01 3.27018170e-02 2.42734558e+02] [-2.00713387e-01 9.79627721e-01 -6.60794492e-03 -3.86284423e+01] [-3.33626279e-02 -9.39741917e-05 9.99443308e-01 -1.03504582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.76, Y:-38.63, Z:-10.35 [[ 9.78816159e-01 2.02111673e-01 3.27077741e-02 2.42763339e+02] [-2.02003702e-01 9.79362472e-01 -6.60698914e-03 -3.86323607e+01] [-3.33681161e-02 -1.40063708e-04 9.99443120e-01 -1.03504457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.79, Y:-38.64, Z:-10.35 [[ 9.78538683e-01 2.03430210e-01 3.28358788e-02 2.42791952e+02] [-2.03322190e-01 9.79089431e-01 -6.63117603e-03 -3.86367304e+01] [-3.34982435e-02 -1.87400524e-04 9.99438759e-01 -1.03506828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.82, Y:-38.64, Z:-10.35 [[ 9.78010540e-01 2.06060392e-01 3.21636169e-02 2.42820362e+02] [-2.05958221e-01 9.78539238e-01 -6.49390277e-03 -3.86377241e+01] [-3.28114973e-02 -2.73255964e-04 9.99461521e-01 -1.03546455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.85, Y:-38.64, Z:-10.36 [[ 9.77798408e-01 2.07136254e-01 3.16992908e-02 2.42848441e+02] [-2.07037645e-01 9.78312056e-01 -6.39807168e-03 -3.86411701e+01] [-3.23370710e-02 -3.06922227e-04 9.99476973e-01 -1.03571175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.88, Y:-38.65, Z:-10.36 [[ 9.77581289e-01 2.08095918e-01 3.21078241e-02 2.42877248e+02] [-2.07995341e-01 9.78108363e-01 -6.47831402e-03 -3.86452774e+01] [-3.27530419e-02 -3.45199226e-04 9.99463416e-01 -1.03575273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07264000000004 meters Centerline goodness [0,1] 0.9998924013858701 Centerline is valid? [True, True] Translation: X:242.91, Y:-38.65, Z:-10.36 [[ 9.77264153e-01 2.09362290e-01 3.34993565e-02 2.42905965e+02] [-2.09253599e-01 9.77838058e-01 -6.75754641e-03 -3.86460569e+01] [-3.41717211e-02 -4.05953051e-04 9.99415894e-01 -1.03576296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.93, Y:-38.65, Z:-10.36 [[ 9.77202889e-01 2.09548065e-01 3.41192314e-02 2.42934866e+02] [-2.09435529e-01 9.77798256e-01 -6.87966059e-03 -3.86510644e+01] [-3.48033445e-02 -4.22955078e-04 9.99394091e-01 -1.03565710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.96, Y:-38.65, Z:-10.36 [[ 9.77233572e-01 2.09280031e-01 3.48771274e-02 2.42962536e+02] [-2.09162326e-01 9.77855658e-01 -7.03084062e-03 -3.86523872e+01] [-3.55762109e-02 -4.24207596e-04 9.99366876e-01 -1.03580933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:242.99, Y:-38.66, Z:-10.36 [[ 9.77294651e-01 2.08914077e-01 3.53563725e-02 2.42990747e+02] [-2.08792976e-01 9.77933910e-01 -7.12464029e-03 -3.86593084e+01] [-3.60646333e-02 -4.19289400e-04 9.99349372e-01 -1.03573676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19264000000004 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:243.02, Y:-38.66, Z:-10.36 [[ 9.77407966e-01 2.08350490e-01 3.55491530e-02 2.43018184e+02] [-2.08227754e-01 9.78054146e-01 -7.16176580e-03 -3.86625557e+01] [-3.62611539e-02 -4.02353340e-04 9.99342267e-01 -1.03605495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.05, Y:-38.67, Z:-10.36 [[ 9.77501518e-01 2.07859476e-01 3.58499833e-02 2.43045940e+02] [-2.07734411e-01 9.78158620e-01 -7.21998021e-03 -3.86702459e+01] [-3.65677115e-02 -3.89733556e-04 9.99331102e-01 -1.03589165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.07, Y:-38.67, Z:-10.36 [[ 9.77695528e-01 2.06902532e-01 3.60942765e-02 2.43073196e+02] [-2.06775169e-01 9.78361495e-01 -7.26741169e-03 -3.86743595e+01] [-3.68168961e-02 -3.58084210e-04 9.99321964e-01 -1.03615118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.10, Y:-38.68, Z:-10.36 [[ 9.77775219e-01 2.06473596e-01 3.63905855e-02 2.43100937e+02] [-2.06343927e-01 9.78452111e-01 -7.32462555e-03 -3.86806313e+01] [-3.71187870e-02 -3.47138957e-04 9.99310800e-01 -1.03626800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.13, Y:-38.69, Z:-10.36 [[ 9.77886460e-01 2.05987703e-01 3.61543492e-02 2.43128871e+02] [-2.05859445e-01 9.78554525e-01 -7.27532952e-03 -3.86863662e+01] [-3.68776304e-02 -3.28268019e-04 9.99319735e-01 -1.03642994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.16, Y:-38.69, Z:-10.37 [[ 9.78080765e-01 2.05077036e-01 3.60752802e-02 2.43156424e+02] [-2.04948781e-01 9.78745790e-01 -7.25774637e-03 -3.86901263e+01] [-3.67969257e-02 -2.94922571e-04 9.99322720e-01 -1.03656872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.18, Y:-38.70, Z:-10.37 [[ 9.78209527e-01 2.04420199e-01 3.63112044e-02 2.43184976e+02] [-2.04289896e-01 9.78883194e-01 -7.30281129e-03 -3.86968219e+01] [-3.70372698e-02 -2.74332596e-04 9.99313847e-01 -1.03664896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264000000002 meters Centerline goodness [0,1] 0.9998487336848474 Centerline is valid? [True, True] Translation: X:243.21, Y:-38.70, Z:-10.37 [[ 9.78518043e-01 2.03128434e-01 3.52317966e-02 2.43212129e+02] [-2.03004967e-01 9.79152078e-01 -7.08464624e-03 -3.87023152e+01] [-3.59363799e-02 -2.19775555e-04 9.99354056e-01 -1.03708958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.24, Y:-38.71, Z:-10.37 [[ 9.78581384e-01 2.02790794e-01 3.54170757e-02 2.43240050e+02] [-2.02665885e-01 9.79222063e-01 -7.11966007e-03 -3.87066315e+01] [-3.61249834e-02 -2.10666192e-04 9.99347258e-01 -1.03714000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.27, Y:-38.71, Z:-10.37 [[ 9.78529193e-01 2.03074375e-01 3.52337280e-02 2.43268993e+02] [-2.02951023e-01 9.79163290e-01 -7.08050975e-03 -3.87103366e+01] [-3.59374432e-02 -2.22235653e-04 9.99354017e-01 -1.03731227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.30, Y:-38.71, Z:-10.38 [[ 9.78277733e-01 2.04482776e-01 3.40509981e-02 2.43297098e+02] [-2.04368471e-01 9.78870126e-01 -6.84141244e-03 -3.87138944e+01] [-3.47304558e-02 -2.66148950e-04 9.99396680e-01 -1.03766776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.33, Y:-38.72, Z:-10.38 [[ 9.78141866e-01 2.05134370e-01 3.40349964e-02 2.43325083e+02] [-2.05020649e-01 9.78733777e-01 -6.83579234e-03 -3.87179192e+01] [-3.47134565e-02 -2.91502374e-04 9.99397264e-01 -1.03788131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.35, Y:-38.72, Z:-10.38 [[ 9.77894347e-01 2.06260922e-01 3.43377168e-02 2.43353992e+02] [-2.06145959e-01 9.78496969e-01 -6.89385460e-03 -3.87196943e+01] [-3.50212846e-02 -3.37120123e-04 9.99386510e-01 -1.03797048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.38, Y:-38.72, Z:-10.38 [[ 9.77790420e-01 2.06738896e-01 3.44227322e-02 2.43383097e+02] [-2.06623718e-01 9.78396086e-01 -6.90921921e-03 -3.87226609e+01] [-3.51074708e-02 -3.56784575e-04 9.99383479e-01 -1.03804474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.41, Y:-38.73, Z:-10.38 [[ 9.77688797e-01 2.07105383e-01 3.50995297e-02 2.43411395e+02] [-2.06985923e-01 9.78318566e-01 -7.04350792e-03 -3.87261744e+01] [-3.57972700e-02 -3.78749761e-04 9.99359001e-01 -1.03809459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.44, Y:-38.73, Z:-10.38 [[ 9.77643324e-01 2.07040879e-01 3.67097357e-02 2.43439301e+02] [-2.06910263e-01 9.78332212e-01 -7.36380726e-03 -3.87283419e+01] [-3.74389261e-02 -3.96444075e-04 9.99298839e-01 -1.03801150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.47, Y:-38.73, Z:-10.38 [[ 9.77684893e-01 2.06822313e-01 3.68344996e-02 2.43466343e+02] [-2.06690764e-01 9.78378443e-01 -7.38585111e-03 -3.87341676e+01] [-3.75656392e-02 -3.92315830e-04 9.99294085e-01 -1.03806349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.49, Y:-38.74, Z:-10.38 [[ 9.77800755e-01 2.06289706e-01 3.67456154e-02 2.43493498e+02] [-2.06158522e-01 9.78490888e-01 -7.36519462e-03 -3.87389414e+01] [-3.74746136e-02 -3.73728895e-04 9.99297510e-01 -1.03829658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.52, Y:-38.75, Z:-10.38 [[ 9.77889120e-01 2.05873533e-01 3.67281548e-02 2.43521504e+02] [-2.05742269e-01 9.78578540e-01 -7.35934910e-03 -3.87458883e+01] [-3.74564793e-02 -3.59906478e-04 9.99298195e-01 -1.03837345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.55, Y:-38.75, Z:-10.38 [[ 9.77924513e-01 2.05637490e-01 3.71061895e-02 2.43548603e+02] [-2.05503407e-01 9.78628170e-01 -7.43328191e-03 -3.87504773e+01] [-3.78417238e-02 -3.56259780e-04 9.99283682e-01 -1.03848940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.58, Y:-38.75, Z:-10.39 [[ 9.77873305e-01 2.05841259e-01 3.73252655e-02 2.43575873e+02] [-2.05705820e-01 9.78585326e-01 -7.47497193e-03 -3.87540640e+01] [-3.80646148e-02 -3.68448850e-04 9.99275212e-01 -1.03861350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.60, Y:-38.76, Z:-10.39 [[ 9.77857919e-01 2.05930749e-01 3.72346102e-02 2.43603727e+02] [-2.05796159e-01 9.78566496e-01 -7.45346198e-03 -3.87578226e+01] [-3.79714390e-02 -3.74312951e-04 9.99278755e-01 -1.03874228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.63, Y:-38.76, Z:-10.39 [[ 9.77847484e-01 2.05900296e-01 3.76744768e-02 2.43631390e+02] [-2.05762591e-01 9.78572901e-01 -7.53875921e-03 -3.87620309e+01] [-3.84194548e-02 -3.80241218e-04 9.99261628e-01 -1.03883297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264000000004 meters Centerline goodness [0,1] 0.9999568742452993 Centerline is valid? [True, True] Translation: X:243.66, Y:-38.77, Z:-10.39 [[ 9.77900809e-01 2.05776498e-01 3.69599952e-02 2.43659339e+02] [-2.05643986e-01 9.78598945e-01 -7.39295854e-03 -3.87682327e+01] [-3.76903095e-02 -3.71020610e-04 9.99289399e-01 -1.03905333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.69, Y:-38.77, Z:-10.39 [[ 9.77978623e-01 2.05553976e-01 3.61299865e-02 2.43686442e+02] [-2.05427261e-01 9.78645715e-01 -7.22525522e-03 -3.87720111e+01] [-3.68436364e-02 -3.55939014e-04 9.99320979e-01 -1.03941549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.71, Y:-38.78, Z:-10.40 [[ 9.78004150e-01 2.05462784e-01 3.59572903e-02 2.43713724e+02] [-2.05337296e-01 9.78664866e-01 -7.18855673e-03 -3.87772526e+01] [-3.66671175e-02 -3.52934435e-04 9.99327473e-01 -1.03963022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.74, Y:-38.78, Z:-10.40 [[ 9.78122166e-01 2.04855849e-01 3.62092401e-02 2.43741013e+02] [-2.04728283e-01 9.78792097e-01 -7.23611850e-03 -3.87827260e+01] [-3.69236792e-02 -3.35247634e-04 9.99318032e-01 -1.03978833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.77, Y:-38.79, Z:-10.40 [[ 9.78414110e-01 2.03296573e-01 3.70989492e-02 2.43768858e+02] [-2.03161630e-01 9.79117164e-01 -7.41149714e-03 -3.87914383e+01] [-3.78309499e-02 -2.85569626e-04 9.99284113e-01 -1.03968449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03264000000004 meters Centerline goodness [0,1] 0.9999148211243611 Centerline is valid? [True, True] Translation: X:243.80, Y:-38.80, Z:-10.40 [[ 9.78568015e-01 2.02681703e-01 3.63973430e-02 2.43796331e+02] [-2.02551457e-01 9.79244638e-01 -7.26958798e-03 -3.87955318e+01] [-3.71153154e-02 -2.58548562e-04 9.99310956e-01 -1.04008381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.82, Y:-38.80, Z:-10.40 [[ 9.78846243e-01 2.01332966e-01 3.64015105e-02 2.43824407e+02] [-2.01201848e-01 9.79522839e-01 -7.26797780e-03 -3.88037860e+01] [-3.71193945e-02 -2.09818416e-04 9.99310816e-01 -1.04015570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.85, Y:-38.81, Z:-10.40 [[ 9.79041215e-01 2.00435920e-01 3.61073611e-02 2.43851626e+02] [-2.00306362e-01 9.79706799e-01 -7.20766767e-03 -3.88110078e+01] [-3.68193026e-02 -1.75930416e-04 9.99321924e-01 -1.04039159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000005 meters Centerline goodness [0,1] 0.9999569910971571 Centerline is valid? [True, True] Translation: X:243.88, Y:-38.82, Z:-10.41 [[ 9.79406583e-01 1.98819141e-01 3.51239830e-02 2.43878811e+02] [-1.98695599e-01 9.80036191e-01 -7.00876677e-03 -3.88205614e+01] [-3.58162515e-02 -1.14548515e-04 9.99358386e-01 -1.04069784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.91, Y:-38.83, Z:-10.41 [[ 9.79484164e-01 1.98449955e-01 3.50483792e-02 2.43905410e+02] [-1.98326758e-01 9.80111017e-01 -6.99229048e-03 -3.88261294e+01] [-3.57389223e-02 -1.02193635e-04 9.99361155e-01 -1.04097529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.93, Y:-38.83, Z:-10.41 [[ 9.79435525e-01 1.98748820e-01 3.47125321e-02 2.43933634e+02] [-1.98628276e-01 9.80050455e-01 -6.92204872e-03 -3.88315159e+01] [-3.53957819e-02 -1.15189974e-04 9.99373366e-01 -1.04094008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.96, Y:-38.84, Z:-10.41 [[ 9.79195407e-01 1.99962675e-01 3.45149884e-02 2.43961253e+02] [-1.99844308e-01 9.79803502e-01 -6.88109033e-03 -3.88353089e+01] [-3.51938678e-02 -1.59691915e-04 9.99380491e-01 -1.04116424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:243.99, Y:-38.84, Z:-10.41 [[ 9.78555573e-01 2.02937218e-01 3.52913099e-02 2.43985731e+02] [-2.02823713e-01 9.79191624e-01 -6.80477672e-03 -3.88409643e+01] [-3.59378975e-02 -4.99062348e-04 9.99353901e-01 -1.04127291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.02, Y:-38.85, Z:-10.42 [[ 9.78910743e-01 2.01396105e-01 3.42544220e-02 2.44017226e+02] [-2.01281616e-01 9.79509852e-01 -6.79425261e-03 -3.88454067e+01] [-3.49208798e-02 -2.43818537e-04 9.99390050e-01 -1.04156269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264000000003 meters Centerline goodness [0,1] 0.9999135546334716 Centerline is valid? [True, True] Translation: X:244.05, Y:-38.85, Z:-10.42 [[ 9.78548490e-01 2.03235250e-01 3.37385054e-02 2.44045868e+02] [-2.03124161e-01 9.79129899e-01 -6.72432904e-03 -3.88496019e+01] [-3.44010000e-02 -2.73023580e-04 9.99408073e-01 -1.04165662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.07, Y:-38.85, Z:-10.42 [[ 9.78383790e-01 2.04023271e-01 3.37589101e-02 2.44073704e+02] [-2.03912572e-01 9.78965992e-01 -6.72679008e-03 -3.88519497e+01] [-3.44212466e-02 -3.02483788e-04 9.99407368e-01 -1.04190275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.10, Y:-38.85, Z:-10.42 [[ 9.77862292e-01 2.06488959e-01 3.38769369e-02 2.44102827e+02] [-2.06379042e-01 9.78448852e-01 -6.74800431e-03 -3.88520142e+01] [-3.45402384e-02 -3.92870819e-04 9.99403231e-01 -1.04189269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.13, Y:-38.86, Z:-10.42 [[ 9.77877502e-01 2.06416873e-01 3.38772186e-02 2.44129789e+02] [-2.06306962e-01 9.78464062e-01 -6.74658950e-03 -3.88572479e+01] [-3.45402509e-02 -3.91767965e-04 9.99403231e-01 -1.04201558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.16, Y:-38.86, Z:-10.42 [[ 9.77678450e-01 2.07373586e-01 3.37793466e-02 2.44157523e+02] [-2.07264973e-01 9.78261731e-01 -6.72438740e-03 -3.88584698e+01] [-3.44395024e-02 -4.26986720e-04 9.99406693e-01 -1.04232598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45264000000003 meters Centerline goodness [0,1] 0.9999142146349833 Centerline is valid? [True, True] Translation: X:244.19, Y:-38.86, Z:-10.43 [[ 9.77591895e-01 2.07869258e-01 3.32333906e-02 2.44186178e+02] [-2.07764489e-01 9.78156521e-01 -6.61350130e-03 -3.88641107e+01] [-3.38822013e-02 -4.39413139e-04 9.99425737e-01 -1.04251547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.21, Y:-38.87, Z:-10.43 [[ 9.77934945e-01 2.06210529e-01 3.34733051e-02 2.44214210e+02] [-2.06103333e-01 9.78507572e-01 -6.65940364e-03 -3.88731433e+01] [-3.41271216e-02 -3.86496222e-04 9.99417425e-01 -1.04263422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.24, Y:-38.88, Z:-10.43 [[ 9.78264779e-01 2.04570982e-01 3.38929908e-02 2.44241971e+02] [-2.04460137e-01 9.78851675e-01 -6.74172299e-03 -3.88811069e+01] [-3.45553717e-02 -3.34575398e-04 9.99402729e-01 -1.04268181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.27, Y:-38.89, Z:-10.43 [[ 9.78627517e-01 2.02751691e-01 3.43501817e-02 2.44268830e+02] [-2.02636772e-01 9.79230144e-01 -6.83101819e-03 -3.88884802e+01] [-3.50217339e-02 -2.75587561e-04 9.99386513e-01 -1.04284420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.30, Y:-38.90, Z:-10.43 [[ 9.79019709e-01 2.00796689e-01 3.46568870e-02 2.44296860e+02] [-2.00678564e-01 9.79632914e-01 -6.88969885e-03 -3.88974111e+01] [-3.53344559e-02 -2.09743369e-04 9.99375521e-01 -1.04284982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.32, Y:-38.91, Z:-10.43 [[ 9.79722752e-01 1.97180427e-01 3.55416315e-02 2.44323484e+02] [-1.97053875e-01 9.80367213e-01 -7.06385581e-03 -3.89072236e+01] [-3.62367044e-02 -8.29959615e-05 9.99343232e-01 -1.04291909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.35, Y:-38.92, Z:-10.43 [[ 9.80058931e-01 1.95397655e-01 3.61143753e-02 2.44350900e+02] [-1.95265868e-01 9.80724098e-01 -7.17530692e-03 -3.89150094e+01] [-3.68202763e-02 -1.96811960e-05 9.99321904e-01 -1.04291315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.38, Y:-38.92, Z:-10.43 [[ 9.80371205e-01 1.93695994e-01 3.67989565e-02 2.44377910e+02] [-1.93558027e-01 9.81061599e-01 -7.30958805e-03 -3.89232739e+01] [-3.75178810e-02 4.33762250e-05 9.99295956e-01 -1.04298828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.41, Y:-38.93, Z:-10.43 [[ 9.80883742e-01 1.91180327e-01 3.62927917e-02 2.44405209e+02] [-1.91044498e-01 9.81554922e-01 -7.20660425e-03 -3.89339411e+01] [-3.70011292e-02 1.35302760e-04 9.99315215e-01 -1.04316831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.43, Y:-38.94, Z:-10.44 [[ 9.81099559e-01 1.90357000e-01 3.47544049e-02 2.44431707e+02] [-1.90231983e-01 9.81714922e-01 -6.89963019e-03 -3.89404002e+01] [-3.54323108e-02 1.57824763e-04 9.99372066e-01 -1.04356654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.46, Y:-38.95, Z:-10.44 [[ 9.81276421e-01 1.89861540e-01 3.23910821e-02 2.44459673e+02] [-1.89752744e-01 9.81810862e-01 -6.42856089e-03 -3.89452635e+01] [-3.30224527e-02 1.61898499e-04 9.99454597e-01 -1.04398397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.49, Y:-38.95, Z:-10.44 [[ 9.81240947e-01 1.90040392e-01 3.24168571e-02 2.44487159e+02] [-1.89931571e-01 9.81776260e-01 -6.43218273e-03 -3.89508714e+01] [-3.30484752e-02 1.54536493e-04 9.99453738e-01 -1.04425296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.52, Y:-38.96, Z:-10.44 [[ 9.81180442e-01 1.90331589e-01 3.25396129e-02 2.44515219e+02] [-1.90222174e-01 9.81719851e-01 -6.45434376e-03 -3.89566770e+01] [-3.31732494e-02 1.43119949e-04 9.99449606e-01 -1.04436422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.54, Y:-38.96, Z:-10.44 [[ 9.80958003e-01 1.91346699e-01 3.32841905e-02 2.44543270e+02] [-1.91232860e-01 9.81522505e-01 -6.60036303e-03 -3.89624486e+01] [-3.39321398e-02 1.09647999e-04 9.99424133e-01 -1.04436286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.57, Y:-38.97, Z:-10.44 [[ 9.80837737e-01 1.91950932e-01 3.33492693e-02 2.44572043e+02] [-1.91837051e-01 9.81404520e-01 -6.61164528e-03 -3.89676524e+01] [-3.39982351e-02 8.73257300e-05 9.99421889e-01 -1.04444887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.60, Y:-38.97, Z:-10.45 [[ 9.80666084e-01 1.92797063e-01 3.35160239e-02 2.44601039e+02] [-1.92682594e-01 9.81238651e-01 -6.64294325e-03 -3.89719921e+01] [-3.41679581e-02 5.65547026e-05 9.99416103e-01 -1.04460045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.63, Y:-38.98, Z:-10.45 [[ 9.80520097e-01 1.93574099e-01 3.33077699e-02 2.44629324e+02] [-1.93461532e-01 9.81085658e-01 -6.60059913e-03 -3.89763678e+01] [-3.39554804e-02 2.82478962e-05 9.99423346e-01 -1.04477432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.66, Y:-38.98, Z:-10.45 [[ 9.80188513e-01 1.95290427e-01 3.30473704e-02 2.44657431e+02] [-1.95180643e-01 9.80745455e-01 -6.54741184e-03 -3.89802327e+01] [-3.36897052e-02 -3.25091425e-05 9.99432340e-01 -1.04495232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.69, Y:-38.98, Z:-10.45 [[ 9.79965212e-01 1.96426731e-01 3.29351368e-02 2.44685081e+02] [-1.96318380e-01 9.80518503e-01 -6.52376180e-03 -3.89830705e+01] [-3.35749522e-02 -7.27130830e-05 9.99436200e-01 -1.04522037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.71, Y:-38.98, Z:-10.46 [[ 9.79492275e-01 1.98822369e-01 3.26274142e-02 2.44713510e+02] [-1.98717440e-01 9.80035531e-01 -6.46045764e-03 -3.89836495e+01] [-3.32605087e-02 -1.55667886e-04 9.99446704e-01 -1.04553951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.74, Y:-38.99, Z:-10.45 [[ 9.79296722e-01 1.99836230e-01 3.23018698e-02 2.44742064e+02] [-1.99733984e-01 9.79829294e-01 -6.39456100e-03 -3.89893930e+01] [-3.29281833e-02 -1.89608533e-04 9.99457702e-01 -1.04548478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.77, Y:-38.99, Z:-10.46 [[ 9.78903978e-01 2.01667935e-01 3.28183866e-02 2.44770412e+02] [-2.01563473e-01 9.79453918e-01 -6.49525692e-03 -3.89908996e+01] [-3.34539824e-02 -2.56755139e-04 9.99440226e-01 -1.04569205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.80, Y:-39.00, Z:-10.46 [[ 9.78769313e-01 2.02322749e-01 3.28045277e-02 2.44798577e+02] [-2.02218816e-01 9.79318858e-01 -6.49032364e-03 -3.89950627e+01] [-3.34392328e-02 -2.81163147e-04 9.99440713e-01 -1.04565162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.83, Y:-39.00, Z:-10.46 [[ 9.78666442e-01 2.02871856e-01 3.24808399e-02 2.44826122e+02] [-2.02770311e-01 9.79205250e-01 -6.42494389e-03 -3.89978413e+01] [-3.31088493e-02 -2.98273044e-04 9.99451707e-01 -1.04600585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.85, Y:-39.00, Z:-10.46 [[ 9.78636875e-01 2.03141053e-01 3.16793274e-02 2.44854327e+02] [-2.03044684e-01 9.79149438e-01 -6.26378986e-03 -3.90042365e+01] [-3.22912284e-02 -3.02343268e-04 9.99478457e-01 -1.04604806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264000000003 meters Centerline goodness [0,1] 0.9999569299681281 Centerline is valid? [True, True] Translation: X:244.88, Y:-39.00, Z:-10.47 [[ 9.78439939e-01 2.04162644e-01 3.11913654e-02 2.44882709e+02] [-2.04069786e-01 9.78936926e-01 -6.16588987e-03 -3.90018408e+01] [-3.17932237e-02 -3.32262338e-04 9.99494412e-01 -1.04673645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:244.91, Y:-39.01, Z:-10.47 [[ 9.78391815e-01 2.04345068e-01 3.15047438e-02 2.44910755e+02] [-2.04250492e-01 9.78898858e-01 -6.22586506e-03 -3.90070184e+01] [-3.21121825e-02 -3.43524000e-04 9.99484212e-01 -1.04668367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264000000003 meters Centerline goodness [0,1] 0.9998294715750432 Centerline is valid? [True, True] Translation: X:244.94, Y:-39.01, Z:-10.47 [[ 9.78263370e-01 2.05136953e-01 3.03250696e-02 2.44938514e+02] [-2.05049777e-01 9.78733213e-01 -5.99053155e-03 -3.90078891e+01] [-3.09090322e-02 -3.57831164e-04 9.99522138e-01 -1.04719313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29264000000003 meters Centerline goodness [0,1] 0.999956976293938 Centerline is valid? [True, True] Translation: X:244.97, Y:-39.02, Z:-10.47 [[ 9.78058016e-01 2.06013481e-01 3.09994015e-02 2.44966924e+02] [-2.05922887e-01 9.78549073e-01 -6.12174458e-03 -3.90156116e+01] [-3.15955975e-02 -3.96064894e-04 9.99500656e-01 -1.04666532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.00, Y:-39.02, Z:-10.47 [[ 9.77764829e-01 2.06828172e-01 3.46128044e-02 2.44997315e+02] [-2.06660491e-01 9.78376716e-01 -8.39306783e-03 -3.90185184e+01] [-3.56002848e-02 1.05334736e-03 9.99365554e-01 -1.04678482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.02, Y:-39.02, Z:-10.47 [[ 9.77960073e-01 2.06310597e-01 3.20941266e-02 2.45022536e+02] [-2.06261299e-01 9.78484802e-01 -4.87531395e-03 -3.90206335e+01] [-3.24094440e-02 -1.85191384e-03 9.99472960e-01 -1.04716155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.05, Y:-39.03, Z:-10.47 [[ 9.78066914e-01 2.05993551e-01 3.08507496e-02 2.45050607e+02] [-2.05904106e-01 9.78553266e-01 -6.08312614e-03 -3.90269938e+01] [-3.14421865e-02 -4.02591591e-04 9.99505491e-01 -1.04726512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.08, Y:-39.03, Z:-10.47 [[ 9.78184457e-01 2.05430149e-01 3.08807676e-02 2.45077721e+02] [-2.05340293e-01 9.78671704e-01 -6.08763870e-03 -3.90310101e+01] [-3.14727180e-02 -3.86232318e-04 9.99504537e-01 -1.04749392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264000000004 meters Centerline goodness [0,1] 0.9998500653286783 Centerline is valid? [True, True] Translation: X:245.11, Y:-39.04, Z:-10.48 [[ 9.78277567e-01 2.05105309e-01 3.00801156e-02 2.45106237e+02] [-2.05019961e-01 9.78739841e-01 -5.92780495e-03 -3.90357202e+01] [-3.06564318e-02 -3.67985510e-04 9.99529913e-01 -1.04755903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.14, Y:-39.04, Z:-10.48 [[ 9.78414837e-01 2.03579560e-01 3.54932313e-02 2.45135555e+02] [-2.03728443e-01 9.79027258e-01 5.91466318e-04 -3.90448397e+01] [-3.46284304e-02 -7.80968018e-03 9.99369742e-01 -1.04800547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.16, Y:-39.04, Z:-10.48 [[ 9.78807716e-01 2.02723530e-01 2.89590445e-02 2.45163037e+02] [-2.02411032e-01 9.79209332e-01 -1.33738007e-02 -3.90411127e+01] [-3.10681507e-02 7.22874925e-03 9.99491128e-01 -1.04792008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.19, Y:-39.05, Z:-10.48 [[ 9.79023404e-01 2.01397977e-01 3.08549775e-02 2.45189465e+02] [-2.01306598e-01 9.79509461e-01 -6.07204467e-03 -3.90524558e+01] [-3.14456398e-02 -2.66636702e-04 9.99505428e-01 -1.04804451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.22, Y:-39.06, Z:-10.48 [[ 9.79419790e-01 1.99443181e-01 3.09724556e-02 2.45216612e+02] [-1.99350216e-01 9.79909371e-01 -6.09236281e-03 -3.90596416e+01] [-3.15652797e-02 -2.07385023e-04 9.99501671e-01 -1.04825415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.24, Y:-39.06, Z:-10.49 [[ 9.79582431e-01 1.98674008e-01 3.07717399e-02 2.45243488e+02] [-1.98581949e-01 9.80065612e-01 -6.05019100e-03 -3.90635468e+01] [-3.13603398e-02 -1.84051292e-04 9.99508127e-01 -1.04880704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.27, Y:-39.07, Z:-10.48 [[ 9.79805772e-01 1.97625553e-01 3.04103495e-02 2.45270966e+02] [-1.97535221e-01 9.80277572e-01 -5.97649899e-03 -3.90711602e+01] [-3.09916925e-02 -1.51306909e-04 9.99519631e-01 -1.04842807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.30, Y:-39.08, Z:-10.49 [[ 9.80004197e-01 1.96670102e-01 3.02100187e-02 2.45298429e+02] [-1.96580572e-01 9.80469712e-01 -5.93487075e-03 -3.90767302e+01] [-3.07872200e-02 -1.22504522e-04 9.99525954e-01 -1.04855761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.33, Y:-39.08, Z:-10.49 [[ 9.80273780e-01 1.95253923e-01 3.06467364e-02 2.45325604e+02] [-1.95161165e-01 9.80752721e-01 -6.01838398e-03 -3.90814220e+01] [-3.12319832e-02 -8.13887574e-05 9.99512159e-01 -1.04888139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.35, Y:-39.09, Z:-10.49 [[ 9.80398611e-01 1.94686176e-01 3.02631288e-02 2.45353633e+02] [-1.94595548e-01 9.80865581e-01 -5.94004846e-03 -3.90869814e+01] [-3.08405068e-02 -6.54548736e-05 9.99524316e-01 -1.04905415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.38, Y:-39.09, Z:-10.49 [[ 9.80511498e-01 1.94116443e-01 3.02656474e-02 2.45380615e+02] [-1.94025562e-01 9.80978493e-01 -5.93947613e-03 -3.90929343e+01] [-3.08428992e-02 -4.85846021e-05 9.99524243e-01 -1.04893154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77264000000002 meters Centerline goodness [0,1] 0.999870340356564 Centerline is valid? [True, True] Translation: X:245.41, Y:-39.10, Z:-10.49 [[ 9.80613531e-01 1.93677238e-01 2.97696036e-02 2.45409656e+02] [-1.93589188e-01 9.81065302e-01 -5.83955058e-03 -3.90971908e+01] [-3.03369132e-02 -3.67310736e-05 9.99539729e-01 -1.04891151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.44, Y:-39.10, Z:-10.49 [[ 9.80600226e-01 1.93625302e-01 3.05358765e-02 2.45437450e+02] [-1.93532675e-01 9.81075553e-01 -5.98856490e-03 -3.91008598e+01] [-3.11175396e-02 -3.73017461e-05 9.99515731e-01 -1.04905291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83264000000003 meters Centerline goodness [0,1] 0.9999144476526575 Centerline is valid? [True, True] Translation: X:245.46, Y:-39.10, Z:-10.49 [[ 9.80546856e-01 1.94017497e-01 2.97501836e-02 2.45464740e+02] [-1.93929828e-01 9.80998067e-01 -5.83211227e-03 -3.91037477e+01] [-3.03164044e-02 -5.07886314e-05 9.99540351e-01 -1.04938388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264000000003 meters Centerline goodness [0,1] 0.9999785867237687 Centerline is valid? [True, True] Translation: X:245.49, Y:-39.11, Z:-10.50 [[ 9.80361532e-01 1.95016280e-01 2.93243415e-02 2.45493775e+02] [-1.94931610e-01 9.80800002e-01 -5.74661885e-03 -3.91055431e+01] [-2.98819984e-02 -8.24770419e-05 9.99553430e-01 -1.04956324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.52, Y:-39.11, Z:-10.50 [[ 9.80299304e-01 1.95271704e-01 2.97024653e-02 2.45522034e+02] [-1.95184998e-01 9.80749179e-01 -5.81924633e-03 -3.91088012e+01] [-3.02670026e-02 -9.28724945e-05 9.99541845e-01 -1.04970422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.55, Y:-39.11, Z:-10.50 [[ 9.80254972e-01 1.95478472e-01 2.98053163e-02 2.45550226e+02] [-1.95391293e-01 9.80707988e-01 -5.83827825e-03 -3.91115267e+01] [-3.03715694e-02 -1.00698007e-04 9.99538672e-01 -1.04980238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.58, Y:-39.11, Z:-10.50 [[ 9.80077397e-01 1.96275268e-01 3.04025415e-02 2.45579629e+02] [-1.96185023e-01 9.80548827e-01 -5.95267585e-03 -3.91129661e+01] [-3.09795395e-02 -1.30440260e-04 9.99520010e-01 -1.04969549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.61, Y:-39.12, Z:-10.50 [[ 9.79971908e-01 1.96764588e-01 3.06391357e-02 2.45606311e+02] [-1.96673205e-01 9.80450751e-01 -5.99795097e-03 -3.91159720e+01] [-3.12203480e-02 -1.48073557e-04 9.99512515e-01 -1.04989750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.63, Y:-39.12, Z:-10.50 [[ 9.79884639e-01 1.97240633e-01 3.03682011e-02 2.45634660e+02] [-1.97151184e-01 9.80355092e-01 -5.94182140e-03 -3.91203160e+01] [-3.09435891e-02 -1.64827276e-04 9.99521119e-01 -1.05000712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.66, Y:-39.14, Z:-10.50 [[ 9.79114695e-01 1.99326537e-01 4.00417948e-02 2.45658808e+02] [-2.00002899e-01 9.79700609e-01 1.36219595e-02 -3.91350857e+01] [-3.65137527e-02 -2.13459357e-02 9.99105148e-01 -1.05019905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.69, Y:-39.11, Z:-10.50 [[ 9.79582371e-01 1.99407352e-01 2.55946473e-02 2.45694995e+02] [-1.98746973e-01 9.79700666e-01 -2.61962965e-02 -3.91085201e+01] [-3.02988271e-02 2.05745715e-02 9.99329109e-01 -1.05034465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.72, Y:-39.12, Z:-10.51 [[ 9.79620432e-01 1.98739123e-01 2.90958955e-02 2.45720742e+02] [-1.98657919e-01 9.80052405e-01 -5.68461140e-03 -3.91241593e+01] [-2.96452571e-02 -2.11368580e-04 9.99560460e-01 -1.05063006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.75, Y:-39.13, Z:-10.51 [[ 9.79652547e-01 1.98565568e-01 2.91993590e-02 2.45746977e+02] [-1.98483878e-01 9.80087583e-01 -5.69911468e-03 -3.91283153e+01] [-2.97495771e-02 -2.12449800e-04 9.99557361e-01 -1.05077884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.78, Y:-39.13, Z:-10.51 [[ 9.79742426e-01 1.98205340e-01 2.86255557e-02 2.45775034e+02] [-1.98126756e-01 9.80160499e-01 -5.58438023e-03 -3.91313133e+01] [-2.91644929e-02 -2.00234257e-04 9.99574606e-01 -1.05093701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.80, Y:-39.13, Z:-10.51 [[ 9.79735611e-01 1.98160626e-01 2.91633033e-02 2.45803336e+02] [-1.98079100e-01 9.80169539e-01 -5.68729978e-03 -3.91345457e+01] [-2.97119805e-02 -2.04590763e-04 9.99558481e-01 -1.05099461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.83, Y:-39.14, Z:-10.51 [[ 9.79903950e-01 1.97509536e-01 2.78968118e-02 2.45831246e+02] [-1.97434710e-01 9.80300950e-01 -5.43906304e-03 -3.91373992e+01] [-2.84215379e-02 -1.78039605e-04 9.99596011e-01 -1.05132266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.86, Y:-39.14, Z:-10.51 [[ 9.79969501e-01 1.97216348e-01 2.76674817e-02 2.45859406e+02] [-1.97142668e-01 9.80359976e-01 -5.39308552e-03 -3.91427695e+01] [-2.81876963e-02 -1.69381822e-04 9.99602634e-01 -1.05128272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.89, Y:-39.15, Z:-10.51 [[ 9.80033886e-01 1.96995635e-01 2.69499820e-02 2.45888035e+02] [-1.96925679e-01 9.80404352e-01 -5.25193469e-03 -3.91468629e+01] [-2.74564878e-02 -1.60069528e-04 9.99622987e-01 -1.05145727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.92, Y:-39.15, Z:-10.52 [[ 9.80048240e-01 1.96924188e-01 2.69501582e-02 2.45915017e+02] [-1.96854229e-01 9.80418706e-01 -5.25103030e-03 -3.91519849e+01] [-2.74564941e-02 -1.58989615e-04 9.99622987e-01 -1.05158007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000005 meters Centerline goodness [0,1] 0.9999142348678145 Centerline is valid? [True, True] Translation: X:245.94, Y:-39.15, Z:-10.52 [[ 9.80065997e-01 1.96877549e-01 2.66434205e-02 2.45943865e+02] [-1.96809223e-01 9.80428073e-01 -5.18884856e-03 -3.91548876e+01] [-2.71435252e-02 -1.58256842e-04 9.99631534e-01 -1.05174607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:245.97, Y:-39.16, Z:-10.52 [[ 9.80232968e-01 1.96000908e-01 2.69624428e-02 2.45971717e+02] [-1.95930642e-01 9.80603705e-01 -5.24960458e-03 -3.91608461e+01] [-2.74683985e-02 -1.36933245e-04 9.99622663e-01 -1.05181672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.00, Y:-39.17, Z:-10.52 [[ 9.80413031e-01 1.95040641e-01 2.73758316e-02 2.45999058e+02] [-1.94967863e-01 9.80795155e-01 -5.32887046e-03 -3.91663316e+01] [-2.78894293e-02 -1.12913343e-04 9.99611008e-01 -1.05193977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.03, Y:-39.17, Z:-10.52 [[ 9.80749795e-01 1.93356107e-01 2.72627194e-02 2.46027580e+02] [-1.93283330e-01 9.81128642e-01 -5.30495837e-03 -3.91716764e+01] [-2.77739809e-02 -6.65923649e-05 9.99614226e-01 -1.05186594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.05, Y:-39.18, Z:-10.52 [[ 9.80926694e-01 1.92508624e-01 2.68933239e-02 2.46054613e+02] [-1.92437504e-01 9.81295281e-01 -5.23249962e-03 -3.91763468e+01] [-2.73975931e-02 -4.25855645e-05 9.99624615e-01 -1.05240457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49264000000002 meters Centerline goodness [0,1] 0.9997844270069846 Centerline is valid? [True, True] Translation: X:246.08, Y:-39.18, Z:-10.52 [[ 9.81018057e-01 1.92132713e-01 2.62410518e-02 2.46082981e+02] [-1.92064954e-01 9.81368952e-01 -5.10235315e-03 -3.91821250e+01] [-2.67324825e-02 -3.44858453e-05 9.99642623e-01 -1.05234485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.11, Y:-39.19, Z:-10.52 [[ 9.81424774e-01 1.90006978e-01 2.65096457e-02 2.46110978e+02] [-1.89937084e-01 9.81782740e-01 -5.15326589e-03 -3.91903086e+01] [-2.70058691e-02 2.23779986e-05 9.99635275e-01 -1.05242826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.14, Y:-39.20, Z:-10.53 [[ 9.81618640e-01 1.88935925e-01 2.69826220e-02 2.46138048e+02] [-1.88863142e-01 9.81989416e-01 -5.24402944e-03 -3.91962633e+01] [-2.74874348e-02 5.16142646e-05 9.99622148e-01 -1.05252671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.17, Y:-39.20, Z:-10.53 [[ 9.81859956e-01 1.87678554e-01 2.69775198e-02 2.46165998e+02] [-1.87605376e-01 9.82230499e-01 -5.24116943e-03 -3.92030069e+01] [-2.74817979e-02 8.49666500e-05 9.99622300e-01 -1.05255086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.19, Y:-39.21, Z:-10.53 [[ 9.82178344e-01 1.85998995e-01 2.70198830e-02 2.46192363e+02] [-1.85924983e-01 9.82549926e-01 -5.24825079e-03 -3.92111838e+01] [-2.75245534e-02 1.31046988e-04 9.99621119e-01 -1.05286671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.22, Y:-39.22, Z:-10.53 [[ 9.82794651e-01 1.82681584e-01 2.72417454e-02 2.46219086e+02] [-1.82605130e-01 9.83172105e-01 -5.28939929e-03 -3.92233994e+01] [-2.77496000e-02 2.23910859e-04 9.99614881e-01 -1.05288257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.24, Y:-39.23, Z:-10.53 [[ 9.83107064e-01 1.80867230e-01 2.80632384e-02 2.46244707e+02] [-1.80785381e-01 9.83507481e-01 -5.44802884e-03 -3.92321634e+01] [-2.85857748e-02 2.82572409e-04 9.99591303e-01 -1.05311196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.27, Y:-39.24, Z:-10.53 [[ 9.83392756e-01 1.79289005e-01 2.81805075e-02 2.46272583e+02] [-1.79205908e-01 9.83796395e-01 -5.46778219e-03 -3.92401518e+01] [-2.87041949e-02 3.26863966e-04 9.99587896e-01 -1.05305650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.30, Y:-39.25, Z:-10.53 [[ 9.83846240e-01 1.76853080e-01 2.77410125e-02 2.46299156e+02] [-1.76771624e-01 9.84237185e-01 -5.38119115e-03 -3.92527976e+01] [-2.82554162e-02 3.90440846e-04 9.99600660e-01 -1.05325270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264000000003 meters Centerline goodness [0,1] 0.9999360572926658 Centerline is valid? [True, True] Translation: X:246.33, Y:-39.26, Z:-10.53 [[ 9.83876534e-01 1.76729533e-01 2.74524838e-02 2.46327445e+02] [-1.76649751e-01 9.84259377e-01 -5.32391587e-03 -3.92600677e+01] [-2.79612578e-02 3.88601447e-04 9.99608932e-01 -1.05337052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.35, Y:-39.27, Z:-10.53 [[ 9.83338242e-01 1.78837839e-01 3.26026101e-02 2.46350942e+02] [-1.79038246e-01 9.83836543e-01 3.31117907e-03 -3.92689036e+01] [-3.14834751e-02 -9.09312312e-03 9.99462909e-01 -1.05344676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.39, Y:-39.26, Z:-10.54 [[ 9.83160934e-01 1.81180003e-01 2.38408209e-02 2.46385343e+02] [-1.80887039e-01 9.83405123e-01 -1.39371316e-02 -3.92612351e+01] [-2.59703149e-02 9.38994779e-03 9.99618613e-01 -1.05385913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.41, Y:-39.27, Z:-10.54 [[ 9.82683031e-01 1.83634914e-01 2.47442650e-02 2.46412548e+02] [-1.83572401e-01 9.82994502e-01 -4.79411754e-03 -3.92685673e+01] [-2.52038438e-02 1.68733821e-04 9.99682318e-01 -1.05431517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.44, Y:-39.27, Z:-10.54 [[ 9.82160049e-01 1.86415458e-01 2.47166956e-02 2.46441753e+02] [-1.86354009e-01 9.82471001e-01 -4.78700498e-03 -3.92696318e+01] [-2.51758084e-02 9.55497434e-05 9.99683035e-01 -1.05446167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.47, Y:-39.27, Z:-10.54 [[ 9.81630968e-01 1.89223616e-01 2.43939833e-02 2.46470431e+02] [-1.89164643e-01 9.81934022e-01 -4.72389040e-03 -3.92708708e+01] [-2.48471537e-02 2.26379703e-05 9.99691262e-01 -1.05436337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264000000004 meters Centerline goodness [0,1] 0.9999569095531521 Centerline is valid? [True, True] Translation: X:246.49, Y:-39.28, Z:-10.54 [[ 9.79964222e-01 1.96790708e-01 3.07171046e-02 2.46493377e+02] [-1.97041218e-01 9.80380752e-01 5.32348105e-03 -3.92766383e+01] [-2.90668465e-02 -1.12693567e-02 9.99513942e-01 -1.05441168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.53, Y:-39.27, Z:-10.54 [[ 9.80055363e-01 1.97355953e-01 2.32833120e-02 2.46530063e+02] [-1.97033932e-01 9.80275400e-01 -1.54197922e-02 -3.92654520e+01] [-2.58672458e-02 1.05246475e-02 9.99609983e-01 -1.05439408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.56, Y:-39.27, Z:-10.55 [[ 9.79710556e-01 1.98778092e-01 2.55831284e-02 2.46556676e+02] [-1.98716629e-01 9.80044496e-01 -4.94839251e-03 -3.92736663e+01] [-2.60562362e-02 -2.35800667e-04 9.99660451e-01 -1.05465008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03264000000004 meters Centerline goodness [0,1] 0.999978454776576 Centerline is valid? [True, True] Translation: X:246.59, Y:-39.27, Z:-10.55 [[ 9.79249691e-01 2.01058722e-01 2.54053893e-02 2.46585161e+02] [-2.00998920e-01 9.79579146e-01 -4.91240166e-03 -3.92741371e+01] [-2.58742708e-02 -2.95987997e-04 9.99665161e-01 -1.05482212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000004 meters Centerline goodness [0,1] 0.9999363111413043 Centerline is valid? [True, True] Translation: X:246.61, Y:-39.28, Z:-10.55 [[ 9.79184839e-01 2.01292668e-01 2.60444379e-02 2.46612831e+02] [-2.01229947e-01 9.79531094e-01 -5.03424191e-03 -3.92761533e+01] [-2.65246927e-02 -3.11467491e-04 9.99648110e-01 -1.05532298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.64, Y:-39.28, Z:-10.55 [[ 9.79356072e-01 2.00512053e-01 2.56242159e-02 2.46639618e+02] [-2.00451048e-01 9.79691194e-01 -4.95397752e-03 -3.92842903e+01] [-2.60971509e-02 -2.84692970e-04 9.99659371e-01 -1.05507138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.67, Y:-39.29, Z:-10.55 [[ 9.79725515e-01 1.98644044e-01 2.60472356e-02 2.46667875e+02] [-1.98580508e-01 9.80071673e-01 -5.02968157e-03 -3.92928570e+01] [-2.65272740e-02 -2.44765914e-04 9.99648060e-01 -1.05511115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.69, Y:-39.30, Z:-10.55 [[ 9.79942934e-01 1.97523743e-01 2.63859249e-02 2.46694861e+02] [-1.97458305e-01 9.80298078e-01 -5.08887143e-03 -3.93001178e+01] [-2.68712444e-02 -2.23316397e-04 9.99638878e-01 -1.05526482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.72, Y:-39.31, Z:-10.56 [[ 9.80125867e-01 1.96599073e-01 2.64969661e-02 2.46722063e+02] [-1.96532791e-01 9.80483944e-01 -5.10858541e-03 -3.93057548e+01] [-2.69841929e-02 -2.00465983e-04 9.99635840e-01 -1.05573023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.75, Y:-39.31, Z:-10.56 [[ 9.80469858e-01 1.95002948e-01 2.55481614e-02 2.46749375e+02] [-1.94940830e-01 9.80802644e-01 -4.92397906e-03 -3.93148273e+01] [-2.60178946e-02 -1.52566748e-04 9.99661466e-01 -1.05552484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.78, Y:-39.32, Z:-10.56 [[ 9.80606660e-01 1.94280363e-01 2.58015194e-02 2.46776955e+02] [-1.94216791e-01 9.80946034e-01 -4.97149418e-03 -3.93217086e+01] [-2.62757618e-02 -1.36008000e-04 9.99654723e-01 -1.05562061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.80, Y:-39.33, Z:-10.56 [[ 9.80739985e-01 1.93551433e-01 2.62092496e-02 2.46804578e+02] [-1.93485611e-01 9.81090123e-01 -5.04871565e-03 -3.93292887e+01] [-2.66908221e-02 -1.19635378e-04 9.99643729e-01 -1.05563097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.83, Y:-39.34, Z:-10.56 [[ 9.81170898e-01 1.91388582e-01 2.59630480e-02 2.46830028e+02] [-1.91323251e-01 9.81514344e-01 -5.00065786e-03 -3.93379773e+01] [-2.64401728e-02 -6.08347891e-05 9.99650396e-01 -1.05605212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.86, Y:-39.35, Z:-10.56 [[ 9.81369171e-01 1.90448818e-01 2.53731563e-02 2.46858290e+02] [-1.90386184e-01 9.81697126e-01 -4.88413361e-03 -3.93453951e+01] [-2.58389321e-02 -3.75602428e-05 9.99666118e-01 -1.05623066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.89, Y:-39.35, Z:-10.56 [[ 9.81564359e-01 1.89494051e-01 2.49682433e-02 2.46886246e+02] [-1.89433121e-01 9.81881869e-01 -4.80502588e-03 -3.93533240e+01] [-2.54263892e-02 -1.33701035e-05 9.99676697e-01 -1.05630980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39264000000003 meters Centerline goodness [0,1] 0.9998071401020014 Centerline is valid? [True, True] Translation: X:246.91, Y:-39.36, Z:-10.57 [[ 9.81666193e-01 1.89059440e-01 2.42489845e-02 2.46912800e+02] [-1.89001860e-01 9.81965645e-01 -4.66568906e-03 -3.93609106e+01] [-2.46937622e-02 -2.95396056e-06 9.99695063e-01 -1.05673501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:246.94, Y:-39.37, Z:-10.57 [[ 9.81852140e-01 1.88150868e-01 2.37828762e-02 2.46940003e+02] [-1.88095256e-01 9.82140138e-01 -4.57430339e-03 -3.93697015e+01] [-2.42187765e-02 1.78433927e-05 9.99706682e-01 -1.05698405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45264000000003 meters Centerline goodness [0,1] 0.9998707815562208 Centerline is valid? [True, True] Translation: X:246.97, Y:-39.37, Z:-10.57 [[ 9.81780818e-01 1.88543848e-01 2.36144823e-02 2.46968319e+02] [-1.88489161e-01 9.82064773e-01 -4.54081284e-03 -3.93744827e+01] [-2.40470935e-02 7.00899371e-06 9.99710827e-01 -1.05687204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.00, Y:-39.38, Z:-10.57 [[ 9.81562867e-01 1.89412714e-01 2.56351815e-02 2.46995583e+02] [-1.89348593e-01 9.81897563e-01 -4.92813690e-03 -3.93790069e+01] [-2.61045740e-02 -1.67093751e-05 9.99659217e-01 -1.05668424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51264000000003 meters Centerline goodness [0,1] 0.9997635018919848 Centerline is valid? [True, True] Translation: X:247.02, Y:-39.38, Z:-10.57 [[ 9.81418779e-01 1.90077715e-01 2.62229373e-02 2.47023204e+02] [-1.90010903e-01 9.81769047e-01 -5.03944018e-03 -3.93848117e+01] [-2.67027534e-02 -3.68427708e-05 9.99643417e-01 -1.05669788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.05, Y:-39.39, Z:-10.57 [[ 9.81410531e-01 1.90128683e-01 2.61620438e-02 2.47050697e+02] [-1.90062234e-01 9.81759177e-01 -5.02642666e-03 -3.93908462e+01] [-2.66404945e-02 -3.94284447e-05 9.99645078e-01 -1.05652628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.08, Y:-39.40, Z:-10.57 [[ 9.81449501e-01 1.90074945e-01 2.50677639e-02 2.47078083e+02] [-1.90013973e-01 9.81769583e-01 -4.81414287e-03 -3.93959852e+01] [-2.55258160e-02 -3.83873019e-05 9.99674163e-01 -1.05719162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264000000004 meters Centerline goodness [0,1] 0.9998507844474761 Centerline is valid? [True, True] Translation: X:247.11, Y:-39.40, Z:-10.57 [[ 9.81442819e-01 1.90136523e-01 2.48615318e-02 2.47105886e+02] [-1.90076618e-01 9.81757659e-01 -4.77266774e-03 -3.94020273e+01] [-2.53154577e-02 -4.14954262e-05 9.99679512e-01 -1.05741529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.13, Y:-39.41, Z:-10.57 [[ 9.81526776e-01 1.89713004e-01 2.47823311e-02 2.47133184e+02] [-1.89653362e-01 9.81839587e-01 -4.75677633e-03 -3.94084962e+01] [-2.52346961e-02 -3.11490935e-05 9.99681554e-01 -1.05735203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.16, Y:-39.41, Z:-10.58 [[ 9.81311639e-01 1.90721061e-01 2.55527779e-02 2.47161009e+02] [-1.90658060e-01 9.81644270e-01 -4.90215196e-03 -3.94133960e+01] [-2.60186816e-02 -6.13042935e-05 9.99661455e-01 -1.05757891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.19, Y:-39.42, Z:-10.58 [[ 9.81138659e-01 1.91651772e-01 2.52295523e-02 2.47189575e+02] [-1.91590695e-01 9.81462985e-01 -4.83888164e-03 -3.94183719e+01] [-2.56892520e-02 -8.61336215e-05 9.99669973e-01 -1.05761356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.22, Y:-39.42, Z:-10.58 [[ 9.80979356e-01 1.92472042e-01 2.51796742e-02 2.47217097e+02] [-1.92411502e-01 9.81302452e-01 -4.82832134e-03 -3.94232894e+01] [-2.56381929e-02 -1.08375369e-04 9.99671282e-01 -1.05793928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.25, Y:-39.43, Z:-10.58 [[ 9.80769732e-01 1.93568598e-01 2.49385292e-02 2.47245887e+02] [-1.93509610e-01 9.81086734e-01 -4.78036616e-03 -3.94281863e+01] [-2.53921890e-02 -1.37406622e-04 9.99677557e-01 -1.05793007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000004 meters Centerline goodness [0,1] 0.9999785214141501 Centerline is valid? [True, True] Translation: X:247.27, Y:-39.43, Z:-10.58 [[ 9.80358417e-01 1.95645392e-01 2.49049013e-02 2.47273558e+02] [-1.95587258e-01 9.80674688e-01 -4.77294325e-03 -3.94298958e+01] [-2.53574106e-02 -1.91886251e-04 9.99678431e-01 -1.05810217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.30, Y:-39.44, Z:-10.58 [[ 9.80256279e-01 1.96142207e-01 2.50172380e-02 2.47301508e+02] [-1.96083753e-01 9.80575439e-01 -4.79273570e-03 -3.94352802e+01] [-2.54713469e-02 -2.07364647e-04 9.99675531e-01 -1.05810864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.33, Y:-39.44, Z:-10.59 [[ 9.80212707e-01 1.96402183e-01 2.46826207e-02 2.47329249e+02] [-1.96345389e-01 9.80523400e-01 -4.72767785e-03 -3.94393116e+01] [-2.51304134e-02 -2.12188843e-04 9.99684159e-01 -1.05854322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.36, Y:-39.45, Z:-10.58 [[ 9.80233921e-01 1.96234850e-01 2.51663144e-02 2.47357337e+02] [-1.96175799e-01 9.80556902e-01 -4.81850194e-03 -3.94460153e+01] [-2.56225613e-02 -2.13762789e-04 9.99671665e-01 -1.05839189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264000000005 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.38, Y:-39.45, Z:-10.58 [[ 9.80418447e-01 1.95285550e-01 2.53618309e-02 2.47384898e+02] [-1.95225291e-01 9.80746408e-01 -4.85473489e-03 -3.94549980e+01] [-2.58215841e-02 -1.91599182e-04 9.99666549e-01 -1.05822685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.41, Y:-39.46, Z:-10.59 [[ 9.80566197e-01 1.94556535e-01 2.52524718e-02 2.47411094e+02] [-1.94496568e-01 9.80891291e-01 -4.83323182e-03 -3.94606919e+01] [-2.57102665e-02 -1.72215346e-04 9.99669422e-01 -1.05861383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.44, Y:-39.47, Z:-10.59 [[ 9.80574566e-01 1.94516229e-01 2.52380126e-02 2.47438355e+02] [-1.94456382e-01 9.80899285e-01 -4.82795051e-03 -3.94675361e+01] [-2.56950632e-02 -1.73527136e-04 9.99669812e-01 -1.05877211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99264000000002 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.46, Y:-39.47, Z:-10.59 [[ 9.80579269e-01 1.94479408e-01 2.53388336e-02 2.47464863e+02] [-1.94419089e-01 9.80906586e-01 -4.84645917e-03 -3.94731107e+01] [-2.57975653e-02 -1.74015567e-04 9.99667172e-01 -1.05890393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.49, Y:-39.48, Z:-10.59 [[ 9.80536273e-01 1.94692157e-01 2.53689119e-02 2.47491710e+02] [-1.94631874e-01 9.80864379e-01 -4.84804525e-03 -3.94768944e+01] [-2.58273384e-02 -1.83914647e-04 9.99666402e-01 -1.05924545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.52, Y:-39.48, Z:-10.59 [[ 9.80410432e-01 1.95198553e-01 2.63231621e-02 2.47519961e+02] [-1.95133910e-01 9.80763724e-01 -5.02747129e-03 -3.94824555e+01] [-2.67981576e-02 -2.07556248e-04 9.99640843e-01 -1.05890672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.55, Y:-39.49, Z:-10.59 [[ 9.80477880e-01 1.94908283e-01 2.59593695e-02 2.47548165e+02] [-1.94845345e-01 9.80821453e-01 -4.95678145e-03 -3.94895983e+01] [-2.64276243e-02 -1.98047730e-04 9.99650710e-01 -1.05887492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.57, Y:-39.50, Z:-10.59 [[ 9.80662130e-01 1.94007864e-01 2.57436307e-02 2.47574410e+02] [-1.93945674e-01 9.80999959e-01 -4.91498312e-03 -3.94960504e+01] [-2.62080460e-02 -1.72927975e-04 9.99656495e-01 -1.05922496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.60, Y:-39.50, Z:-10.59 [[ 9.81051533e-01 1.92031749e-01 2.57234838e-02 2.47601373e+02] [-1.91969049e-01 9.81388706e-01 -4.90835788e-03 -3.95043283e+01] [-2.61872970e-02 -1.22760705e-04 9.99657046e-01 -1.05935228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.63, Y:-39.51, Z:-10.59 [[ 9.81064994e-01 1.91962932e-01 2.57237313e-02 2.47628379e+02] [-1.91900242e-01 9.81402169e-01 -4.90706012e-03 -3.95093403e+01] [-2.61872994e-02 -1.22245367e-04 9.99657046e-01 -1.05947511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.66, Y:-39.52, Z:-10.59 [[ 9.81324217e-01 1.90677226e-01 2.53964084e-02 2.47655158e+02] [-1.90615736e-01 9.81652784e-01 -4.84285684e-03 -3.95169502e+01] [-2.58538775e-02 -8.85423824e-05 9.99665729e-01 -1.05948993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.68, Y:-39.53, Z:-10.60 [[ 9.81640114e-01 1.89116660e-01 2.48510477e-02 2.47681295e+02] [-1.89057322e-01 9.81954626e-01 -4.73735035e-03 -3.95252687e+01] [-2.52985132e-02 -4.78993842e-05 9.99679940e-01 -1.05994467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.71, Y:-39.54, Z:-10.60 [[ 9.82196629e-01 1.86265312e-01 2.43929477e-02 2.47708109e+02] [-1.86207334e-01 9.82499482e-01 -4.64713177e-03 -3.95387398e+01] [-2.48316579e-02 2.22514143e-05 9.99691647e-01 -1.05998033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.74, Y:-39.55, Z:-10.60 [[ 9.82488886e-01 1.84701669e-01 2.45129175e-02 2.47735414e+02] [-1.84642650e-01 9.82794633e-01 -4.66925226e-03 -3.95474765e+01] [-2.49535824e-02 6.13584084e-05 9.99688609e-01 -1.05997837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.76, Y:-39.56, Z:-10.60 [[ 9.82718072e-01 1.83364529e-01 2.53503606e-02 2.47762084e+02] [-1.83301023e-01 9.83044984e-01 -4.82648183e-03 -3.95572766e+01] [-2.58055504e-02 9.63238928e-05 9.99666977e-01 -1.06020073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.79, Y:-39.57, Z:-10.60 [[ 9.82895949e-01 1.82394043e-01 2.54551989e-02 2.47789730e+02] [-1.82329732e-01 9.83225507e-01 -4.84460266e-03 -3.95655610e+01] [-2.59118276e-02 1.20500717e-04 9.99664225e-01 -1.05999288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.82, Y:-39.57, Z:-10.60 [[ 9.82836222e-01 1.82640369e-01 2.59895277e-02 2.47817612e+02] [-1.82573452e-01 9.83179781e-01 -4.94492910e-03 -3.95729899e+01] [-2.64555218e-02 1.15057658e-04 9.99649985e-01 -1.05993734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41264 meters Centerline goodness [0,1] 0.9998284807684061 Centerline is valid? [True, True] Translation: X:247.85, Y:-39.58, Z:-10.60 [[ 9.82717924e-01 1.83302889e-01 2.57979075e-02 2.47845245e+02] [-1.83237212e-01 9.83056479e-01 -4.90739344e-03 -3.95782563e+01] [-2.62603395e-02 9.54468544e-05 9.99655133e-01 -1.06034154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.87, Y:-39.58, Z:-10.60 [[ 9.82300285e-01 1.85536599e-01 2.57355832e-02 2.47872381e+02] [-1.85472048e-01 9.82637354e-01 -4.89387701e-03 -3.95818609e+01] [-2.61967387e-02 3.40254552e-05 9.99656806e-01 -1.06047745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.90, Y:-39.59, Z:-10.61 [[ 9.81846376e-01 1.87974471e-01 2.53632022e-02 2.47901559e+02] [-1.87912633e-01 9.82173914e-01 -4.82133537e-03 -3.95850785e+01] [-2.58173636e-02 -3.22554490e-05 9.99666676e-01 -1.06052666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.93, Y:-39.58, Z:-10.61 [[ 9.80731865e-01 1.93695651e-01 2.54362587e-02 2.47930591e+02] [-1.93635405e-01 9.81061650e-01 -4.83417571e-03 -3.95831976e+01] [-2.58908967e-02 -1.84330094e-04 9.99664758e-01 -1.06080493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53264 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:247.96, Y:-39.58, Z:-10.61 [[ 9.80144370e-01 1.96652791e-01 2.53908125e-02 2.47960059e+02] [-1.96593798e-01 9.80473156e-01 -4.82372552e-03 -3.95848400e+01] [-2.58436092e-02 -2.63728852e-04 9.99665963e-01 -1.06086859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:247.99, Y:-39.58, Z:-10.61 [[ 9.79028900e-01 2.02128448e-01 2.54264445e-02 2.47990560e+02] [-2.02071172e-01 9.79358934e-01 -4.82900114e-03 -3.95790509e+01] [-2.58776941e-02 -4.10219769e-04 9.99665032e-01 -1.06103522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.02, Y:-39.58, Z:-10.61 [[ 9.78509055e-01 2.04575802e-01 2.58606147e-02 2.48018400e+02] [-2.04517415e-01 9.78850605e-01 -4.91113574e-03 -3.95789857e+01] [-2.63183779e-02 -4.83355285e-04 9.99653495e-01 -1.06113243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters Centerline goodness [0,1] 0.9999571303024457 Centerline is valid? [True, True] Translation: X:248.05, Y:-39.58, Z:-10.61 [[ 9.78099917e-01 2.06472855e-01 2.62585536e-02 2.48046805e+02] [-2.06413400e-01 9.78452177e-01 -4.98450452e-03 -3.95813420e+01] [-2.67219038e-02 -5.44773856e-04 9.99642758e-01 -1.06115132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65264 meters Centerline goodness [0,1] 0.9999359767809125 Centerline is valid? [True, True] Translation: X:248.07, Y:-39.58, Z:-10.61 [[ 9.77798072e-01 2.07830414e-01 2.67852606e-02 2.48074141e+02] [-2.07769099e-01 9.78164692e-01 -5.08298655e-03 -3.95838716e+01] [-2.72567954e-02 -5.95014996e-04 9.99628287e-01 -1.06120759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters Centerline goodness [0,1] 0.9999785218754699 Centerline is valid? [True, True] Translation: X:248.10, Y:-39.59, Z:-10.61 [[ 9.77479646e-01 2.09369341e-01 2.64200666e-02 2.48102980e+02] [-2.09310252e-01 9.77836430e-01 -5.01352449e-03 -3.95852184e+01] [-2.68841819e-02 -6.29372654e-04 9.99638357e-01 -1.06133403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71264 meters Centerline goodness [0,1] 0.9998499689221338 Centerline is valid? [True, True] Translation: X:248.13, Y:-39.59, Z:-10.62 [[ 9.77488895e-01 2.09384919e-01 2.59502548e-02 2.48130648e+02] [-2.09328085e-01 9.77833097e-01 -4.91805828e-03 -3.95876497e+01] [-2.64047853e-02 -6.24769799e-04 9.99651138e-01 -1.06167605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters Centerline goodness [0,1] 0.999870814942405 Centerline is valid? [True, True] Translation: X:248.16, Y:-39.59, Z:-10.62 [[ 9.77547638e-01 2.09122496e-01 2.58533559e-02 2.48157698e+02] [-2.09065972e-01 9.77889260e-01 -4.90057635e-03 -3.95932152e+01] [-2.63065398e-02 -6.14510120e-04 9.99653734e-01 -1.06167466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77264 meters Centerline goodness [0,1] 0.999873166194563 Centerline is valid? [True, True] Translation: X:248.19, Y:-39.59, Z:-10.62 [[ 9.77575755e-01 2.08921635e-01 2.64081928e-02 2.48185541e+02] [-2.08862793e-01 9.77932183e-01 -4.99798449e-03 -3.95947852e+01] [-2.68696087e-02 -6.29780443e-04 9.99638749e-01 -1.06191275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.21, Y:-39.60, Z:-10.62 [[ 9.77843354e-01 2.07687936e-01 2.62315999e-02 2.48213878e+02] [-2.07629482e-01 9.78194955e-01 -4.96276340e-03 -3.96017917e+01] [-2.66903247e-02 -5.93648306e-04 9.99643574e-01 -1.06187613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83264 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:248.24, Y:-39.61, Z:-10.62 [[ 9.78085919e-01 2.06511543e-01 2.64748393e-02 2.48242019e+02] [-2.06451605e-01 9.78443999e-01 -5.00745840e-03 -3.96077640e+01] [-2.69382456e-02 -5.68048522e-04 9.99636938e-01 -1.06197122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.27, Y:-39.61, Z:-10.62 [[ 9.78354461e-01 2.05249663e-01 2.63652119e-02 2.48268973e+02] [-2.05189791e-01 9.78709504e-01 -4.98564568e-03 -3.96127757e+01] [-2.68271855e-02 -5.32143624e-04 9.99639945e-01 -1.06217769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.30, Y:-39.62, Z:-10.63 [[ 9.79047941e-01 2.02061375e-01 2.52255935e-02 2.48296793e+02] [-2.02005553e-01 9.79372768e-01 -4.76848008e-03 -3.96196807e+01] [-2.56687850e-02 -4.27139347e-04 9.99670411e-01 -1.06250188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.32, Y:-39.63, Z:-10.62 [[ 9.79441465e-01 2.00152372e-01 2.51683066e-02 2.48324834e+02] [-2.00096203e-01 9.79764709e-01 -4.75645786e-03 -3.96280913e+01] [-2.56110350e-02 -3.77410546e-04 9.99671912e-01 -1.06240575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95264000000003 meters Centerline goodness [0,1] 0.9999147884623578 Centerline is valid? [True, True] Translation: X:248.35, Y:-39.63, Z:-10.63 [[ 9.79910440e-01 1.97737386e-01 2.59895183e-02 2.48352444e+02] [-1.97676679e-01 9.80254977e-01 -4.91026441e-03 -3.96337502e+01] [-2.64472975e-02 -3.25902289e-04 9.99650156e-01 -1.06272075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters Centerline goodness [0,1] 0.9999785550384938 Centerline is valid? [True, True] Translation: X:248.38, Y:-39.64, Z:-10.63 [[ 9.80642610e-01 1.94007130e-01 2.64821491e-02 2.48380383e+02] [-1.93942782e-01 9.81000092e-01 -5.00172875e-03 -3.96443104e+01] [-2.69493617e-02 -2.31113335e-04 9.99636773e-01 -1.06265508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01264000000003 meters Centerline goodness [0,1] 0.9999140838112421 Centerline is valid? [True, True] Translation: X:248.41, Y:-39.65, Z:-10.63 [[ 9.81058289e-01 1.91908306e-01 2.63786907e-02 2.48407976e+02] [-1.91843720e-01 9.81412845e-01 -4.98148785e-03 -3.96517151e+01] [-2.68443748e-02 -1.73456203e-04 9.99639610e-01 -1.06251382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.44, Y:-39.66, Z:-10.63 [[ 9.81362397e-01 1.90213520e-01 2.73251255e-02 2.48435439e+02] [-1.90143581e-01 9.81742736e-01 -5.15937924e-03 -3.96574546e+01] [-2.78076272e-02 -1.32476446e-04 9.99613284e-01 -1.06280110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.46, Y:-39.67, Z:-10.63 [[ 9.82006451e-01 1.86896503e-01 2.70744695e-02 2.48462323e+02] [-1.86826665e-01 9.82379609e-01 -5.10899983e-03 -3.96688032e+01] [-2.75522610e-02 -4.11620446e-05 9.99620364e-01 -1.06286406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.49, Y:-39.68, Z:-10.63 [[ 9.82244563e-01 1.85685672e-01 2.67665874e-02 2.48488791e+02] [-1.85616993e-01 9.82609196e-01 -5.04982469e-03 -3.96759103e+01] [-2.72387750e-02 -8.17061532e-06 9.99628956e-01 -1.06309274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13264 meters Centerline goodness [0,1] 0.9998073506432348 Centerline is valid? [True, True] Translation: X:248.52, Y:-39.68, Z:-10.63 [[ 9.82589235e-01 1.83940726e-01 2.61573013e-02 2.48516476e+02] [-1.83874567e-01 9.82937337e-01 -4.93314324e-03 -3.96820988e+01] [-2.66183941e-02 3.75909867e-05 9.99645667e-01 -1.06327384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.54, Y:-39.69, Z:-10.63 [[ 9.82590911e-01 1.83890922e-01 2.64429797e-02 2.48544146e+02] [-1.83823321e-01 9.82946655e-01 -4.98591931e-03 -3.96872029e+01] [-2.69089038e-02 3.82826423e-05 9.99637889e-01 -1.06337116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.57, Y:-39.69, Z:-10.63 [[ 9.82665697e-01 1.83510666e-01 2.63052054e-02 2.48572939e+02] [-1.83443678e-01 9.83017718e-01 -4.95819722e-03 -3.96924039e+01] [-2.67683650e-02 4.67267058e-05 9.99641662e-01 -1.06326528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.60, Y:-39.70, Z:-10.63 [[ 9.82730503e-01 1.83103324e-01 2.67194897e-02 2.48600747e+02] [-1.83034097e-01 9.83093673e-01 -5.03489821e-03 -3.96980664e+01] [-2.71896678e-02 5.73704026e-05 9.99630291e-01 -1.06337523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.63, Y:-39.70, Z:-10.64 [[ 9.82809705e-01 1.82733899e-01 2.63325945e-02 2.48627859e+02] [-1.82666558e-01 9.83162407e-01 -4.96091345e-03 -3.97039850e+01] [-2.67957440e-02 6.55494729e-05 9.99640927e-01 -1.06357587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28264 meters Centerline goodness [0,1] 0.9997632015155103 Centerline is valid? [True, True] Translation: X:248.66, Y:-39.71, Z:-10.64 [[ 9.82873363e-01 1.82488382e-01 2.56503783e-02 2.48655912e+02] [-1.82424448e-01 9.83208007e-01 -4.83062257e-03 -3.97100828e+01] [-2.61011898e-02 6.86341512e-05 9.99659304e-01 -1.06374526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.68, Y:-39.72, Z:-10.64 [[ 9.82797937e-01 1.82908810e-01 2.55456972e-02 2.48683085e+02] [-1.82845561e-01 9.83129882e-01 -4.81008871e-03 -3.97164871e+01] [-2.59945459e-02 5.64279201e-05 9.99662083e-01 -1.06386907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.71, Y:-39.72, Z:-10.64 [[ 9.82796176e-01 1.83059875e-01 2.45103957e-02 2.48709618e+02] [-1.83001739e-01 9.83101765e-01 -4.61342597e-03 -3.97222836e+01] [-2.49407465e-02 4.86123584e-05 9.99688930e-01 -1.06434322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37264 meters Centerline goodness [0,1] 0.9998930275347125 Centerline is valid? [True, True] Translation: X:248.74, Y:-39.73, Z:-10.64 [[ 9.82629749e-01 1.84017041e-01 2.40105020e-02 2.48738194e+02] [-1.83961593e-01 9.82923053e-01 -4.51711264e-03 -3.97254659e+01] [-2.44317017e-02 2.16390669e-05 9.99701501e-01 -1.06445983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40264 meters Centerline goodness [0,1] 0.9999567352413092 Centerline is valid? [True, True] Translation: X:248.77, Y:-39.73, Z:-10.65 [[ 9.82386071e-01 1.85242874e-01 2.45496686e-02 2.48765886e+02] [-1.85185302e-01 9.82692769e-01 -4.61803849e-03 -3.97284979e+01] [-2.49802405e-02 -9.54110031e-06 9.99687945e-01 -1.06458858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.79, Y:-39.73, Z:-10.64 [[ 9.81600311e-01 1.89070309e-01 2.67066806e-02 2.48794706e+02] [-1.89003677e-01 9.81963545e-01 -5.02056505e-03 -3.97278859e+01] [-2.71742265e-02 -1.19472607e-04 9.99630705e-01 -1.06434461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.82, Y:-39.73, Z:-10.64 [[ 9.81179380e-01 1.91078653e-01 2.78562656e-02 2.48823321e+02] [-1.91007026e-01 9.81574711e-01 -5.23467692e-03 -3.97302594e+01] [-2.83432408e-02 -1.84585385e-04 9.99598233e-01 -1.06421309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.85, Y:-39.73, Z:-10.64 [[ 9.80819458e-01 1.92869182e-01 2.81898726e-02 2.48851166e+02] [-1.92796603e-01 9.81224450e-01 -5.29615429e-03 -3.97325153e+01] [-2.86820571e-02 -2.40340476e-04 9.99588556e-01 -1.06432941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.88, Y:-39.73, Z:-10.65 [[ 9.80318214e-01 1.95690619e-01 2.61032693e-02 2.48879948e+02] [-1.95629436e-01 9.80665637e-01 -4.90231194e-03 -3.97341241e+01] [-2.65579157e-02 -3.00742165e-04 9.99647231e-01 -1.06490780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.91, Y:-39.74, Z:-10.65 [[ 9.80095025e-01 1.96882019e-01 2.55188734e-02 2.48907994e+02] [-1.96823960e-01 9.80427134e-01 -4.79210962e-03 -3.97359366e+01] [-2.59628761e-02 -3.26002936e-04 9.99662855e-01 -1.06528976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.94, Y:-39.74, Z:-10.65 [[ 9.79915468e-01 1.97816118e-01 2.51884832e-02 2.48936680e+02] [-1.97759905e-01 9.80239084e-01 -4.72839593e-03 -3.97401112e+01] [-2.56260887e-02 -3.47843737e-04 9.99671537e-01 -1.06526081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:248.96, Y:-39.74, Z:-10.65 [[ 9.79903196e-01 1.97780455e-01 2.59348983e-02 2.48964641e+02] [-1.97720877e-01 9.80246277e-01 -4.86737182e-03 -3.97424702e+01] [-2.63852585e-02 -3.58317641e-04 9.99651784e-01 -1.06549945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264000000003 meters Centerline goodness [0,1] 0.9998928326474623 Centerline is valid? [True, True] Translation: X:248.99, Y:-39.75, Z:-10.65 [[ 9.80127649e-01 1.96732946e-01 2.54153480e-02 2.48992663e+02] [-1.96675425e-01 9.80457058e-01 -4.76813057e-03 -3.97498371e+01] [-2.58567057e-02 -3.25197763e-04 9.99665607e-01 -1.06541460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.02, Y:-39.75, Z:-10.66 [[ 9.80306048e-01 1.95708126e-01 2.64269174e-02 2.49020390e+02] [-1.95645600e-01 9.80662140e-01 -4.95647158e-03 -3.97549210e+01] [-2.68858992e-02 -3.11451063e-04 9.99638460e-01 -1.06566083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264000000003 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:249.05, Y:-39.76, Z:-10.65 [[ 9.80681696e-01 1.93774948e-01 2.67335061e-02 2.49048249e+02] [-1.93710282e-01 9.81045973e-01 -5.01261008e-03 -3.97645789e+01] [-2.71981167e-02 -2.62780047e-04 9.99630028e-01 -1.06549757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.07, Y:-39.78, Z:-10.66 [[ 9.81667992e-01 1.88754070e-01 2.64547636e-02 2.49073526e+02] [-1.88688951e-01 9.82024381e-01 -4.95924300e-03 -3.97780878e+01] [-2.69153001e-02 -1.23391466e-04 9.99637710e-01 -1.06581033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.10, Y:-39.79, Z:-10.66 [[ 9.82231281e-01 1.85842338e-01 2.61598260e-02 2.49100418e+02] [-1.85777679e-01 9.82579576e-01 -4.90210582e-03 -3.97884357e+01] [-2.66151296e-02 -4.49100736e-05 9.99645754e-01 -1.06596064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.13, Y:-39.80, Z:-10.66 [[ 9.82722243e-01 1.83231843e-01 2.61359021e-02 2.49127167e+02] [-1.83166401e-01 9.83069728e-01 -4.89679741e-03 -3.97981740e+01] [-2.65906634e-02 2.49726167e-05 9.99646405e-01 -1.06596209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters Centerline goodness [0,1] 0.9998059843062861 Centerline is valid? [True, True] Translation: X:249.15, Y:-39.81, Z:-10.66 [[ 9.83543274e-01 1.78728541e-01 2.64336458e-02 2.49152567e+02] [-1.78660029e-01 9.83898413e-01 -4.95044714e-03 -3.98122698e+01] [-2.68928083e-02 1.46343062e-04 9.99638312e-01 -1.06606164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.18, Y:-39.82, Z:-10.66 [[ 9.83719107e-01 1.77583201e-01 2.75848728e-02 2.49180266e+02] [-1.77508205e-01 9.84105773e-01 -5.16369993e-03 -3.98208550e+01] [-2.80634190e-02 1.83089013e-04 9.99606128e-01 -1.06591769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters Centerline goodness [0,1] 0.9998288989648387 Centerline is valid? [True, True] Translation: X:249.21, Y:-39.83, Z:-10.66 [[ 9.83909674e-01 1.76653827e-01 2.67428295e-02 2.49206326e+02] [-1.76583021e-01 9.84273023e-01 -5.00521279e-03 -3.98291536e+01] [-2.72064356e-02 2.02347654e-04 9.99629816e-01 -1.06642825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.23, Y:-39.84, Z:-10.66 [[ 9.83903428e-01 1.76619221e-01 2.71973424e-02 2.49234940e+02] [-1.76546044e-01 9.84279233e-01 -5.08773137e-03 -3.98357180e+01] [-2.76683705e-02 2.04253117e-04 9.99617136e-01 -1.06639094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.26, Y:-39.84, Z:-10.67 [[ 9.83769326e-01 1.77488727e-01 2.63754799e-02 2.49262965e+02] [-1.77420258e-01 9.84122819e-01 -4.93255846e-03 -3.98426407e+01] [-2.68321852e-02 1.72955265e-04 9.99639937e-01 -1.06671781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97264 meters Centerline goodness [0,1] 0.9999144622885615 Centerline is valid? [True, True] Translation: X:249.29, Y:-39.85, Z:-10.67 [[ 9.83682913e-01 1.78086573e-01 2.55557947e-02 2.49291334e+02] [-1.78022513e-01 9.84014812e-01 -4.77863141e-03 -3.98475753e+01] [-2.59982906e-02 1.51151278e-04 9.99661976e-01 -1.06684669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters Centerline goodness [0,1] 0.9997427542445549 Centerline is valid? [True, True] Translation: X:249.32, Y:-39.85, Z:-10.67 [[ 9.83572651e-01 1.78664233e-01 2.57668825e-02 2.49318688e+02] [-1.78599342e-01 9.83910094e-01 -4.81679310e-03 -3.98531744e+01] [-2.62128844e-02 1.35717683e-04 9.99656374e-01 -1.06705096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.35, Y:-39.86, Z:-10.67 [[ 9.83377366e-01 1.79385096e-01 2.81059415e-02 2.49346213e+02] [-1.79308226e-01 9.83778924e-01 -5.25246358e-03 -3.98609773e+01] [-2.85922466e-02 1.25527289e-04 9.99591150e-01 -1.06688284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters Centerline goodness [0,1] 0.9998924106470424 Centerline is valid? [True, True] Translation: X:249.37, Y:-39.87, Z:-10.67 [[ 9.83383069e-01 1.79540866e-01 2.68852732e-02 2.49374192e+02] [-1.79470621e-01 9.83750509e-01 -5.02313228e-03 -3.98680570e+01] [-2.73502587e-02 1.14546552e-04 9.99625905e-01 -1.06712001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.40, Y:-39.88, Z:-10.67 [[ 9.83290904e-01 1.79887281e-01 2.79206905e-02 2.49400458e+02] [-1.79811694e-01 9.83687224e-01 -5.21535344e-03 -3.98793064e+01] [-2.84034023e-02 1.07742930e-04 9.99596536e-01 -1.06732268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.43, Y:-39.88, Z:-10.67 [[ 9.83299077e-01 1.79842549e-01 2.79210276e-02 2.49428298e+02] [-1.79766996e-01 9.83695403e-01 -5.21354801e-03 -3.98844115e+01] [-2.84034043e-02 1.07197691e-04 9.99596536e-01 -1.06744924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.46, Y:-39.89, Z:-10.68 [[ 9.83272566e-01 1.80117301e-01 2.70706108e-02 2.49455914e+02] [-1.80046418e-01 9.83645134e-01 -5.05356715e-03 -3.98915963e+01] [-2.75381095e-02 9.50674243e-05 9.99620750e-01 -1.06755855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.48, Y:-39.90, Z:-10.68 [[ 9.83180971e-01 1.80698374e-01 2.65193475e-02 2.49483497e+02] [-1.80630593e-01 9.83538556e-01 -4.94943130e-03 -3.98983297e+01] [-2.69771550e-02 7.59811947e-05 9.99636047e-01 -1.06770562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.51, Y:-39.90, Z:-10.68 [[ 9.83063530e-01 1.81333543e-01 2.65375446e-02 2.49510317e+02] [-1.81265931e-01 9.83421651e-01 -4.95172689e-03 -3.99049917e+01] [-2.69955101e-02 5.75093875e-05 9.99635553e-01 -1.06796920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.54, Y:-39.91, Z:-10.68 [[ 9.82665762e-01 1.83490552e-01 2.64427288e-02 2.49538161e+02] [-1.83424250e-01 9.83021474e-01 -4.93224680e-03 -3.99124732e+01] [-2.68987909e-02 -3.48764778e-06 9.99638162e-01 -1.06778528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.57, Y:-39.92, Z:-10.68 [[ 9.82463187e-01 1.84573549e-01 2.64327540e-02 2.49565196e+02] [-1.84507720e-01 9.82818703e-01 -4.92924753e-03 -3.99187005e+01] [-2.68884137e-02 -3.42429258e-05 9.99638441e-01 -1.06823250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters Centerline goodness [0,1] 0.9999147085163547 Centerline is valid? [True, True] Translation: X:249.59, Y:-39.93, Z:-10.69 [[ 9.82062942e-01 1.86897839e-01 2.49314396e-02 2.49591567e+02] [-1.86840057e-01 9.82379351e-01 -4.64801330e-03 -3.99258448e+01] [-2.53608351e-02 -9.35499813e-05 9.99678358e-01 -1.06853705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.62, Y:-39.93, Z:-10.68 [[ 9.81806669e-01 1.88149545e-01 2.56010603e-02 2.49619879e+02] [-1.88089103e-01 9.82140383e-01 -4.77052334e-03 -3.99326064e+01] [-2.60414070e-02 -1.31548842e-04 9.99660856e-01 -1.06834243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters Centerline goodness [0,1] 0.9999567240073569 Centerline is valid? [True, True] Translation: X:249.65, Y:-39.94, Z:-10.68 [[ 9.81552016e-01 1.89538119e-01 2.51185504e-02 2.49648121e+02] [-1.89480420e-01 9.81873349e-01 -4.67938785e-03 -3.99370687e+01] [-2.55501576e-02 -1.66410903e-04 9.99673528e-01 -1.06843339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.68, Y:-39.94, Z:-10.69 [[ 9.81214091e-01 1.91202948e-01 2.56971039e-02 2.49675896e+02] [-1.91143160e-01 9.81550501e-01 -4.78603110e-03 -3.99392523e+01] [-2.61381084e-02 -2.15704486e-04 9.99658318e-01 -1.06890081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.70, Y:-39.94, Z:-10.69 [[ 9.80462985e-01 1.95021667e-01 2.56687403e-02 2.49704640e+02] [-1.94963367e-01 9.80798882e-01 -4.77889114e-03 -3.99435715e+01] [-2.61078591e-02 -3.18938154e-04 9.99659081e-01 -1.06866498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45264000000003 meters Centerline goodness [0,1] 0.9999785738772712 Centerline is valid? [True, True] Translation: X:249.73, Y:-39.95, Z:-10.69 [[ 9.79950419e-01 1.97457311e-01 2.66042687e-02 2.49732208e+02] [-1.97395613e-01 9.80311405e-01 -4.95183520e-03 -3.99464669e+01] [-2.70582441e-02 -3.99012937e-04 9.99633779e-01 -1.06866928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters Centerline goodness [0,1] 0.999957522725342 Centerline is valid? [True, True] Translation: X:249.76, Y:-39.94, Z:-10.69 [[ 9.78981905e-01 2.02621124e-01 2.32187319e-02 2.49762372e+02] [-2.02249845e-01 9.79179715e-01 -1.73806056e-02 -3.99417341e+01] [-2.62569892e-02 1.23193135e-02 9.99579314e-01 -1.06857748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:249.79, Y:-39.96, Z:-10.69 [[ 9.78804412e-01 2.02685570e-01 2.93339742e-02 2.49788675e+02] [-2.02986078e-01 9.79151927e-01 7.62605173e-03 -3.99585139e+01] [-2.71767267e-02 -1.34188014e-02 9.99540575e-01 -1.06881334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54264 meters Centerline goodness [0,1] 0.9999572448586943 Centerline is valid? [True, True] Translation: X:249.82, Y:-39.95, Z:-10.69 [[ 9.77541426e-01 2.09109603e-01 2.61903446e-02 2.49820943e+02] [-2.09054116e-01 9.77891948e-01 -4.86967937e-03 -3.99453243e+01] [-2.66296238e-02 -7.14886004e-04 9.99645113e-01 -1.06909714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57264 meters Centerline goodness [0,1] 0.9999144622885615 Centerline is valid? [True, True] Translation: X:249.85, Y:-39.95, Z:-10.69 [[ 9.77090264e-01 2.11206397e-01 2.62006364e-02 2.49850204e+02] [-2.11151624e-01 9.77441180e-01 -4.87138194e-03 -3.99473045e+01] [-2.66384480e-02 -7.72527057e-04 9.99644835e-01 -1.06915139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60264 meters Centerline goodness [0,1] 0.9998927245810895 Centerline is valid? [True, True] Translation: X:249.88, Y:-39.95, Z:-10.69 [[ 9.76564178e-01 2.13599301e-01 2.64148544e-02 2.49879746e+02] [-2.13544546e-01 9.76920991e-01 -4.90962579e-03 -3.99453239e+01] [-2.68539184e-02 -8.46183403e-04 9.99639010e-01 -1.06931627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63264 meters Centerline goodness [0,1] 0.9998913279721799 Centerline is valid? [True, True] Translation: X:249.91, Y:-39.95, Z:-10.69 [[ 9.76563244e-01 2.13518860e-01 2.70910791e-02 2.49908385e+02] [-2.13461256e-01 9.76938558e-01 -5.03448505e-03 -3.99500870e+01] [-2.75412772e-02 -8.66402727e-04 9.99620292e-01 -1.06923748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66264 meters Centerline goodness [0,1] 0.9999785191072541 Centerline is valid? [True, True] Translation: X:249.94, Y:-39.95, Z:-10.69 [[ 9.76706538e-01 2.12824102e-01 2.73905045e-02 2.49937090e+02] [-2.12764984e-01 9.77090153e-01 -5.08872783e-03 -3.99541875e+01] [-2.78459962e-02 -8.57546518e-04 9.99611857e-01 -1.06935214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69264 meters Centerline goodness [0,1] 0.9998717674716819 Centerline is valid? [True, True] Translation: X:249.96, Y:-39.97, Z:-10.70 [[ 9.77642074e-01 2.08613760e-01 2.63870232e-02 2.49964245e+02] [-2.08557406e-01 9.77997849e-01 -4.90062957e-03 -3.99654948e+01] [-2.68287907e-02 -7.12147470e-04 9.99639790e-01 -1.06988203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72264 meters Centerline goodness [0,1] 0.9998276493526079 Centerline is valid? [True, True] Translation: X:249.99, Y:-39.98, Z:-10.70 [[ 9.78166709e-01 2.06272158e-01 2.53315226e-02 2.49993289e+02] [-2.06063502e-01 9.78481027e-01 -1.06166387e-02 -3.99757622e+01] [-2.69763312e-02 5.16494024e-03 9.99622729e-01 -1.07005464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.02, Y:-39.99, Z:-10.70 [[ 9.79046716e-01 2.01794681e-01 2.73209559e-02 2.50017534e+02] [-2.01890653e-01 9.79407764e-01 7.72434583e-04 -3.99900845e+01] [-2.66024832e-02 -6.27209517e-03 9.99626415e-01 -1.07018474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78264 meters Centerline goodness [0,1] 0.9999570428283002 Centerline is valid? [True, True] Translation: X:250.05, Y:-40.00, Z:-10.70 [[ 9.79755956e-01 1.98468962e-01 2.62361981e-02 2.50046030e+02] [-1.98409672e-01 9.80107077e-01 -4.87023896e-03 -3.99956062e+01] [-2.66808747e-02 -4.33869823e-04 9.99643908e-01 -1.07026201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.07, Y:-40.01, Z:-10.70 [[ 9.81049471e-01 1.91908210e-01 2.67053084e-02 2.50072744e+02] [-1.91844389e-01 9.81412844e-01 -4.95576786e-03 -4.00083054e+01] [-2.71599852e-02 -2.61410142e-04 9.99631065e-01 -1.07035686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.10, Y:-40.02, Z:-10.70 [[ 9.81561815e-01 1.89222468e-01 2.70418289e-02 2.50099609e+02] [-1.89156026e-01 9.81934225e-01 -5.01761406e-03 -4.00171319e+01] [-2.75027426e-02 -1.90026526e-04 9.99621710e-01 -1.07043801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87264 meters Centerline goodness [0,1] 0.99982874879589 Centerline is valid? [True, True] Translation: X:250.13, Y:-40.03, Z:-10.71 [[ 9.82480528e-01 1.84610283e-01 2.55157823e-02 2.50125267e+02] [-1.84549610e-01 9.82811803e-01 -4.73304172e-03 -4.00295097e+01] [-2.59509801e-02 -5.88063345e-05 9.99663215e-01 -1.07092296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90264 meters Centerline goodness [0,1] 0.999913532209252 Centerline is valid? [True, True] Translation: X:250.15, Y:-40.04, Z:-10.71 [[ 9.82834794e-01 1.82824836e-01 2.47153152e-02 2.50152815e+02] [-1.82767386e-01 9.83145503e-01 -4.58294765e-03 -4.00390295e+01] [-2.51366276e-02 -1.28731502e-05 9.99684025e-01 -1.07094731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93264 meters Centerline goodness [0,1] 0.9998067259373792 Centerline is valid? [True, True] Translation: X:250.18, Y:-40.05, Z:-10.71 [[ 9.83080549e-01 1.81511439e-01 2.46217508e-02 2.50179720e+02] [-1.81454034e-01 9.83388833e-01 -4.56472515e-03 -4.00467723e+01] [-2.50413046e-02 1.97765090e-05 9.99686417e-01 -1.07126800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96264 meters Centerline goodness [0,1] 0.9999784779614325 Centerline is valid? [True, True] Translation: X:250.21, Y:-40.05, Z:-10.71 [[ 9.83099307e-01 1.81224718e-01 2.59490641e-02 2.50211524e+02] [-1.81012125e-01 9.83426513e-01 -1.03394041e-02 -4.00511004e+01] [-2.73927532e-02 5.46756581e-03 9.99609795e-01 -1.07122477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.24, Y:-40.06, Z:-10.71 [[ 9.83416552e-01 1.79477722e-01 2.60697588e-02 2.50236670e+02] [-1.79553767e-01 9.83747986e-01 5.86828898e-04 -4.00631429e+01] [-2.55407500e-02 -5.25802065e-03 9.99659954e-01 -1.07121520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.27, Y:-40.07, Z:-10.72 [[ 9.83475252e-01 1.79304372e-01 2.50274017e-02 2.50265429e+02] [-1.79244338e-01 9.83793645e-01 -4.64016822e-03 -4.00663390e+01] [-2.54538012e-02 7.74705620e-05 9.99675997e-01 -1.07156709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.29, Y:-40.07, Z:-10.72 [[ 9.83574491e-01 1.78764990e-01 2.49859709e-02 2.50294780e+02] [-1.78705011e-01 9.83891798e-01 -4.63132379e-03 -4.00734309e+01] [-2.54114104e-02 9.01337401e-05 9.99677074e-01 -1.07156947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.32, Y:-40.09, Z:-10.71 [[ 9.83368950e-01 1.79086565e-01 3.02243198e-02 2.50323888e+02] [-1.79188855e-01 9.83814454e-01 6.88350787e-04 -4.00857504e+01] [-2.96118483e-02 -6.09276406e-03 9.99542904e-01 -1.07147462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.35, Y:-40.09, Z:-10.72 [[ 9.83601202e-01 1.78823102e-01 2.34728272e-02 2.50354466e+02] [-1.78614867e-01 9.83860842e-01 -1.07038518e-02 -4.00853853e+01] [-2.50080915e-02 6.33572554e-03 9.99667172e-01 -1.07204448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.38, Y:-40.10, Z:-10.72 [[ 9.83567670e-01 1.78870411e-01 2.44952061e-02 2.50382943e+02] [-1.78812724e-01 9.83872638e-01 -4.54331747e-03 -4.00961046e+01] [-2.49128281e-02 8.86056515e-05 9.99689623e-01 -1.07224078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.41, Y:-40.10, Z:-10.73 [[ 9.83328569e-01 1.80151377e-01 2.47064135e-02 2.50410421e+02] [-1.80093104e-01 9.83638896e-01 -4.58211712e-03 -4.01025328e+01] [-2.51276641e-02 5.62719679e-05 9.99684249e-01 -1.07254547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.44, Y:-40.11, Z:-10.73 [[ 9.83160701e-01 1.80939077e-01 2.56141792e-02 2.50439038e+02] [-1.80876731e-01 9.83494306e-01 -4.74967151e-03 -4.01067361e+01] [-2.60508006e-02 3.66813807e-05 9.99660620e-01 -1.07250590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.47, Y:-40.11, Z:-10.72 [[ 9.82919122e-01 1.82135821e-01 2.63920787e-02 2.50468455e+02] [-1.82070105e-01 9.83273381e-01 -4.89225515e-03 -4.01107423e+01] [-2.68416834e-02 3.48259918e-06 9.99639697e-01 -1.07225812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.50, Y:-40.12, Z:-10.72 [[ 9.81969959e-01 1.86132014e-01 3.30132186e-02 2.50496764e+02] [-1.86400554e-01 9.82459939e-01 5.22509568e-03 -4.01209565e+01] [-3.14616072e-02 -1.12845692e-02 9.99441257e-01 -1.07206455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29264 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:250.53, Y:-40.11, Z:-10.73 [[ 9.81916762e-01 1.87998069e-01 2.22755315e-02 2.50529550e+02] [-1.87684237e-01 9.82107940e-01 -1.54473476e-02 -4.01101917e+01] [-2.47810479e-02 1.09872434e-02 9.99632523e-01 -1.07252143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters Centerline goodness [0,1] 0.9998927820903204 Centerline is valid? [True, True] Translation: X:250.55, Y:-40.13, Z:-10.72 [[ 9.81275696e-01 1.89919509e-01 3.20716288e-02 2.50554240e+02] [-1.90268462e-01 9.81698055e-01 8.17560358e-03 -4.01314237e+01] [-2.99319490e-02 -1.41247406e-02 9.99452135e-01 -1.07240663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.59, Y:-40.13, Z:-10.73 [[ 9.80406424e-01 1.94687762e-01 2.99986508e-02 2.50585441e+02] [-1.94559446e-01 9.80864547e-01 -7.16674163e-03 -4.01268553e+01] [-3.08198899e-02 1.18979864e-03 9.99524246e-01 -1.07253710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.62, Y:-40.12, Z:-10.73 [[ 9.80513511e-01 1.94982983e-01 2.39768701e-02 2.50618024e+02] [-1.94624759e-01 9.80739237e-01 -1.64849087e-02 -4.01196109e+01] [-2.67293340e-02 1.14971832e-02 9.99576589e-01 -1.07306088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.65, Y:-40.13, Z:-10.74 [[ 9.79753377e-01 1.97632333e-01 3.20122037e-02 2.50646147e+02] [-1.97535819e-01 9.80276180e-01 -6.18147007e-03 -4.01276196e+01] [-3.26024591e-02 -2.67240699e-04 9.99468363e-01 -1.07376571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.67, Y:-40.14, Z:-10.73 [[ 9.79544140e-01 1.98227039e-01 3.46311927e-02 2.50671606e+02] [-1.98419642e-01 9.80114731e-01 2.18173626e-03 -4.01424479e+01] [-3.35100630e-02 -9.00861583e-03 9.99397779e-01 -1.07337844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47264 meters Centerline goodness [0,1] 0.9999783221331021 Centerline is valid? [True, True] Translation: X:250.70, Y:-40.13, Z:-10.73 [[ 9.79589128e-01 1.99287145e-01 2.62635553e-02 2.50702092e+02] [-1.98941063e-01 9.79893317e-01 -1.52164674e-02 -4.01341792e+01] [-2.87679286e-02 9.68098642e-03 9.99539236e-01 -1.07342097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters Centerline goodness [0,1] 0.9999783638763279 Centerline is valid? [True, True] Translation: X:250.73, Y:-40.15, Z:-10.74 [[ 9.78852824e-01 2.01153754e-01 3.72064005e-02 2.50728120e+02] [-2.01564836e-01 9.79445610e-01 7.61017914e-03 -4.01524094e+01] [-3.49108295e-02 -1.49487474e-02 9.99278624e-01 -1.07376384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53264 meters Centerline goodness [0,1] 0.999978379313327 Centerline is valid? [True, True] Translation: X:250.76, Y:-40.14, Z:-10.74 [[ 9.79035013e-01 2.02151626e-01 2.50032798e-02 2.50760323e+02] [-2.01708858e-01 9.79258426e-01 -1.91434484e-02 -4.01382238e+01] [-2.83545517e-02 1.36987232e-02 9.99504059e-01 -1.07381365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters Centerline goodness [0,1] 0.9999359289238194 Centerline is valid? [True, True] Translation: X:250.79, Y:-40.15, Z:-10.74 [[ 9.78980384e-01 2.02118382e-01 2.73050780e-02 2.50786570e+02] [-2.02055631e-01 9.79360939e-01 -5.06680706e-03 -4.01472159e+01] [-2.77656217e-02 -5.56840044e-04 9.99614306e-01 -1.07431389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59264 meters Centerline goodness [0,1] 0.9999571514268575 Centerline is valid? [True, True] Translation: X:250.81, Y:-40.15, Z:-10.75 [[ 9.79010996e-01 2.01966781e-01 2.73292704e-02 2.50813928e+02] [-2.01903904e-01 9.79392215e-01 -5.06968432e-03 -4.01506877e+01] [-2.77899825e-02 -5.54609693e-04 9.99613630e-01 -1.07453114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.84, Y:-40.16, Z:-10.74 [[ 9.79126416e-01 2.01454373e-01 2.69740003e-02 2.50842420e+02] [-2.01392988e-01 9.79497754e-01 -5.00152917e-03 -4.01577598e+01] [-2.74285526e-02 -5.35245167e-04 9.99623623e-01 -1.07448810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65264 meters Centerline goodness [0,1] 0.9999358905866012 Centerline is valid? [True, True] Translation: X:250.87, Y:-40.16, Z:-10.75 [[ 9.79385592e-01 2.00220390e-01 2.67517750e-02 2.50870398e+02] [-2.00159582e-01 9.79750758e-01 -4.95923936e-03 -4.01607157e+01] [-2.72030126e-02 -4.97616514e-04 9.99629806e-01 -1.07482419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters Centerline goodness [0,1] 0.9998715423482059 Centerline is valid? [True, True] Translation: X:250.90, Y:-40.16, Z:-10.77 [[ 9.79097810e-01 1.99394218e-01 4.01176264e-02 2.50900764e+02] [-1.99662826e-01 9.79860765e-01 2.76351145e-03 -4.01630395e+01] [-3.87586599e-02 -1.07157467e-02 9.99191142e-01 -1.07667870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.93, Y:-40.17, Z:-10.75 [[ 9.79831890e-01 1.98184169e-01 2.55441292e-02 2.50929575e+02] [-1.97861188e-01 9.80120853e-01 -1.46309437e-02 -4.01689028e+01] [-2.79359551e-02 9.28167345e-03 9.99566623e-01 -1.07483020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:250.96, Y:-40.18, Z:-10.75 [[ 9.80639385e-01 1.93838016e-01 2.78068338e-02 2.50955561e+02] [-1.93769856e-01 9.81033491e-01 -5.15097869e-03 -4.01829676e+01] [-2.82778908e-02 -3.36873628e-04 9.99600044e-01 -1.07521778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77264 meters Centerline goodness [0,1] 0.9999145025114887 Centerline is valid? [True, True] Translation: X:250.98, Y:-40.19, Z:-10.75 [[ 9.81043857e-01 1.91765865e-01 2.79070472e-02 2.50983137e+02] [-1.91696415e-01 9.81440663e-01 -5.16813126e-03 -4.01917137e+01] [-2.83801821e-02 -2.79517465e-04 9.99597162e-01 -1.07498983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.01, Y:-40.20, Z:-10.75 [[ 9.81396761e-01 1.89795502e-01 2.89493579e-02 2.51010392e+02] [-1.89719948e-01 9.81823616e-01 -5.35982971e-03 -4.01986061e+01] [-2.94404349e-02 -2.32151160e-04 9.99566509e-01 -1.07521074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.04, Y:-40.22, Z:-10.75 [[ 9.81438268e-01 1.86993999e-01 4.25695889e-02 2.51035360e+02] [-1.87834873e-01 9.82059351e-01 1.66580770e-02 -4.02213913e+01] [-3.86909024e-02 -2.43449276e-02 9.98954623e-01 -1.07515360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.07, Y:-40.20, Z:-10.75 [[ 9.82064907e-01 1.86857339e-01 2.51565838e-02 2.51072317e+02] [-1.86116592e-01 9.82095348e-01 -2.91434720e-02 -4.01972034e+01] [-3.01518355e-02 2.39387235e-02 9.99258627e-01 -1.07537762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.10, Y:-40.23, Z:-10.76 [[ 9.81851121e-01 1.84687052e-01 4.31169152e-02 2.51095341e+02] [-1.85537721e-01 9.82496825e-01 1.66054804e-02 -4.02328105e+01] [-3.92954151e-02 -2.43039238e-02 9.98932025e-01 -1.07558240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters Centerline goodness [0,1] 0.9998071690270606 Centerline is valid? [True, True] Translation: X:251.13, Y:-40.21, Z:-10.76 [[ 9.82327111e-01 1.85577337e-01 2.43823424e-02 2.51132015e+02] [-1.84856324e-01 9.82334493e-01 -2.91046944e-02 -4.02076647e+01] [-2.93527877e-02 2.40831002e-02 9.99278949e-01 -1.07576938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.16, Y:-40.23, Z:-10.76 [[ 9.82747516e-01 1.82627746e-01 2.92305575e-02 2.51158475e+02] [-1.82547565e-01 9.83182133e-01 -5.41114316e-03 -4.02290855e+01] [-2.97271867e-02 -1.81795938e-05 9.99558049e-01 -1.07566324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.19, Y:-40.23, Z:-10.76 [[ 9.82747520e-01 1.82627694e-01 2.92307642e-02 2.51187946e+02] [-1.82547546e-01 9.83182142e-01 -5.41002638e-03 -4.02345407e+01] [-2.97271860e-02 -1.93142674e-05 9.99558049e-01 -1.07580332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.21, Y:-40.25, Z:-10.76 [[ 9.82497706e-01 1.81944243e-01 3.99318089e-02 2.51214626e+02] [-1.82629307e-01 9.83079206e-01 1.42060460e-02 -4.02541855e+01] [-3.66714227e-02 -2.12501262e-02 9.99101416e-01 -1.07599587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.25, Y:-40.25, Z:-10.76 [[ 9.82562467e-01 1.81847337e-01 3.87626772e-02 2.51246087e+02] [-1.81963573e-01 9.83305125e-01 -5.37681925e-04 -4.02526370e+01] [-3.82133152e-02 -6.52508915e-03 9.99248300e-01 -1.07606906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.28, Y:-40.24, Z:-10.77 [[ 9.83500140e-01 1.79335699e-01 2.37945650e-02 2.51281504e+02] [-1.78582688e-01 9.83445468e-01 -3.07121281e-02 -4.02430877e+01] [-2.89084381e-02 2.59560849e-02 9.99245007e-01 -1.07682566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.31, Y:-40.27, Z:-10.77 [[ 9.83770245e-01 1.77183826e-01 2.83195510e-02 2.51308426e+02] [-1.77106015e-01 9.84177763e-01 -5.25267857e-03 -4.02652070e+01] [-2.88021620e-02 1.51866067e-04 9.99585120e-01 -1.07687326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.34, Y:-40.27, Z:-10.77 [[ 9.83935494e-01 1.76255170e-01 2.83735592e-02 2.51338264e+02] [-1.76176683e-01 9.84344494e-01 -5.26246188e-03 -4.02716359e+01] [-2.88568929e-02 1.79163490e-04 9.99583537e-01 -1.07716058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.37, Y:-40.28, Z:-10.77 [[ 9.84109063e-01 1.75250759e-01 2.85748598e-02 2.51369507e+02] [-1.75170727e-01 9.84523807e-01 -5.29992455e-03 -4.02769002e+01] [-2.90614456e-02 2.10224820e-04 9.99577605e-01 -1.07714737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.40, Y:-40.28, Z:-10.77 [[ 9.84087378e-01 1.75363791e-01 2.86282019e-02 2.51399084e+02] [-1.75283505e-01 9.84503681e-01 -5.30992641e-03 -4.02830204e+01] [-2.91157390e-02 2.07379996e-04 9.99576025e-01 -1.07746761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.43, Y:-40.29, Z:-10.78 [[ 9.83974266e-01 1.75981401e-01 2.87261137e-02 2.51428565e+02] [-1.75900740e-01 9.84393473e-01 -5.33107386e-03 -4.02878423e+01] [-2.92159687e-02 1.92694826e-04 9.99573104e-01 -1.07772795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.46, Y:-40.29, Z:-10.78 [[ 9.83879251e-01 1.76551954e-01 2.84785453e-02 2.51458661e+02] [-1.76472933e-01 9.84291307e-01 -5.28456357e-03 -4.02910362e+01] [-2.89641846e-02 1.73680032e-04 9.99580435e-01 -1.07772983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.49, Y:-40.30, Z:-10.78 [[ 9.83812220e-01 1.77057682e-01 2.76422218e-02 2.51487924e+02] [-1.76983440e-01 9.84200464e-01 -5.12919215e-03 -4.02954392e+01] [-2.81136504e-02 1.53946429e-04 9.99604721e-01 -1.07831913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31264 meters Centerline goodness [0,1] 0.9998044158553546 Centerline is valid? [True, True] Translation: X:251.52, Y:-40.30, Z:-10.78 [[ 9.83520558e-01 1.78747009e-01 2.71443999e-02 2.51518728e+02] [-1.78676048e-01 9.83895064e-01 -5.03724804e-03 -4.02967329e+01] [-2.76076341e-02 1.04182910e-04 9.99618831e-01 -1.07807103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.55, Y:-40.30, Z:-10.78 [[ 9.83459338e-01 1.78768715e-01 2.91457811e-02 2.51547902e+02] [-1.78686904e-01 9.83891119e-01 -5.40887584e-03 -4.03018707e+01] [-2.96432130e-02 1.11440052e-04 9.99560537e-01 -1.07838116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.58, Y:-40.31, Z:-10.79 [[ 9.83458982e-01 1.78761448e-01 2.92023353e-02 2.51576100e+02] [-1.78679315e-01 9.83892439e-01 -5.41941881e-03 -4.03055271e+01] [-2.97007401e-02 1.11922827e-04 9.99558829e-01 -1.07854271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.61, Y:-40.31, Z:-10.79 [[ 9.83517527e-01 1.78548796e-01 2.85237172e-02 2.51605310e+02] [-1.78470382e-01 9.83931052e-01 -5.29227492e-03 -4.03092371e+01] [-2.90103003e-02 1.14406438e-04 9.99579106e-01 -1.07864577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.63, Y:-40.31, Z:-10.79 [[ 9.83630919e-01 1.78004553e-01 2.80106139e-02 2.51633992e+02] [-1.77928734e-01 9.84029656e-01 -5.19641064e-03 -4.03147956e+01] [-2.84882595e-02 1.27457103e-04 9.99594119e-01 -1.07892122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.66, Y:-40.32, Z:-10.79 [[ 9.83665329e-01 1.77811394e-01 2.80290771e-02 2.51663294e+02] [-1.77735417e-01 9.84064576e-01 -5.19914912e-03 -4.03211794e+01] [-2.85068898e-02 1.32463032e-04 9.99593587e-01 -1.07910342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.69, Y:-40.33, Z:-10.79 [[ 9.83689555e-01 1.77691046e-01 2.79419358e-02 2.51693280e+02] [-1.77615524e-01 9.84086314e-01 -5.18183835e-03 -4.03259949e+01] [-2.84180429e-02 1.34398688e-04 9.99596117e-01 -1.07911763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.72, Y:-40.33, Z:-10.79 [[ 9.83623137e-01 1.78070910e-01 2.78617227e-02 2.51723248e+02] [-1.77995974e-01 9.84017650e-01 -5.16696280e-03 -4.03290256e+01] [-2.83365126e-02 1.23069698e-04 9.99598433e-01 -1.07921514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.75, Y:-40.33, Z:-10.79 [[ 9.83365879e-01 1.79292299e-01 2.90829848e-02 2.51752293e+02] [-1.79211162e-01 9.83795844e-01 -5.39412244e-03 -4.03296990e+01] [-2.95788442e-02 9.24004666e-05 9.99562446e-01 -1.07934547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.78, Y:-40.33, Z:-10.79 [[ 9.83222170e-01 1.79973166e-01 2.97291779e-02 2.51780570e+02] [-1.79888728e-01 9.83671518e-01 -5.51279562e-03 -4.03332562e+01] [-3.02359008e-02 7.23588714e-05 9.99542788e-01 -1.07941844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.81, Y:-40.33, Z:-10.79 [[ 9.82956541e-01 1.81390630e-01 2.98977786e-02 2.51810972e+02] [-1.81305928e-01 9.83411124e-01 -5.54276182e-03 -4.03343309e+01] [-3.04072131e-02 2.76495096e-05 9.99537593e-01 -1.07937468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.84, Y:-40.34, Z:-10.79 [[ 9.82869491e-01 1.81856638e-01 2.99286919e-02 2.51840214e+02] [-1.81771986e-01 9.83325055e-01 -5.54817560e-03 -4.03368132e+01] [-3.04386052e-02 1.29347831e-05 9.99536638e-01 -1.07949890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.87, Y:-40.34, Z:-10.79 [[ 9.82795534e-01 1.82127876e-01 3.06981210e-02 2.51868879e+02] [-1.82038994e-01 9.83274853e-01 -5.68927135e-03 -4.03397896e+01] [-3.12208653e-02 3.13540592e-06 9.99512510e-01 -1.07946142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.90, Y:-40.34, Z:-10.80 [[ 9.82778499e-01 1.82133454e-01 3.12062071e-02 2.51896949e+02] [-1.82041672e-01 9.83273820e-01 -5.78141285e-03 -4.03436659e+01] [-3.17372351e-02 1.01811555e-06 9.99496247e-01 -1.07971491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.93, Y:-40.35, Z:-10.80 [[ 9.82949146e-01 1.81431362e-01 2.98937736e-02 2.51925724e+02] [-1.81346822e-01 9.83403610e-01 -5.53803647e-03 -4.03480744e+01] [-3.04024184e-02 2.24673661e-05 9.99537739e-01 -1.08003087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.95, Y:-40.35, Z:-10.80 [[ 9.83100994e-01 1.80561037e-01 3.01686553e-02 2.51954744e+02] [-1.80474583e-01 9.83563780e-01 -5.58708760e-03 -4.03530273e+01] [-3.06816070e-02 4.79958951e-05 9.99529208e-01 -1.07994512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:251.98, Y:-40.36, Z:-10.80 [[ 9.83285205e-01 1.79338243e-01 3.14324633e-02 2.51983219e+02] [-1.79243793e-01 9.83787470e-01 -5.82029607e-03 -4.03588522e+01] [-3.19666652e-02 8.89370646e-05 9.99488932e-01 -1.08015083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.01, Y:-40.37, Z:-10.80 [[ 9.83864061e-01 1.75956484e-01 3.24164221e-02 2.52011441e+02] [-1.75854219e-01 9.84397925e-01 -6.00163258e-03 -4.03673955e+01] [-3.29666848e-02 2.04226022e-04 9.99456430e-01 -1.08011689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.04, Y:-40.38, Z:-10.80 [[ 9.84172740e-01 1.74168692e-01 3.26999193e-02 2.52040525e+02] [-1.74063675e-01 9.84715795e-01 -6.05316118e-03 -4.03752277e+01] [-3.32543982e-02 2.65488106e-04 9.99446884e-01 -1.08012775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.07, Y:-40.39, Z:-10.80 [[ 9.84042040e-01 1.73176013e-01 4.08819300e-02 2.52065781e+02] [-1.73649295e-01 9.84772601e-01 8.29739714e-03 -4.03934904e+01] [-3.88224943e-02 -1.52641059e-02 9.99129532e-01 -1.08039156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91264 meters Centerline goodness [0,1] 0.9999567913236977 Centerline is valid? [True, True] Translation: X:252.10, Y:-40.39, Z:-10.80 [[ 9.85130614e-01 1.69334836e-01 2.90411155e-02 2.52101182e+02] [-1.68764909e-01 9.85430816e-01 -2.10834754e-02 -4.03865969e+01] [-3.21881770e-02 1.58688558e-02 9.99355843e-01 -1.08039395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.13, Y:-40.40, Z:-10.80 [[ 9.85422540e-01 1.67020363e-01 3.23514435e-02 2.52131189e+02] [-1.66913743e-01 9.85953319e-01 -5.98785994e-03 -4.04028647e+01] [-3.28971076e-02 5.00671620e-04 9.99458618e-01 -1.08044823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97264 meters Centerline goodness [0,1] 0.9997028421030288 Centerline is valid? [True, True] Translation: X:252.16, Y:-40.41, Z:-10.81 [[ 9.85596497e-01 1.66246590e-01 3.10099298e-02 2.52161256e+02] [-1.66148080e-01 9.86084079e-01 -5.74492760e-03 -4.04122380e+01] [-3.15334727e-02 5.09940226e-04 9.99502566e-01 -1.08088951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.19, Y:-40.42, Z:-10.81 [[ 9.85774120e-01 1.65119640e-01 3.13829535e-02 2.52190645e+02] [-1.65017972e-01 9.86273386e-01 -5.82037938e-03 -4.04220099e+01] [-3.19132308e-02 5.58828021e-04 9.99490487e-01 -1.08117485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.22, Y:-40.43, Z:-10.81 [[ 9.85756047e-01 1.65235907e-01 3.13386616e-02 2.52222030e+02] [-1.65134532e-01 9.86253916e-01 -5.81382595e-03 -4.04295986e+01] [-3.18685305e-02 5.55918879e-04 9.99491915e-01 -1.08136248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.25, Y:-40.44, Z:-10.81 [[ 9.85662032e-01 1.65840199e-01 3.11028365e-02 2.52253778e+02] [-1.65740481e-01 9.86152493e-01 -5.77523551e-03 -4.04363115e+01] [-3.16299060e-02 5.37431287e-04 9.99499505e-01 -1.08147586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.29, Y:-40.44, Z:-10.82 [[ 9.85327029e-01 1.67849326e-01 3.09394470e-02 2.52285634e+02] [-1.67751482e-01 9.85812547e-01 -5.75001748e-03 -4.04407284e+01] [-3.14656316e-02 4.75509567e-04 9.99504721e-01 -1.08151648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.32, Y:-40.45, Z:-10.82 [[ 9.85052435e-01 1.69437986e-01 3.10236995e-02 2.52316366e+02] [-1.69340214e-01 9.85540756e-01 -5.77141089e-03 -4.04470130e+01] [-3.15530165e-02 4.31582438e-04 9.99501986e-01 -1.08183973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.35, Y:-40.45, Z:-10.82 [[ 9.84787780e-01 1.71025087e-01 3.07155940e-02 2.52347643e+02] [-1.70929793e-01 9.85266600e-01 -5.72133179e-03 -4.04505944e+01] [-3.12415401e-02 3.84087499e-04 9.99511790e-01 -1.08191236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.38, Y:-40.46, Z:-10.82 [[ 9.84460951e-01 1.72946580e-01 3.04321449e-02 2.52377334e+02] [-1.72853925e-01 9.84931154e-01 -5.66949644e-03 -4.04561840e+01] [-3.09540876e-02 3.21082161e-04 9.99520756e-01 -1.08222471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.41, Y:-40.46, Z:-10.82 [[ 9.83651847e-01 1.77477751e-01 3.05072413e-02 2.52407998e+02] [-1.77386797e-01 9.84124797e-01 -5.68407664e-03 -4.04576558e+01] [-3.10317298e-02 1.79570662e-04 9.99518384e-01 -1.08229958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.44, Y:-40.46, Z:-10.83 [[ 9.83157448e-01 1.80056603e-01 3.13217396e-02 2.52437271e+02] [-1.79962027e-01 9.83656246e-01 -5.83602935e-03 -4.04617189e+01] [-3.18606404e-02 1.01011985e-04 9.99492316e-01 -1.08266779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27264 meters Centerline goodness [0,1] 0.9999571422448892 Centerline is valid? [True, True] Translation: X:252.47, Y:-40.47, Z:-10.83 [[ 9.82735593e-01 1.82412595e-01 3.09257220e-02 2.52466866e+02] [-1.82321568e-01 9.83222073e-01 -5.76206393e-03 -4.04653032e+01] [-3.14579255e-02 2.41592067e-05 9.99505077e-01 -1.08250870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.50, Y:-40.47, Z:-10.83 [[ 9.82048319e-01 1.86047053e-01 3.11061589e-02 2.52495370e+02] [-1.85956800e-01 9.82540831e-01 -5.79509920e-03 -4.04672063e+01] [-3.16412323e-02 -9.33343214e-05 9.99499286e-01 -1.08289369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33264 meters Centerline goodness [0,1] 0.9998271951614646 Centerline is valid? [True, True] Translation: X:252.52, Y:-40.47, Z:-10.83 [[ 9.81672088e-01 1.88146366e-01 3.03456028e-02 2.52524600e+02] [-1.88061516e-01 9.82140988e-01 -5.65211837e-03 -4.04714035e+01] [-3.08670858e-02 -1.58313201e-04 9.99523485e-01 -1.08290747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.55, Y:-40.47, Z:-10.83 [[ 9.81338243e-01 1.89665305e-01 3.16595196e-02 2.52552263e+02] [-1.89573745e-01 9.81848779e-01 -5.89657944e-03 -4.04745095e+01] [-3.22032372e-02 -2.15274785e-04 9.99481318e-01 -1.08312779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39264000000003 meters Centerline goodness [0,1] 0.9999351785830038 Centerline is valid? [True, True] Translation: X:252.58, Y:-40.48, Z:-10.83 [[ 9.80990491e-01 1.91596156e-01 3.07988595e-02 2.52580472e+02] [-1.91510521e-01 9.81473809e-01 -5.73424667e-03 -4.04781927e+01] [-3.13269336e-02 -2.73064186e-04 9.99509154e-01 -1.08324231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters Centerline goodness [0,1] 0.999804975296871 Centerline is valid? [True, True] Translation: X:252.61, Y:-40.48, Z:-10.83 [[ 9.80443129e-01 1.94354690e-01 3.09438902e-02 2.52609319e+02] [-1.94269668e-01 9.80931252e-01 -5.75972447e-03 -4.04809559e+01] [-3.14732585e-02 -3.64376995e-04 9.99504528e-01 -1.08333143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.64, Y:-40.49, Z:-10.83 [[ 9.80236745e-01 1.95214886e-01 3.20479661e-02 2.52637511e+02] [-1.95124200e-01 9.80760410e-01 -5.96359366e-03 -4.04868452e+01] [-3.25955587e-02 -4.07600123e-04 9.99468540e-01 -1.08331139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.67, Y:-40.49, Z:-10.84 [[ 9.79857324e-01 1.97226557e-01 3.13258664e-02 2.52665730e+02] [-1.97140988e-01 9.80357827e-01 -5.82770427e-03 -4.04922736e+01] [-3.18599364e-02 -4.65293534e-04 9.99492235e-01 -1.08355949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.69, Y:-40.49, Z:-10.84 [[ 9.79657303e-01 1.98222655e-01 3.12945328e-02 2.52693144e+02] [-1.98137803e-01 9.80156891e-01 -5.82067121e-03 -4.04936423e+01] [-3.18273408e-02 -4.98366910e-04 9.99493258e-01 -1.08398833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.72, Y:-40.50, Z:-10.84 [[ 9.79523559e-01 1.98884661e-01 3.12808091e-02 2.52721997e+02] [-1.98800311e-01 9.80022764e-01 -5.81529220e-03 -4.04985515e+01] [-3.18124774e-02 -5.22418863e-04 9.99493719e-01 -1.08408883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57264 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:252.75, Y:-40.50, Z:-10.84 [[ 9.79436424e-01 1.99260427e-01 3.16160385e-02 2.52750467e+02] [-1.99174505e-01 9.79946421e-01 -5.87606687e-03 -4.05026682e+01] [-3.21528913e-02 -5.41874885e-04 9.99482815e-01 -1.08411655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.78, Y:-40.51, Z:-10.84 [[ 9.79499544e-01 1.98956306e-01 3.15757928e-02 2.52778063e+02] [-1.98870488e-01 9.80008217e-01 -5.86722536e-03 -4.05064346e+01] [-3.21118579e-02 -5.32548771e-04 9.99484139e-01 -1.08440106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.81, Y:-40.52, Z:-10.84 [[ 9.79684579e-01 1.98073767e-01 3.13832659e-02 2.52805441e+02] [-1.97988606e-01 9.80186987e-01 -5.82938305e-03 -4.05165791e+01] [-3.19161167e-02 -5.02572380e-04 9.99490425e-01 -1.08431906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66264 meters Centerline goodness [0,1] 0.9998710703311343 Centerline is valid? [True, True] Translation: X:252.83, Y:-40.53, Z:-10.85 [[ 9.80108336e-01 1.96206291e-01 2.98452962e-02 2.52832437e+02] [-1.96128450e-01 9.80562550e-01 -5.54231685e-03 -4.05266691e+01] [-3.03526171e-02 -4.21440727e-04 9.99539164e-01 -1.08462825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.86, Y:-40.53, Z:-10.85 [[ 9.80331930e-01 1.95009723e-01 3.03399940e-02 2.52860278e+02] [-1.94928756e-01 9.80801231e-01 -5.63259129e-03 -4.05327515e+01] [-3.08559135e-02 -3.92328188e-04 9.99523766e-01 -1.08475616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72264 meters Centerline goodness [0,1] 0.9999784403768622 Centerline is valid? [True, True] Translation: X:252.89, Y:-40.54, Z:-10.85 [[ 9.80565879e-01 1.93814080e-01 3.04410790e-02 2.52888667e+02] [-1.93732045e-01 9.81038213e-01 -5.64980104e-03 -4.05391208e+01] [-3.09588728e-02 -3.57410374e-04 9.99520595e-01 -1.08495683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.92, Y:-40.55, Z:-10.85 [[ 9.80844813e-01 1.92408282e-01 3.03727847e-02 2.52916835e+02] [-1.92325994e-01 9.81314911e-01 -5.63537650e-03 -4.05459217e+01] [-3.08895596e-02 -3.14046198e-04 9.99522754e-01 -1.08522728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.94, Y:-40.56, Z:-10.86 [[ 9.81417441e-01 1.89495240e-01 3.01887376e-02 2.52944457e+02] [-1.89412610e-01 9.81881614e-01 -5.59986581e-03 -4.05559950e+01] [-3.07029143e-02 -2.22321593e-04 9.99528530e-01 -1.08552936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:252.97, Y:-40.56, Z:-10.85 [[ 9.81659874e-01 1.88226094e-01 3.02461526e-02 2.52972998e+02] [-1.88142569e-01 9.82125707e-01 -5.60977901e-03 -4.05635401e+01] [-3.07614308e-02 -1.83693904e-04 9.99526738e-01 -1.08540713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.00, Y:-40.57, Z:-10.86 [[ 9.81804009e-01 1.87453480e-01 3.03657876e-02 2.53001530e+02] [-1.87368942e-01 9.82273469e-01 -5.63140679e-03 -4.05689069e+01] [-3.08831343e-02 -1.60667727e-04 9.99522989e-01 -1.08558687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.03, Y:-40.58, Z:-10.86 [[ 9.82146301e-01 1.85764245e-01 2.96696743e-02 2.53029686e+02] [-1.85682814e-01 9.82594338e-01 -5.50080280e-03 -4.05765012e+01] [-3.01751065e-02 -1.06555499e-04 9.99544622e-01 -1.08591131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.06, Y:-40.59, Z:-10.86 [[ 9.82353658e-01 1.84655009e-01 2.97290798e-02 2.53058190e+02] [-1.84572748e-01 9.82803400e-01 -5.51166056e-03 -4.05851462e+01] [-3.02355965e-02 -7.27780520e-05 9.99542797e-01 -1.08603634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.09, Y:-40.59, Z:-10.86 [[ 9.82358047e-01 1.84631639e-01 2.97292113e-02 2.53086846e+02] [-1.84549389e-01 9.82807790e-01 -5.51095120e-03 -4.05904118e+01] [-3.02355965e-02 -7.27805168e-05 9.99542797e-01 -1.08617607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.12, Y:-40.60, Z:-10.86 [[ 9.82523491e-01 1.83696705e-01 3.00517884e-02 2.53115250e+02] [-1.83612266e-01 9.82982970e-01 -5.56932791e-03 -4.05985498e+01] [-3.05634634e-02 -4.58814451e-05 9.99532827e-01 -1.08632255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.15, Y:-40.61, Z:-10.86 [[ 9.82743956e-01 1.82438971e-01 3.05014637e-02 2.53145279e+02] [-1.82351357e-01 9.83217179e-01 -5.65336238e-03 -4.06055305e+01] [-3.10209568e-02 -6.17561056e-06 9.99518734e-01 -1.08607672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.18, Y:-40.61, Z:-10.86 [[ 9.82826809e-01 1.82074392e-01 3.00063110e-02 2.53176454e+02] [-1.81989445e-01 9.83284758e-01 -5.56115381e-03 -4.06115091e+01] [-3.05172920e-02 4.81916879e-06 9.99534239e-01 -1.08628125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.21, Y:-40.62, Z:-10.86 [[ 9.82882985e-01 1.81784731e-01 2.99223748e-02 2.53207038e+02] [-1.81700101e-01 9.83338350e-01 -5.54635042e-03 -4.06180243e+01] [-3.04320605e-02 1.45149362e-05 9.99536837e-01 -1.08641911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.24, Y:-40.62, Z:-10.86 [[ 9.82921931e-01 1.81334007e-01 3.13441542e-02 2.53236894e+02] [-1.81240878e-01 9.83421566e-01 -5.81094820e-03 -4.06247617e+01] [-3.18782398e-02 3.08663916e-05 9.99491759e-01 -1.08649981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.27, Y:-40.63, Z:-10.87 [[ 9.82944459e-01 1.81152308e-01 3.16864520e-02 2.53266222e+02] [-1.81057013e-01 9.83455052e-01 -5.87519968e-03 -4.06305566e+01] [-3.22265073e-02 3.79406164e-05 9.99480591e-01 -1.08663952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.30, Y:-40.63, Z:-10.86 [[ 9.82961170e-01 1.80945864e-01 3.23408695e-02 2.53301917e+02] [-1.80588597e-01 9.83463715e-01 -1.36703933e-02 -4.06318980e+01] [-3.42796728e-02 7.59707354e-03 9.99383404e-01 -1.08630453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.33, Y:-40.65, Z:-10.87 [[ 9.83025173e-01 1.80387352e-01 3.34949521e-02 2.53326678e+02] [-1.80528474e-01 9.83569011e-01 1.21289200e-03 -4.06474035e+01] [-3.27258065e-02 -7.23909597e-03 9.99438151e-01 -1.08654636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.36, Y:-40.65, Z:-10.87 [[ 9.83032877e-01 1.80342237e-01 3.35117994e-02 2.53360678e+02] [-1.80053149e-01 9.83589917e-01 -1.14777926e-02 -4.06466076e+01] [-3.50317988e-02 5.24914250e-03 9.99372413e-01 -1.08679881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.39, Y:-40.66, Z:-10.87 [[ 9.83151987e-01 1.79428913e-01 3.48917626e-02 2.53391886e+02] [-1.79453228e-01 9.83763433e-01 -2.45920593e-03 -4.06580954e+01] [-3.47664927e-02 -3.84366622e-03 9.99388071e-01 -1.08672270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.42, Y:-40.66, Z:-10.87 [[ 9.83202712e-01 1.79361408e-01 3.37921947e-02 2.53422817e+02] [-1.79151533e-01 9.83778809e-01 -9.16422132e-03 -4.06607090e+01] [-3.48877527e-02 2.95636375e-03 9.99386864e-01 -1.08710153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.45, Y:-40.67, Z:-10.87 [[ 9.83448999e-01 1.77719022e-01 3.52705969e-02 2.53452799e+02] [-1.77667435e-01 9.84079758e-01 -4.61663248e-03 -4.06718911e+01] [-3.55295438e-02 -1.72621388e-03 9.99367136e-01 -1.08711388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.49, Y:-40.68, Z:-10.87 [[ 9.83571210e-01 1.77149718e-01 3.47225046e-02 2.53485638e+02] [-1.77030850e-01 9.84183885e-01 -6.49292712e-03 -4.06778723e+01] [-3.53235497e-02 2.39301692e-04 9.99375900e-01 -1.08725874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.51, Y:-40.69, Z:-10.88 [[ 9.83485546e-01 1.77221106e-01 3.67268331e-02 2.53514573e+02] [-1.77273066e-01 9.84159941e-01 -1.86283336e-03 -4.06896603e+01] [-3.64752113e-02 -4.67860862e-03 9.99323606e-01 -1.08779895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.55, Y:-40.69, Z:-10.88 [[ 9.83541311e-01 1.78057508e-01 3.06922460e-02 2.53548753e+02] [-1.77557142e-01 9.83939502e-01 -1.83444263e-02 -4.06856926e+01] [-3.34656761e-02 1.25928736e-02 9.99360530e-01 -1.08781275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.58, Y:-40.71, Z:-10.88 [[ 9.83400047e-01 1.77386349e-01 3.81894150e-02 2.53577213e+02] [-1.77785876e-01 9.84042075e-01 7.30589243e-03 -4.07084705e+01] [-3.62840256e-02 -1.39741535e-02 9.99243810e-01 -1.08776708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.61, Y:-40.70, Z:-10.88 [[ 9.83357336e-01 1.79400255e-01 2.87036333e-02 2.53608336e+02] [-1.78945592e-01 9.83699478e-01 -1.77147229e-02 -4.06997743e+01] [-3.14137749e-02 1.22835140e-02 9.99430983e-01 -1.08830469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47264 meters Centerline goodness [0,1] 0.9998696728789261 Centerline is valid? [True, True] Translation: X:253.64, Y:-40.72, Z:-10.88 [[ 9.83344587e-01 1.79213645e-01 3.02637260e-02 2.53638662e+02] [-1.79125384e-01 9.83810174e-01 -5.62488294e-03 -4.07152858e+01] [-3.07818173e-02 1.10196642e-04 9.99526122e-01 -1.08809924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.67, Y:-40.72, Z:-10.88 [[ 9.83237343e-01 1.79647375e-01 3.11632461e-02 2.53668883e+02] [-1.79553812e-01 9.83731066e-01 -5.79818102e-03 -4.07220608e+01] [-3.16978813e-02 1.05508473e-04 9.99497490e-01 -1.08846883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.70, Y:-40.73, Z:-10.88 [[ 9.83112571e-01 1.79611265e-01 3.50637405e-02 2.53702588e+02] [-1.79536118e-01 9.83737073e-01 -5.30594853e-03 -4.07286185e+01] [-3.54465096e-02 -1.07886313e-03 9.99370993e-01 -1.08833126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.73, Y:-40.74, Z:-10.89 [[ 9.83142876e-01 1.80181812e-01 3.10580091e-02 2.53731171e+02] [-1.80045142e-01 9.83632250e-01 -7.16538959e-03 -4.07353089e+01] [-3.18407323e-02 1.45275806e-03 9.99491900e-01 -1.08883460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.76, Y:-40.75, Z:-10.89 [[ 9.83000701e-01 1.81153070e-01 2.98862280e-02 2.53761697e+02] [-1.81067351e-01 9.83454910e-01 -5.57257506e-03 -4.07453919e+01] [-3.04012468e-02 6.64250376e-05 9.99537773e-01 -1.08895634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.79, Y:-40.75, Z:-10.89 [[ 9.82835078e-01 1.82188740e-01 2.90253631e-02 2.53791872e+02] [-1.82108187e-01 9.83263577e-01 -5.41727132e-03 -4.07519028e+01] [-2.95265482e-02 3.85280427e-05 9.99563996e-01 -1.08940067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.82, Y:-40.76, Z:-10.90 [[ 9.82580876e-01 1.83589325e-01 2.88059218e-02 2.53822850e+02] [-1.83510448e-01 9.83003031e-01 -5.38107323e-03 -4.07571120e+01] [-2.93042161e-02 1.15203676e-06 9.99570539e-01 -1.08973907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters Centerline goodness [0,1] 0.9997842502696872 Centerline is valid? [True, True] Translation: X:253.85, Y:-40.76, Z:-10.90 [[ 9.81755428e-01 1.86749470e-01 3.57898733e-02 2.53853759e+02] [-1.86895832e-01 9.82379444e-01 7.58800294e-04 -4.07630630e+01] [-3.50175302e-02 -7.43393446e-03 9.99359049e-01 -1.08980616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.89, Y:-40.76, Z:-10.90 [[ 9.81419304e-01 1.89145732e-01 3.22496698e-02 2.53886703e+02] [-1.88839830e-01 9.81930756e-01 -1.23088614e-02 -4.07586557e+01] [-3.39951113e-02 5.99013204e-03 9.99404048e-01 -1.08988084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.92, Y:-40.76, Z:-10.90 [[ 9.80825998e-01 1.92477258e-01 3.05428750e-02 2.53916127e+02] [-1.92182674e-01 9.81281687e-01 -1.23317101e-02 -4.07635951e+01] [-3.23447376e-02 6.22545045e-03 9.99457384e-01 -1.08999059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:253.95, Y:-40.77, Z:-10.90 [[ 9.80438119e-01 1.94439102e-01 3.05701039e-02 2.53946638e+02] [-1.94494024e-01 9.80902975e-01 -1.19522782e-03 -4.07705921e+01] [-3.02187049e-02 -4.77385560e-03 9.99531911e-01 -1.09028699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters Centerline goodness [0,1] 0.9999785591766723 Centerline is valid? [True, True] Translation: X:253.98, Y:-40.77, Z:-10.90 [[ 9.80193920e-01 1.95868240e-01 2.92491190e-02 2.53976689e+02] [-1.95791776e-01 9.80630159e-01 -5.48375399e-03 -4.07721911e+01] [-2.97566614e-02 -3.51594628e-04 9.99557111e-01 -1.09048536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83264 meters Centerline goodness [0,1] 0.9998488447419563 Centerline is valid? [True, True] Translation: X:254.01, Y:-40.78, Z:-10.91 [[ 9.80199222e-01 1.96043150e-01 2.78669633e-02 2.54006676e+02] [-1.95973845e-01 9.80595210e-01 -5.22352636e-03 -4.07795919e+01] [-2.83502473e-02 -3.41099467e-04 9.99597993e-01 -1.09054765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.04, Y:-40.80, Z:-10.91 [[ 9.79830270e-01 1.95996457e-01 3.89619163e-02 2.54036609e+02] [-1.96553565e-01 9.80431543e-01 1.09856834e-02 -4.07966642e+01] [-3.60463367e-02 -1.84222087e-02 9.99180306e-01 -1.09050204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89264000000003 meters Centerline goodness [0,1] 0.9998714046894424 Centerline is valid? [True, True] Translation: X:254.07, Y:-40.78, Z:-10.91 [[ 9.79793042e-01 1.98449116e-01 2.49708395e-02 2.54069225e+02] [-1.97889331e-01 9.79949577e-01 -2.32085903e-02 -4.07757078e+01] [-2.90758878e-02 1.77981526e-02 9.99418740e-01 -1.09087849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters Centerline goodness [0,1] 0.9999785844308813 Centerline is valid? [True, True] Translation: X:254.09, Y:-40.79, Z:-10.91 [[ 9.79065420e-01 2.00212703e-01 3.66848300e-02 2.54093345e+02] [-2.00222630e-01 9.79744385e-01 -3.44061852e-03 -4.07906556e+01] [-3.66306118e-02 -3.97654253e-03 9.99320962e-01 -1.09082963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.12, Y:-40.80, Z:-10.91 [[ 9.78948354e-01 2.00239115e-01 3.95527035e-02 2.54122340e+02] [-2.00400454e-01 9.79714063e-01 1.16733537e-04 -4.07995647e+01] [-3.87269652e-02 -8.04065584e-03 9.99217479e-01 -1.09078677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.16, Y:-40.79, Z:-10.91 [[ 9.79273491e-01 2.00396718e-01 2.94038419e-02 2.54155974e+02] [-1.99969354e-01 9.79657277e-01 -1.68486662e-02 -4.07939122e+01] [-3.21821051e-02 1.06195849e-02 9.99425603e-01 -1.09071258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.18, Y:-40.81, Z:-10.91 [[ 9.78816429e-01 2.01275149e-01 3.75061621e-02 2.54181205e+02] [-2.01413755e-01 9.79506249e-01 -8.46379012e-05 -4.08101790e+01] [-3.67545557e-02 -7.47141197e-03 9.99296393e-01 -1.09108022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.22, Y:-40.80, Z:-10.91 [[ 9.79077666e-01 2.01395129e-01 2.91019844e-02 2.54215320e+02] [-2.01116577e-01 9.79490948e-01 -1.22313623e-02 -4.08016202e+01] [-3.09684671e-02 6.12256220e-03 9.99501610e-01 -1.09143670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07264 meters Centerline goodness [0,1] 0.9999360163798068 Centerline is valid? [True, True] Translation: X:254.24, Y:-40.81, Z:-10.91 [[ 9.79098059e-01 2.01164397e-01 2.99979245e-02 2.54243700e+02] [-2.01086069e-01 9.79557360e-01 -5.63657643e-03 -4.08094315e+01] [-3.05185662e-02 -5.13403674e-04 9.99534068e-01 -1.09140281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10264 meters Centerline goodness [0,1] 0.9999784728650464 Centerline is valid? [True, True] Translation: X:254.27, Y:-40.81, Z:-10.91 [[ 9.78967951e-01 2.01663812e-01 3.08781097e-02 2.54273434e+02] [-2.01581129e-01 9.79454649e-01 -5.80000125e-03 -4.08143859e+01] [-3.14133584e-02 -5.46428868e-04 9.99506329e-01 -1.09126925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.30, Y:-40.82, Z:-10.91 [[ 9.78917533e-01 2.01846897e-01 3.12776768e-02 2.54301461e+02] [-2.01762172e-01 9.79416927e-01 -5.87444231e-03 -4.08183933e+01] [-3.18196241e-02 -5.60057456e-04 9.99493471e-01 -1.09138205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16264 meters Centerline goodness [0,1] 0.9999143908911908 Centerline is valid? [True, True] Translation: X:254.33, Y:-40.82, Z:-10.92 [[ 9.78959104e-01 2.01840212e-01 2.99933678e-02 2.54329460e+02] [-2.01762334e-01 9.79418317e-01 -5.63215716e-03 -4.08220972e+01] [-3.05128496e-02 -5.37880363e-04 9.99534230e-01 -1.09184253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.35, Y:-40.85, Z:-10.92 [[ 9.78642999e-01 2.00555828e-01 4.51136443e-02 2.54354503e+02] [-2.01767759e-01 9.79136989e-01 2.40941579e-02 -4.08504667e+01] [-3.93402140e-02 -3.26820579e-02 9.98691259e-01 -1.09188129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22264 meters Centerline goodness [0,1] 0.9999356982102668 Centerline is valid? [True, True] Translation: X:254.39, Y:-40.81, Z:-10.92 [[ 9.78861333e-01 2.03287306e-01 2.24669016e-02 2.54393136e+02] [-2.02391909e-01 9.78613945e-01 -3.67731226e-02 -4.08128303e+01] [-2.94619322e-02 3.14486687e-02 9.99071056e-01 -1.09220346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.42, Y:-40.84, Z:-10.92 [[ 9.79191187e-01 2.01051436e-01 2.76213434e-02 2.54418005e+02] [-2.00985091e-01 9.79580571e-01 -5.18623331e-03 -4.08364119e+01] [-2.81000310e-02 -4.73164267e-04 9.99605004e-01 -1.09248408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28264 meters Centerline goodness [0,1] 0.9999573333333334 Centerline is valid? [True, True] Translation: X:254.44, Y:-40.86, Z:-10.93 [[ 9.78975687e-01 1.99103119e-01 4.43232671e-02 2.54444723e+02] [-2.00113783e-01 9.79576085e-01 1.96256872e-02 -4.08559172e+01] [-3.95104770e-02 -2.80827672e-02 9.98824449e-01 -1.09295232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.48, Y:-40.82, Z:-10.93 [[ 9.79221296e-01 2.01424983e-01 2.35293494e-02 2.54481154e+02] [-2.00627278e-01 9.79130918e-01 -3.24243867e-02 -4.08241609e+01] [-2.95693950e-02 2.70300207e-02 9.99197192e-01 -1.09270657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34264 meters Centerline goodness [0,1] 0.9999783811829817 Centerline is valid? [True, True] Translation: X:254.51, Y:-40.85, Z:-10.93 [[ 9.79747899e-01 1.98069717e-01 2.93673391e-02 2.54506126e+02] [-1.97993376e-01 9.80187848e-01 -5.51413282e-03 -4.08503549e+01] [-2.98776916e-02 -4.12078576e-04 9.99553477e-01 -1.09251301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37264 meters Centerline goodness [0,1] 0.9999785347843819 Centerline is valid? [True, True] Translation: X:254.53, Y:-40.86, Z:-10.93 [[ 9.80016594e-01 1.96716503e-01 2.94973535e-02 2.54533506e+02] [-1.96638942e-01 9.80460339e-01 -5.53620865e-03 -4.08576972e+01] [-3.00100488e-02 -3.74752028e-04 9.99549527e-01 -1.09270093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40264 meters Centerline goodness [0,1] 0.9999785246429722 Centerline is valid? [True, True] Translation: X:254.56, Y:-40.86, Z:-10.93 [[ 9.80279441e-01 1.95543653e-01 2.85464235e-02 2.54560221e+02] [-1.95470548e-01 9.80694943e-01 -5.35660160e-03 -4.08629840e+01] [-2.90427826e-02 -3.29018629e-04 9.99578115e-01 -1.09308794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.59, Y:-40.87, Z:-10.93 [[ 9.80505985e-01 1.94580778e-01 2.73191209e-02 2.54588072e+02] [-1.94513503e-01 9.80886455e-01 -5.12447698e-03 -4.08695994e+01] [-2.77940803e-02 -2.89357543e-04 9.99613628e-01 -1.09329667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.62, Y:-40.87, Z:-10.94 [[ 9.80735113e-01 1.93408322e-01 2.74200643e-02 2.54615051e+02] [-1.93340122e-01 9.81118318e-01 -5.14226845e-03 -4.08736961e+01] [-2.78968849e-02 -2.58195351e-04 9.99610773e-01 -1.09370725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49264 meters Centerline goodness [0,1] 0.9999570925941818 Centerline is valid? [True, True] Translation: X:254.64, Y:-40.88, Z:-10.94 [[ 9.80729104e-01 1.93521530e-01 2.68298783e-02 2.54642808e+02] [-1.93456318e-01 9.81095995e-01 -5.03008143e-03 -4.08778999e+01] [-2.72961152e-02 -2.57262227e-04 9.99627359e-01 -1.09391364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.67, Y:-40.88, Z:-10.94 [[ 9.80754539e-01 1.93455806e-01 2.63701604e-02 2.54670996e+02] [-1.93392841e-01 9.81108958e-01 -4.94186060e-03 -4.08838282e+01] [-2.68280322e-02 -2.53048020e-04 9.99640032e-01 -1.09372997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55264 meters Centerline goodness [0,1] 0.9999573451629414 Centerline is valid? [True, True] Translation: X:254.70, Y:-40.88, Z:-10.94 [[ 9.80621945e-01 1.94040046e-01 2.70011253e-02 2.54699001e+02] [-1.93974285e-01 9.80993570e-01 -5.05890318e-03 -4.08843635e+01] [-2.74695601e-02 -2.76652509e-04 9.99622602e-01 -1.09402827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.73, Y:-40.89, Z:-10.94 [[ 9.80561447e-01 1.94364244e-01 2.68661404e-02 2.54727587e+02] [-1.94299316e-01 9.80929385e-01 -5.03158547e-03 -4.08880340e+01] [-2.73317468e-02 -2.86293971e-04 9.99626377e-01 -1.09418995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61264 meters Centerline goodness [0,1] 0.9999780677705888 Centerline is valid? [True, True] Translation: X:254.76, Y:-40.89, Z:-10.94 [[ 9.80326679e-01 1.95684328e-01 2.58311254e-02 2.54756272e+02] [-1.95624802e-01 9.80666889e-01 -4.83634384e-03 -4.08932687e+01] [-2.62781261e-02 -3.12011900e-04 9.99654622e-01 -1.09418600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264000000003 meters Centerline goodness [0,1] 0.9999785315586088 Centerline is valid? [True, True] Translation: X:254.78, Y:-40.89, Z:-10.95 [[ 9.80131258e-01 1.96557568e-01 2.66052531e-02 2.54783990e+02] [-1.96494757e-01 9.80492225e-01 -4.98072754e-03 -4.08938604e+01] [-2.70652435e-02 -3.46026003e-04 9.99633609e-01 -1.09457936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67264 meters Centerline goodness [0,1] 0.9999784194397686 Centerline is valid? [True, True] Translation: X:254.81, Y:-40.90, Z:-10.94 [[ 9.79929896e-01 1.97552718e-01 2.66518861e-02 2.54813375e+02] [-1.97490110e-01 9.80292192e-01 -4.98744742e-03 -4.08960332e+01] [-2.71119196e-02 -3.76135081e-04 9.99632334e-01 -1.09445056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:254.84, Y:-40.90, Z:-10.95 [[ 9.79694387e-01 1.98716707e-01 2.66566770e-02 2.54842301e+02] [-1.98654542e-01 9.80056887e-01 -4.98699643e-03 -4.08967341e+01] [-2.71160594e-02 -4.09737569e-04 9.99632208e-01 -1.09457039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73264 meters Centerline goodness [0,1] 0.9999152470548351 Centerline is valid? [True, True] Translation: X:254.87, Y:-40.89, Z:-10.95 [[ 9.79358619e-01 2.00355960e-01 2.67242359e-02 2.54870937e+02] [-2.00294121e-01 9.79723063e-01 -4.99852476e-03 -4.08925068e+01] [-2.71838345e-02 -4.57359022e-04 9.99630347e-01 -1.09522820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264000000003 meters Centerline goodness [0,1] 0.9999140450403988 Centerline is valid? [True, True] Translation: X:254.90, Y:-40.90, Z:-10.95 [[ 9.79240746e-01 2.00897705e-01 2.69754327e-02 2.54898925e+02] [-2.00834953e-01 9.79612108e-01 -5.04367340e-03 -4.08950712e+01] [-2.74387229e-02 -4.78639269e-04 9.99623373e-01 -1.09532332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79264 meters Centerline goodness [0,1] 0.9999140450403988 Centerline is valid? [True, True] Translation: X:254.93, Y:-40.90, Z:-10.95 [[ 9.79254183e-01 2.00832163e-01 2.69756716e-02 2.54925954e+02] [-2.00769422e-01 9.79625548e-01 -5.04239508e-03 -4.08999790e+01] [-2.74387322e-02 -4.78103525e-04 9.99623373e-01 -1.09545560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters Centerline goodness [0,1] 0.9999356940752808 Centerline is valid? [True, True] Translation: X:254.95, Y:-40.91, Z:-10.95 [[ 9.79137907e-01 2.01311464e-01 2.76161676e-02 2.54954653e+02] [-2.01245964e-01 9.79527151e-01 -5.15975756e-03 -4.09067144e+01] [-2.80895043e-02 -5.05528062e-04 9.99605284e-01 -1.09498292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85264 meters Centerline goodness [0,1] 0.9998937932792387 Centerline is valid? [True, True] Translation: X:254.98, Y:-40.91, Z:-10.95 [[ 9.79040517e-01 2.01698909e-01 2.82350228e-02 2.54983273e+02] [-2.01630637e-01 9.79447431e-01 -5.27413743e-03 -4.09063263e+01] [-2.87185083e-02 -5.29451389e-04 9.99587398e-01 -1.09524815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:255.01, Y:-40.91, Z:-10.95 [[ 9.78850145e-01 2.02563408e-01 2.86436564e-02 2.55012529e+02] [-2.02493575e-01 9.79268986e-01 -5.34837844e-03 -4.09059744e+01] [-2.91332302e-02 -5.64895390e-04 9.99575378e-01 -1.09522693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91264 meters Centerline goodness [0,1] 0.9999146557426017 Centerline is valid? [True, True] Translation: X:255.04, Y:-40.91, Z:-10.95 [[ 9.78847075e-01 2.02545864e-01 2.88717406e-02 2.55041061e+02] [-2.02474950e-01 9.79272612e-01 -5.38953922e-03 -4.09083874e+01] [-2.93649337e-02 -5.70269517e-04 9.99568595e-01 -1.09530361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.07, Y:-40.91, Z:-10.95 [[ 9.78947783e-01 2.02007764e-01 2.92250184e-02 2.55069364e+02] [-2.01934905e-01 9.79383759e-01 -5.45408793e-03 -4.09123402e+01] [-2.97242764e-02 -5.62284005e-04 9.99557978e-01 -1.09513885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97264 meters Centerline goodness [0,1] 0.9997842269932031 Centerline is valid? [True, True] Translation: X:255.10, Y:-40.91, Z:-10.95 [[ 9.79190120e-01 2.00989111e-01 2.81084604e-02 2.55097736e+02] [-2.00921326e-01 9.79593342e-01 -5.24460319e-03 -4.09134666e+01] [-2.85889688e-02 -5.12125493e-04 9.99591121e-01 -1.09548187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters Centerline goodness [0,1] 0.9999788054766648 Centerline is valid? [True, True] Translation: X:255.13, Y:-40.92, Z:-10.96 [[ 9.79143461e-01 2.00997872e-01 2.96300097e-02 2.55125923e+02] [-2.00922615e-01 9.79591528e-01 -5.52639751e-03 -4.09157791e+01] [-3.01361006e-02 -5.42203044e-04 9.99545658e-01 -1.09563020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03264 meters Centerline goodness [0,1] 0.9999787401407403 Centerline is valid? [True, True] Translation: X:255.15, Y:-40.92, Z:-10.96 [[ 9.79230504e-01 2.00550086e-01 2.97873107e-02 2.55154820e+02] [-2.00473883e-01 9.79683305e-01 -5.55369661e-03 -4.09184914e+01] [-3.02959253e-02 -5.33228701e-04 9.99540831e-01 -1.09573354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.18, Y:-40.92, Z:-10.96 [[ 9.79557250e-01 1.98961138e-01 2.96995006e-02 2.55183054e+02] [-1.98884696e-01 9.80007261e-01 -5.53592036e-03 -4.09240107e+01] [-3.02071593e-02 -4.84025235e-04 9.99543542e-01 -1.09574955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09264 meters Centerline goodness [0,1] 0.9999783961285862 Centerline is valid? [True, True] Translation: X:255.21, Y:-40.93, Z:-10.96 [[ 9.79788241e-01 1.97829966e-01 2.96362356e-02 2.55211196e+02] [-1.97753371e-01 9.80236248e-01 -5.52286622e-03 -4.09264294e+01] [-3.01431008e-02 -4.49426098e-04 9.99545492e-01 -1.09605430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.24, Y:-40.93, Z:-10.96 [[ 9.80072900e-01 1.96365805e-01 2.99596592e-02 2.55239732e+02] [-1.96286908e-01 9.80530623e-01 -5.58103016e-03 -4.09320148e+01] [-3.04722868e-02 -4.10872454e-04 9.99535528e-01 -1.09595492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15264 meters Centerline goodness [0,1] 0.9999784445594068 Centerline is valid? [True, True] Translation: X:255.27, Y:-40.94, Z:-10.96 [[ 9.80491865e-01 1.94352229e-01 2.93754116e-02 2.55267699e+02] [-1.94275518e-01 9.80931748e-01 -5.47077016e-03 -4.09377206e+01] [-2.98785302e-02 -3.42877674e-04 9.99553478e-01 -1.09611699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.29, Y:-40.95, Z:-10.97 [[ 9.81559608e-01 1.89065849e-01 2.81929270e-02 2.55294282e+02] [-1.88993048e-01 9.81964395e-01 -5.24920237e-03 -4.09485630e+01] [-2.86768954e-02 -1.75862174e-04 9.99588718e-01 -1.09656644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.32, Y:-40.96, Z:-10.97 [[ 9.82100572e-01 1.86098149e-01 2.90851497e-02 2.55322414e+02] [-1.86019410e-01 9.82531155e-01 -5.41376738e-03 -4.09570922e+01] [-2.95845578e-02 -9.35383628e-05 9.99562277e-01 -1.09659885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.35, Y:-40.96, Z:-10.97 [[ 9.82614578e-01 1.83388775e-01 2.89335107e-02 2.55350482e+02] [-1.83309722e-01 9.83040466e-01 -5.38410837e-03 -4.09643566e+01] [-2.94301969e-02 -1.32904222e-05 9.99566838e-01 -1.09662953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.38, Y:-40.97, Z:-10.97 [[ 9.83423805e-01 1.79161408e-01 2.79071780e-02 2.55376885e+02] [-1.79086193e-01 9.83819688e-01 -5.19202703e-03 -4.09727923e+01] [-2.83858420e-02 1.08172706e-04 9.99597035e-01 -1.09695326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.41, Y:-40.98, Z:-10.97 [[ 9.83624966e-01 1.78051863e-01 2.79188262e-02 2.55405008e+02] [-1.77976195e-01 9.84021095e-01 -5.19219778e-03 -4.09786946e+01] [-2.83971944e-02 1.38288893e-04 9.99596709e-01 -1.09702594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.43, Y:-40.98, Z:-10.97 [[ 9.83698045e-01 1.77548783e-01 2.85409483e-02 2.55432110e+02] [-1.77469530e-01 9.84111988e-01 -5.30662551e-03 -4.09836742e+01] [-2.90296743e-02 1.54968464e-04 9.99578538e-01 -1.09724288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.46, Y:-40.99, Z:-10.97 [[ 9.83506546e-01 1.78639166e-01 2.83358895e-02 2.55461341e+02] [-1.78561559e-01 9.83914648e-01 -5.26645538e-03 -4.09850001e+01] [-2.88208919e-02 1.19892735e-04 9.99584585e-01 -1.09730440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.49, Y:-40.99, Z:-10.98 [[ 9.83283182e-01 1.79914757e-01 2.80154199e-02 2.55488784e+02] [-1.79839446e-01 9.83682202e-01 -5.20575963e-03 -4.09877619e+01] [-2.84948629e-02 8.04583072e-05 9.99593936e-01 -1.09756732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.52, Y:-40.99, Z:-10.98 [[ 9.83035917e-01 1.81239832e-01 2.81515431e-02 2.55517945e+02] [-1.81164395e-01 9.83438926e-01 -5.22882129e-03 -4.09911468e+01] [-2.86329940e-02 4.00618653e-05 9.99589991e-01 -1.09773563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.55, Y:-40.99, Z:-10.98 [[ 9.82825784e-01 1.82414379e-01 2.79011075e-02 2.55545346e+02] [-1.82340766e-01 9.83221742e-01 -5.18175470e-03 -4.09942103e+01] [-2.83782021e-02 5.25280211e-06 9.99597258e-01 -1.09805139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.57, Y:-40.99, Z:-10.98 [[ 9.82427314e-01 1.84542052e-01 2.79428591e-02 2.55573388e+02] [-1.84469123e-01 9.82824617e-01 -5.18797858e-03 -4.09940327e+01] [-2.84203300e-02 -5.77828414e-05 9.99596059e-01 -1.09823278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51264000000003 meters Centerline goodness [0,1] 0.999848566792861 Centerline is valid? [True, True] Translation: X:255.60, Y:-41.00, Z:-10.98 [[ 9.82274324e-01 1.85533837e-01 2.67272879e-02 2.55601791e+02] [-1.85467537e-01 9.82637872e-01 -4.96029812e-03 -4.09967132e+01] [-2.71835484e-02 -8.46707619e-05 9.99630455e-01 -1.09798543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.63, Y:-41.00, Z:-10.98 [[ 9.81962691e-01 1.86972317e-01 2.81180687e-02 2.55628996e+02] [-1.86899574e-01 9.82365174e-01 -5.21668940e-03 -4.09992717e+01] [-2.85975880e-02 -1.32660720e-04 9.99590997e-01 -1.09843677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57264 meters Centerline goodness [0,1] 0.9999137782376272 Centerline is valid? [True, True] Translation: X:255.66, Y:-41.00, Z:-10.99 [[ 9.81677236e-01 1.88676883e-01 2.66615469e-02 2.55656371e+02] [-1.88612157e-01 9.82039207e-01 -4.94479596e-03 -4.10006274e+01] [-2.71156531e-02 -1.74498242e-04 9.99632288e-01 -1.09868060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.68, Y:-41.01, Z:-10.99 [[ 9.81464577e-01 1.89580430e-01 2.80454055e-02 2.55684772e+02] [-1.89509266e-01 9.81865172e-01 -5.19835517e-03 -4.10062762e+01] [-2.85223133e-02 -2.12862748e-04 9.99593133e-01 -1.09852267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.71, Y:-41.01, Z:-10.99 [[ 9.81313775e-01 1.90263271e-01 2.86908128e-02 2.55712007e+02] [-1.90189123e-01 9.81733075e-01 -5.31668597e-03 -4.10095181e+01] [-2.91782899e-02 -2.39343343e-04 9.99574194e-01 -1.09883188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66264 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:255.74, Y:-41.01, Z:-10.99 [[ 9.81081205e-01 1.91499318e-01 2.84197084e-02 2.55741059e+02] [-1.91427143e-01 9.81492708e-01 -5.26436853e-03 -4.10133993e+01] [-2.89018595e-02 -2.75530551e-04 9.99582216e-01 -1.09889218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.77, Y:-41.02, Z:-10.99 [[ 9.80895317e-01 1.92317927e-01 2.92949041e-02 2.55769601e+02] [-1.92241647e-01 9.81332624e-01 -5.42500189e-03 -4.10173869e+01] [-2.97913702e-02 -3.10341653e-04 9.99556090e-01 -1.09889264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.80, Y:-41.02, Z:-10.99 [[ 9.80740388e-01 1.93099546e-01 2.93403775e-02 2.55798283e+02] [-1.93023422e-01 9.81179113e-01 -5.43195053e-03 -4.10208447e+01] [-2.98370728e-02 -3.36046807e-04 9.99554719e-01 -1.09893348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75264 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:255.83, Y:-41.02, Z:-10.99 [[ 9.80511983e-01 1.94464310e-01 2.79263908e-02 2.55826811e+02] [-1.94395932e-01 9.80909528e-01 -5.16909775e-03 -4.10201539e+01] [-2.83984679e-02 -3.60414477e-04 9.99596617e-01 -1.09949114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78264 meters Centerline goodness [0,1] 0.9998291912204287 Centerline is valid? [True, True] Translation: X:255.85, Y:-41.02, Z:-11.00 [[ 9.80419920e-01 1.95036611e-01 2.71569479e-02 2.55854648e+02] [-1.94972216e-01 9.80795893e-01 -5.02496720e-03 -4.10202829e+01] [-2.76154756e-02 -3.68272382e-04 9.99618552e-01 -1.09995798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.88, Y:-41.02, Z:-11.00 [[ 9.80219869e-01 1.95883506e-01 2.82605807e-02 2.55883105e+02] [-1.95814182e-01 9.80627087e-01 -5.22705734e-03 -4.10237633e+01] [-2.87369852e-02 -4.10157020e-04 9.99586923e-01 -1.10021613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84264 meters Centerline goodness [0,1] 0.9999784635927035 Centerline is valid? [True, True] Translation: X:255.91, Y:-41.03, Z:-11.00 [[ 9.80038337e-01 1.96759257e-01 2.84719533e-02 2.55911035e+02] [-1.96689299e-01 9.80451733e-01 -5.26487102e-03 -4.10299031e+01] [-2.89512880e-02 -4.40353080e-04 9.99580727e-01 -1.10001878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.94, Y:-41.03, Z:-11.00 [[ 9.79964986e-01 1.97111745e-01 2.85584578e-02 2.55938837e+02] [-1.97041546e-01 9.80380923e-01 -5.27967810e-03 -4.10331769e+01] [-2.90388538e-02 -4.53302989e-04 9.99578181e-01 -1.10012622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90264 meters Centerline goodness [0,1] 0.9999572256560515 Centerline is valid? [True, True] Translation: X:255.97, Y:-41.04, Z:-11.00 [[ 9.79933282e-01 1.97232202e-01 2.88135735e-02 2.55965429e+02] [-1.97160809e-01 9.80356693e-01 -5.32636089e-03 -4.10350879e+01] [-2.92981096e-02 -4.61429147e-04 9.99570612e-01 -1.10024089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:255.99, Y:-41.04, Z:-11.00 [[ 9.79914128e-01 1.97266922e-01 2.92243556e-02 2.55994417e+02] [-1.97193655e-01 9.80349701e-01 -5.39683920e-03 -4.10391768e+01] [-2.97147061e-02 -4.74418519e-04 9.99558308e-01 -1.10021481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.02, Y:-41.04, Z:-11.00 [[ 9.79936558e-01 1.97116900e-01 2.94833739e-02 2.56023046e+02] [-1.97042305e-01 9.80379876e-01 -5.44319713e-03 -4.10444295e+01] [-2.99778526e-02 -4.75484072e-04 9.99550450e-01 -1.10031764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99264 meters Centerline goodness [0,1] 0.9999787175176112 Centerline is valid? [True, True] Translation: X:256.05, Y:-41.05, Z:-11.00 [[ 9.80153425e-01 1.95995054e-01 2.97523388e-02 2.56049677e+02] [-1.95918614e-01 9.80604783e-01 -5.49156542e-03 -4.10510830e+01] [-3.02516054e-02 -4.46460323e-04 9.99542216e-01 -1.10048516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.08, Y:-41.06, Z:-11.01 [[ 9.80285707e-01 1.95302635e-01 2.99468383e-02 2.56078595e+02] [-1.95224939e-01 9.80742931e-01 -5.52516115e-03 -4.10560541e+01] [-3.04492285e-02 -4.30133174e-04 9.99536222e-01 -1.10058873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.11, Y:-41.06, Z:-11.01 [[ 9.80419491e-01 1.94531275e-01 3.05811092e-02 2.56105819e+02] [-1.94449886e-01 9.80896228e-01 -5.64191371e-03 -4.10605059e+01] [-3.10944233e-02 -4.15051012e-04 9.99516365e-01 -1.10065152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.13, Y:-41.07, Z:-11.01 [[ 9.80797124e-01 1.92509900e-01 3.12560389e-02 2.56133745e+02] [-1.92423963e-01 9.81294965e-01 -5.76290321e-03 -4.10690875e+01] [-3.17808095e-02 -3.62171981e-04 9.99494797e-01 -1.10052924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.16, Y:-41.08, Z:-11.00 [[ 9.81035699e-01 1.91365847e-01 3.07907622e-02 2.56162436e+02] [-1.91257927e-01 9.81518685e-01 -6.44023433e-03 -4.10781640e+01] [-3.14541493e-02 4.29122423e-04 9.99505104e-01 -1.10017618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264000000003 meters Centerline goodness [0,1] 0.9997855917667239 Centerline is valid? [True, True] Translation: X:256.19, Y:-41.08, Z:-11.01 [[ 9.81344006e-01 1.89904555e-01 3.00033673e-02 2.56191064e+02] [-1.89655708e-01 9.81789496e-01 -1.09589405e-02 -4.10792695e+01] [-3.15381436e-02 5.06418072e-03 9.99489720e-01 -1.10067285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.21, Y:-41.10, Z:-11.01 [[ 9.81587000e-01 1.87929380e-01 3.41980816e-02 2.56212020e+02] [-1.88120502e-01 9.82142947e-01 2.43066722e-03 -4.10961510e+01] [-3.31306109e-02 -8.81927163e-03 9.99412119e-01 -1.10112678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264000000003 meters Centerline goodness [0,1] 0.9999567005845421 Centerline is valid? [True, True] Translation: X:256.24, Y:-41.10, Z:-11.01 [[ 9.81782131e-01 1.87262414e-01 3.21968381e-02 2.56240089e+02] [-1.87168165e-01 9.82309906e-01 -5.94357123e-03 -4.10986491e+01] [-3.27402805e-02 -1.90931071e-04 9.99463875e-01 -1.10093827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.27, Y:-41.11, Z:-11.01 [[ 9.81909195e-01 1.86462612e-01 3.29549162e-02 2.56268578e+02] [-1.86363527e-01 9.82462043e-01 -6.08035682e-03 -4.11055119e+01] [-3.35107135e-02 -1.71236143e-04 9.99438344e-01 -1.10109419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.30, Y:-41.11, Z:-11.01 [[ 9.82005830e-01 1.85948807e-01 3.29786565e-02 2.56295337e+02] [-1.85849306e-01 9.82559422e-01 -6.08424468e-03 -4.11103678e+01] [-3.35348477e-02 -1.54296669e-04 9.99437537e-01 -1.10137980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.32, Y:-41.12, Z:-11.01 [[ 9.82012205e-01 1.85872673e-01 3.32171414e-02 2.56323491e+02] [-1.85771802e-01 9.82573827e-01 -6.12474624e-03 -4.11157286e+01] [-3.37767167e-02 -1.56232675e-04 9.99429392e-01 -1.10132352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.36, Y:-41.12, Z:-11.01 [[ 9.81836250e-01 1.87402922e-01 2.96263793e-02 2.56356730e+02] [-1.87134979e-01 9.82265757e-01 -1.15966702e-02 -4.11192198e+01] [-3.12742277e-02 5.84189934e-03 9.99493769e-01 -1.10123391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.38, Y:-41.13, Z:-11.02 [[ 9.81703198e-01 1.88024522e-01 3.00933518e-02 2.56382619e+02] [-1.87959924e-01 9.82164039e-01 -4.98665811e-03 -4.11279746e+01] [-3.04942220e-02 -7.60925925e-04 9.99534653e-01 -1.10150209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.41, Y:-41.13, Z:-11.02 [[ 9.81326794e-01 1.89661569e-01 3.20345396e-02 2.56407241e+02] [-1.89732315e-01 9.81835493e-01 -8.44562905e-04 -4.11271454e+01] [-3.16128291e-02 -5.24919516e-03 9.99486406e-01 -1.10217980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.44, Y:-41.13, Z:-11.02 [[ 9.81118929e-01 1.90803479e-01 3.16177234e-02 2.56435015e+02] [-1.90714966e-01 9.81628204e-01 -5.81992090e-03 -4.11255997e+01] [-3.21473101e-02 -3.19938487e-04 9.99483090e-01 -1.10240201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.46, Y:-41.13, Z:-11.02 [[ 9.81022044e-01 1.91171563e-01 3.23910747e-02 2.56462888e+02] [-1.91079042e-01 9.81556577e-01 -5.95698373e-03 -4.11315392e+01] [-3.29324784e-02 -3.45323175e-04 9.99457519e-01 -1.10228024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.49, Y:-41.14, Z:-11.02 [[ 9.80977643e-01 1.91304938e-01 3.29436552e-02 2.56491444e+02] [-1.91209362e-01 9.81530587e-01 -6.05696187e-03 -4.11376525e+01] [-3.34939320e-02 -3.57391116e-04 9.99438857e-01 -1.10224472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters Centerline goodness [0,1] 0.9998491866853388 Centerline is valid? [True, True] Translation: X:256.52, Y:-41.14, Z:-11.02 [[ 9.81029083e-01 1.91098072e-01 3.26108151e-02 2.56520047e+02] [-1.91004357e-01 9.81570887e-01 -5.99415825e-03 -4.11413684e+01] [-3.31552988e-02 -3.48364221e-04 9.99450151e-01 -1.10240198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53264 meters Centerline goodness [0,1] 0.9999571082373631 Centerline is valid? [True, True] Translation: X:256.55, Y:-41.15, Z:-11.03 [[ 9.81070392e-01 1.90849971e-01 3.28203450e-02 2.56546836e+02] [-1.90754958e-01 9.81619158e-01 -6.03121238e-03 -4.11463986e+01] [-3.33681361e-02 -3.43599635e-04 9.99443070e-01 -1.10270304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.57, Y:-41.15, Z:-11.03 [[ 9.81181431e-01 1.90310536e-01 3.26327947e-02 2.56573706e+02] [-1.90216368e-01 9.81723889e-01 -5.99492403e-03 -4.11532177e+01] [-3.31772914e-02 -3.25183553e-04 9.99449429e-01 -1.10291094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59264 meters Centerline goodness [0,1] 0.9998705250210397 Centerline is valid? [True, True] Translation: X:256.60, Y:-41.16, Z:-11.03 [[ 9.81328087e-01 1.89573024e-01 3.25154384e-02 2.56601884e+02] [-1.89479218e-01 9.81866578e-01 -5.97061350e-03 -4.11597075e+01] [-3.30576895e-02 -3.01869139e-04 9.99453400e-01 -1.10303480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters Centerline goodness [0,1] 0.9999141907111445 Centerline is valid? [True, True] Translation: X:256.63, Y:-41.17, Z:-11.03 [[ 9.81444204e-01 1.88818792e-01 3.33876874e-02 2.56630548e+02] [-1.88719506e-01 9.82011905e-01 -6.12910904e-03 -4.11660588e+01] [-3.39443974e-02 -2.85529314e-04 9.99423682e-01 -1.10286961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.66, Y:-41.17, Z:-11.03 [[ 9.81488827e-01 1.88535917e-01 3.36732770e-02 2.56658233e+02] [-1.88434810e-01 9.82066255e-01 -6.18001546e-03 -4.11714118e+01] [-3.42345440e-02 -2.79601431e-04 9.99413787e-01 -1.10311730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.69, Y:-41.18, Z:-11.04 [[ 9.81554916e-01 1.88286883e-01 3.31360407e-02 2.56685648e+02] [-1.88188903e-01 9.82114035e-01 -6.07940646e-03 -4.11754758e+01] [-3.36880432e-02 -2.68563850e-04 9.99432361e-01 -1.10369507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71264 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:256.71, Y:-41.18, Z:-11.04 [[ 9.81322201e-01 1.89901774e-01 3.07254697e-02 2.56714710e+02] [-1.89818397e-01 9.81803048e-01 -5.63484690e-03 -4.11796137e+01] [-3.12364272e-02 -3.02659051e-04 9.99511978e-01 -1.10385208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters Centerline goodness [0,1] 0.9998280716081752 Centerline is valid? [True, True] Translation: X:256.74, Y:-41.18, Z:-11.04 [[ 9.81335655e-01 1.89832238e-01 3.07254514e-02 2.56741746e+02] [-1.89748824e-01 9.81816496e-01 -5.63494682e-03 -4.11844309e+01] [-3.12364496e-02 -3.00344030e-04 9.99511978e-01 -1.10398652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.77, Y:-41.19, Z:-11.04 [[ 9.80608096e-01 1.93482781e-01 3.11797348e-02 2.56770159e+02] [-1.93419629e-01 9.81103086e-01 -5.05775600e-03 -4.11918835e+01] [-3.15691227e-02 -1.07109626e-03 9.99500997e-01 -1.10365115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters Centerline goodness [0,1] 0.999978605964657 Centerline is valid? [True, True] Translation: X:256.80, Y:-41.19, Z:-11.04 [[ 9.80635580e-01 1.93201676e-01 3.20464109e-02 2.56798523e+02] [-1.93090579e-01 9.81159036e-01 -6.55543843e-03 -4.11904851e+01] [-3.27091473e-02 2.40636122e-04 9.99464884e-01 -1.10399596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.83, Y:-41.19, Z:-11.04 [[ 9.79751046e-01 1.97494801e-01 3.29194739e-02 2.56827698e+02] [-1.97403563e-01 9.80303757e-01 -6.03131290e-03 -4.11893469e+01] [-3.34622369e-02 -5.89236309e-04 9.99439809e-01 -1.10376971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters Centerline goodness [0,1] 0.999957216505872 Centerline is valid? [True, True] Translation: X:256.86, Y:-41.19, Z:-11.04 [[ 9.79326271e-01 1.99562178e-01 3.30906681e-02 2.56856022e+02] [-1.99471226e-01 9.79884940e-01 -6.06093391e-03 -4.11868172e+01] [-3.36345805e-02 -6.65004335e-04 9.99433976e-01 -1.10416844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89264000000003 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:256.88, Y:-41.19, Z:-11.04 [[ 9.78975256e-01 2.01244907e-01 3.32856762e-02 2.56884464e+02] [-2.01153984e-01 9.79540685e-01 -6.09273357e-03 -4.11898312e+01] [-3.38308057e-02 -7.30910983e-04 9.99427307e-01 -1.10424103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:256.91, Y:-41.20, Z:-11.04 [[ 9.78238648e-01 2.04526046e-01 3.49033432e-02 2.56913431e+02] [-2.04524260e-01 9.78854654e-01 -3.65969817e-03 -4.11995704e+01] [-3.49138035e-02 -3.55852225e-03 9.99383992e-01 -1.10421749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95264000000003 meters Centerline goodness [0,1] 0.9999144092095691 Centerline is valid? [True, True] Translation: X:256.94, Y:-41.19, Z:-11.04 [[ 9.78487121e-01 2.03482282e-01 3.40281633e-02 2.56941781e+02] [-2.03291241e-01 9.79076770e-01 -9.01941442e-03 -4.11918392e+01] [-3.51514752e-02 1.90775331e-03 9.99380175e-01 -1.10437274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters Centerline goodness [0,1] 0.9999785835135888 Centerline is valid? [True, True] Translation: X:256.97, Y:-41.21, Z:-11.04 [[ 9.77922499e-01 2.05910916e-01 3.56129257e-02 2.56967255e+02] [-2.05902258e-01 9.78564589e-01 -3.95025839e-03 -4.12052220e+01] [-3.56629493e-02 -3.46973526e-03 9.99357851e-01 -1.10415990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01264000000003 meters Centerline goodness [0,1] 0.9998496628151712 Centerline is valid? [True, True] Translation: X:257.00, Y:-41.20, Z:-11.04 [[ 9.78597558e-01 2.02976196e-01 3.38745371e-02 2.56998552e+02] [-2.02799407e-01 9.79182433e-01 -8.61180865e-03 -4.12023772e+01] [-3.49173438e-02 1.55775887e-03 9.99388990e-01 -1.10445725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04264 meters Centerline goodness [0,1] 0.9999785876407863 Centerline is valid? [True, True] Translation: X:257.03, Y:-41.20, Z:-11.05 [[ 9.78870196e-01 2.01590113e-01 3.42719414e-02 2.57026372e+02] [-2.01494499e-01 9.79469661e-01 -6.25700125e-03 -4.12045385e+01] [-3.48296764e-02 -7.80815610e-04 9.99392958e-01 -1.10488709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07264 meters Centerline goodness [0,1] 0.9999786301955337 Centerline is valid? [True, True] Translation: X:257.05, Y:-41.22, Z:-11.05 [[ 9.78416280e-01 2.03258124e-01 3.72520796e-02 2.57051232e+02] [-2.03417477e-01 9.79091968e-01 4.98597557e-04 -4.12193012e+01] [-3.63718679e-02 -8.06556000e-03 9.99305776e-01 -1.10494735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10264 meters Centerline goodness [0,1] 0.9999571358151697 Centerline is valid? [True, True] Translation: X:257.08, Y:-41.21, Z:-11.05 [[ 9.79278603e-01 1.99689373e-01 3.37279137e-02 2.57083311e+02] [-1.99344813e-01 9.79838859e-01 -1.33212586e-02 -4.12123842e+01] [-3.57080343e-02 6.32173887e-03 9.99342270e-01 -1.10503502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13264 meters Centerline goodness [0,1] 0.9997648366683769 Centerline is valid? [True, True] Translation: X:257.11, Y:-41.22, Z:-11.05 [[ 9.79867886e-01 1.96740324e-01 3.39436413e-02 2.57109923e+02] [-1.96643871e-01 9.80455442e-01 -6.18986721e-03 -4.12236372e+01] [-3.44980243e-02 -6.09556928e-04 9.99404580e-01 -1.10546355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.14, Y:-41.23, Z:-11.06 [[ 9.80132090e-01 1.95405804e-01 3.40243773e-02 2.57137837e+02] [-1.95308145e-01 9.80722311e-01 -6.20295315e-03 -4.12311529e+01] [-3.45805590e-02 -5.65524560e-04 9.99401754e-01 -1.10550484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.17, Y:-41.24, Z:-11.06 [[ 9.80383364e-01 1.94181440e-01 3.37939170e-02 2.57165858e+02] [-1.94084430e-01 9.80965492e-01 -6.15926584e-03 -4.12353294e+01] [-3.43466815e-02 -5.20431357e-04 9.99409843e-01 -1.10574727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.19, Y:-41.24, Z:-11.06 [[ 9.80720856e-01 1.92512790e-01 3.35474004e-02 2.57194606e+02] [-1.92416277e-01 9.81294356e-01 -6.11251129e-03 -4.12405058e+01] [-3.40966113e-02 -4.60398566e-04 9.99418435e-01 -1.10594580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.22, Y:-41.24, Z:-11.06 [[ 9.80899201e-01 1.91723356e-01 3.28468096e-02 2.57221099e+02] [-1.91630405e-01 9.81448916e-01 -5.98442187e-03 -4.12436698e+01] [-3.33848191e-02 -4.24332797e-04 9.99442481e-01 -1.10638293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.25, Y:-41.25, Z:-11.07 [[ 9.81059548e-01 1.91014105e-01 3.21834693e-02 2.57248940e+02] [-1.90924599e-01 9.81587212e-01 -5.86021929e-03 -4.12489663e+01] [-3.27102665e-02 -3.95391890e-04 9.99464798e-01 -1.10655875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.28, Y:-41.26, Z:-11.07 [[ 9.81476169e-01 1.88804019e-01 3.25203384e-02 2.57276985e+02] [-1.88711468e-01 9.82014733e-01 -5.91997361e-03 -4.12568984e+01] [-3.30531662e-02 -3.26647785e-04 9.99453541e-01 -1.10650075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.30, Y:-41.26, Z:-11.07 [[ 9.81756762e-01 1.87313460e-01 3.26699739e-02 2.57304233e+02] [-1.87219265e-01 9.82300153e-01 -5.94615353e-03 -4.12628270e+01] [-3.32055149e-02 -2.78772069e-04 9.99448506e-01 -1.10673953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37264 meters Centerline goodness [0,1] 0.9999140967270853 Centerline is valid? [True, True] Translation: X:257.33, Y:-41.28, Z:-11.07 [[ 9.81258199e-01 1.88921712e-01 3.79596269e-02 2.57326755e+02] [-1.89153079e-01 9.81944258e-01 2.56638938e-03 -4.12761086e+01] [-3.67893910e-02 -9.69847093e-03 9.99275978e-01 -1.10676873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40264 meters Centerline goodness [0,1] 0.9998291036486371 Centerline is valid? [True, True] Translation: X:257.36, Y:-41.27, Z:-11.07 [[ 9.82248286e-01 1.84771119e-01 3.23718827e-02 2.57359979e+02] [-1.84367672e-01 9.82741967e-01 -1.50594565e-02 -4.12690115e+01] [-3.45957603e-02 8.82379665e-03 9.99362434e-01 -1.10653707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.39, Y:-41.28, Z:-11.06 [[ 9.82482963e-01 1.83026392e-01 3.50509395e-02 2.57387166e+02] [-1.82915626e-01 9.83107988e-01 -6.36849239e-03 -4.12824936e+01] [-3.56244608e-02 -1.54429264e-04 9.99365236e-01 -1.10649455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.41, Y:-41.29, Z:-11.07 [[ 9.82670143e-01 1.82108785e-01 3.45800654e-02 2.57413889e+02] [-1.82000462e-01 9.83278382e-01 -6.28141100e-03 -4.12891045e+01] [-3.51457309e-02 -1.21032821e-04 9.99382191e-01 -1.10675174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.44, Y:-41.29, Z:-11.07 [[ 9.82824769e-01 1.81393406e-01 3.39397253e-02 2.57440621e+02] [-1.81288703e-01 9.83410608e-01 -6.16303017e-03 -4.12947090e+01] [-3.44946189e-02 -9.57100688e-05 9.99404879e-01 -1.10699702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.47, Y:-41.30, Z:-11.07 [[ 9.82920588e-01 1.81002147e-01 3.32466708e-02 2.57468455e+02] [-1.80901527e-01 9.83482697e-01 -6.03502820e-03 -4.13002270e+01] [-3.37898785e-02 -8.24200321e-05 9.99428956e-01 -1.10725684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.50, Y:-41.31, Z:-11.07 [[ 9.82936415e-01 1.81058816e-01 3.24608973e-02 2.57496917e+02] [-1.80962979e-01 9.83472266e-01 -5.89086270e-03 -4.13061540e+01] [-3.29909849e-02 -8.38772167e-05 9.99455646e-01 -1.10748060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58264 meters Centerline goodness [0,1] 0.9998295841854125 Centerline is valid? [True, True] Translation: X:257.52, Y:-41.31, Z:-11.08 [[ 9.82879046e-01 1.81523866e-01 3.15890394e-02 2.57523966e+02] [-1.81433390e-01 9.83386535e-01 -5.73135996e-03 -4.13108522e+01] [-3.21046146e-02 -9.80728952e-05 9.99484509e-01 -1.10784680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.55, Y:-41.32, Z:-11.08 [[ 9.82798369e-01 1.81860845e-01 3.21558679e-02 2.57552698e+02] [-1.81767345e-01 9.83324270e-01 -5.83199430e-03 -4.13160944e+01] [-3.26802568e-02 -1.13212253e-04 9.99465851e-01 -1.10788746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.58, Y:-41.32, Z:-11.08 [[ 9.82452757e-01 1.83794216e-01 3.17217162e-02 2.57580825e+02] [-1.83704273e-01 9.82964727e-01 -5.75194926e-03 -4.13187386e+01] [-3.22385032e-02 -1.76396430e-04 9.99480189e-01 -1.10809478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.61, Y:-41.32, Z:-11.08 [[ 9.82216840e-01 1.85095997e-01 3.14571412e-02 2.57608986e+02] [-1.85008282e-01 9.82720420e-01 -5.70190482e-03 -4.13225599e+01] [-3.19689747e-02 -2.19324717e-04 9.99488838e-01 -1.10828487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.64, Y:-41.33, Z:-11.08 [[ 9.81939941e-01 1.86554782e-01 3.14843718e-02 2.57636311e+02] [-1.86467706e-01 9.82444523e-01 -5.70552557e-03 -4.13253030e+01] [-3.19960417e-02 -2.68335151e-04 9.99487960e-01 -1.10841734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.67, Y:-41.33, Z:-11.08 [[ 9.81442519e-01 1.89148465e-01 3.15188988e-02 2.57665727e+02] [-1.89062601e-01 9.81948437e-01 -5.70971993e-03 -4.13264687e+01] [-3.20299182e-02 -3.55283081e-04 9.99486847e-01 -1.10833870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.69, Y:-41.33, Z:-11.08 [[ 9.81216941e-01 1.90305612e-01 3.15767099e-02 2.57694637e+02] [-1.90220081e-01 9.81724818e-01 -5.71865340e-03 -4.13294086e+01] [-3.20879316e-02 -3.95284734e-04 9.99484972e-01 -1.10839287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79264 meters Centerline goodness [0,1] 0.9999568640138036 Centerline is valid? [True, True] Translation: X:257.72, Y:-41.33, Z:-11.08 [[ 9.81033148e-01 1.91301566e-01 3.12677868e-02 2.57723124e+02] [-1.91218252e-01 9.81531217e-01 -5.66125524e-03 -4.13345596e+01] [-3.17733158e-02 -4.25092487e-04 9.99495010e-01 -1.10829664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:257.75, Y:-41.34, Z:-11.09 [[ 9.80784277e-01 1.92584399e-01 3.12001867e-02 2.57750781e+02] [-1.92502137e-01 9.81280302e-01 -5.64765630e-03 -4.13372542e+01] [-3.17037791e-02 -4.66970106e-04 9.99497200e-01 -1.10859549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85264 meters Centerline goodness [0,1] 0.999957422349009 Centerline is valid? [True, True] Translation: X:257.78, Y:-41.34, Z:-11.09 [[ 9.80031265e-01 1.96310138e-01 3.16393692e-02 2.57781211e+02] [-1.96227569e-01 9.80541673e-01 -5.72448373e-03 -4.13354535e+01] [-3.21474942e-02 -5.98343466e-04 9.99482957e-01 -1.10863121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters Centerline goodness [0,1] 0.9999787066413985 Centerline is valid? [True, True] Translation: X:257.81, Y:-41.34, Z:-11.09 [[ 9.79645129e-01 1.98167279e-01 3.20179649e-02 2.57810328e+02] [-1.98083724e-01 9.80167988e-01 -5.79259204e-03 -4.13366715e+01] [-3.25308864e-02 -6.67553163e-04 9.99470508e-01 -1.10861213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91264 meters Centerline goodness [0,1] 0.9999358946963546 Centerline is valid? [True, True] Translation: X:257.84, Y:-41.34, Z:-11.09 [[ 9.79335902e-01 1.99675463e-01 3.21076398e-02 2.57838882e+02] [-1.99592296e-01 9.79861822e-01 -5.80740542e-03 -4.13370839e+01] [-3.26206468e-02 -7.21036921e-04 9.99467545e-01 -1.10880222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters Centerline goodness [0,1] 0.9999148084254468 Centerline is valid? [True, True] Translation: X:257.87, Y:-41.34, Z:-11.09 [[ 9.79038195e-01 2.00973467e-01 3.30738263e-02 2.57867708e+02] [-2.00886031e-01 9.79596367e-01 -5.97999919e-03 -4.13357385e+01] [-3.36008213e-02 -7.89422078e-04 9.99435021e-01 -1.10894376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97264 meters Centerline goodness [0,1] 0.9997434581836839 Centerline is valid? [True, True] Translation: X:257.90, Y:-41.34, Z:-11.09 [[ 9.79107068e-01 2.00858792e-01 3.17032196e-02 2.57895395e+02] [-2.00778391e-01 9.79619916e-01 -5.73226107e-03 -4.13425815e+01] [-3.22084803e-02 -7.52824075e-04 9.99480889e-01 -1.10896119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters Centerline goodness [0,1] 0.9998500492695257 Centerline is valid? [True, True] Translation: X:257.92, Y:-41.35, Z:-11.09 [[ 9.79247340e-01 2.00198018e-01 3.15499768e-02 2.57922588e+02] [-2.00118268e-01 9.79755181e-01 -5.69772384e-03 -4.13458781e+01] [-3.20519262e-02 -7.34245802e-04 9.99485935e-01 -1.10941582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03264 meters Centerline goodness [0,1] 0.9999356333676622 Centerline is valid? [True, True] Translation: X:257.95, Y:-41.35, Z:-11.10 [[ 9.79623474e-01 1.98481880e-01 3.07049247e-02 2.57949818e+02] [-1.98405547e-01 9.80104334e-01 -5.54372115e-03 -4.13543330e+01] [-3.11943580e-02 -6.61268011e-04 9.99513119e-01 -1.10964006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters Centerline goodness [0,1] 0.9999785020208101 Centerline is valid? [True, True] Translation: X:257.98, Y:-41.37, Z:-11.10 [[ 9.80529658e-01 1.93847841e-01 3.13783960e-02 2.57977655e+02] [-1.93766002e-01 9.81031463e-01 -5.65739018e-03 -4.13672463e+01] [-3.18798666e-02 -5.32827474e-04 9.99491566e-01 -1.10963565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09264 meters Centerline goodness [0,1] 0.9999786916684423 Centerline is valid? [True, True] Translation: X:258.00, Y:-41.37, Z:-11.10 [[ 9.81071036e-01 1.91204841e-01 3.06648255e-02 2.58004654e+02] [-1.91125393e-01 9.81550059e-01 -5.52865143e-03 -4.13739680e+01] [-3.11561662e-02 -4.36827045e-04 9.99514433e-01 -1.10990788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters Centerline goodness [0,1] 0.9999578920773944 Centerline is valid? [True, True] Translation: X:258.03, Y:-41.38, Z:-11.10 [[ 9.81586833e-01 1.88624762e-01 3.01328649e-02 2.58032589e+02] [-1.88546893e-01 9.82049172e-01 -5.43074673e-03 -4.13825485e+01] [-3.06163283e-02 -3.50708547e-04 9.99531149e-01 -1.11018271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.06, Y:-41.40, Z:-11.10 [[ 9.82548577e-01 1.83808197e-01 2.85103664e-02 2.58058849e+02] [-1.83736496e-01 9.82962110e-01 -5.13710051e-03 -4.13967844e+01] [-2.89688511e-02 -1.90944018e-04 9.99580297e-01 -1.11044431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.09, Y:-41.41, Z:-11.10 [[ 9.82869293e-01 1.82098099e-01 2.84294857e-02 2.58086697e+02] [-1.82026127e-01 9.83280358e-01 -5.12118216e-03 -4.14056114e+01] [-2.88867124e-02 -1.41456492e-04 9.99582682e-01 -1.11041662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.11, Y:-41.41, Z:-11.11 [[ 9.83046931e-01 1.81098392e-01 2.86723672e-02 2.58113296e+02] [-1.81024797e-01 9.83464976e-01 -5.16370443e-03 -4.14114565e+01] [-2.91334075e-02 -1.14245648e-04 9.99575526e-01 -1.11082443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.14, Y:-41.42, Z:-11.11 [[ 9.83176514e-01 1.80420345e-01 2.85033498e-02 2.58140422e+02] [-1.80347373e-01 9.83589594e-01 -5.13175226e-03 -4.14182958e+01] [-2.89614708e-02 -9.50859551e-05 9.99580524e-01 -1.11065670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.17, Y:-41.43, Z:-11.11 [[ 9.83047179e-01 1.80065408e-01 3.45643178e-02 2.58169733e+02] [-1.80160925e-01 9.83637085e-01 -3.56561851e-04 -4.14263249e+01] [-3.40629492e-02 -5.87662233e-03 9.99402412e-01 -1.11105149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.20, Y:-41.42, Z:-11.11 [[ 9.82975389e-01 1.81632660e-01 2.77301606e-02 2.58199988e+02] [-1.81387969e-01 9.83348751e-01 -1.11193190e-02 -4.14220818e+01] [-2.92880503e-02 5.90009946e-03 9.99553600e-01 -1.11068003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.23, Y:-41.43, Z:-11.11 [[ 9.82831314e-01 1.82183658e-01 2.91842969e-02 2.58227238e+02] [-1.82108088e-01 9.83264507e-01 -5.24918342e-03 -4.14269378e+01] [-2.96521988e-02 -1.55634668e-04 9.99560265e-01 -1.11131240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.26, Y:-41.44, Z:-11.11 [[ 9.82472643e-01 1.83038964e-01 3.52738297e-02 2.58256306e+02] [-1.83235351e-01 9.83066169e-01 2.39006543e-03 -4.14377844e+01] [-3.42390335e-02 -8.81158648e-03 9.99374827e-01 -1.11082466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.29, Y:-41.43, Z:-11.11 [[ 9.82401199e-01 1.84628304e-01 2.82891269e-02 2.58285923e+02] [-1.84299604e-01 9.82772675e-01 -1.38392498e-02 -4.14312894e+01] [-3.03568981e-02 8.38202075e-03 9.99503977e-01 -1.11109085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.32, Y:-41.44, Z:-11.11 [[ 9.82384436e-01 1.83845216e-01 3.34926418e-02 2.58315267e+02] [-1.83752305e-01 9.82955124e-01 -5.85777527e-03 -4.14429809e+01] [-3.39986879e-02 -3.99762899e-04 9.99421798e-01 -1.11138441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.34, Y:-41.45, Z:-11.12 [[ 9.82367697e-01 1.84477399e-01 3.03611175e-02 2.58341683e+02] [-1.84390017e-01 9.82836756e-01 -5.67737720e-03 -4.14452734e+01] [-3.08873700e-02 -2.10150151e-05 9.99522871e-01 -1.11171792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters Centerline goodness [0,1] 0.9999357051007287 Centerline is valid? [True, True] Translation: X:258.37, Y:-41.45, Z:-11.12 [[ 9.82305227e-01 1.85144496e-01 2.82481395e-02 2.58369701e+02] [-1.85075249e-01 9.82711277e-01 -5.06935809e-03 -4.14497270e+01] [-2.86983290e-02 -2.48374503e-04 9.99588087e-01 -1.11171519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.40, Y:-41.46, Z:-11.12 [[ 9.82271385e-01 1.85343667e-01 2.81185306e-02 2.58397460e+02] [-1.85275190e-01 9.82673730e-01 -5.04418082e-03 -4.14557821e+01] [-2.85662483e-02 -2.54911626e-04 9.99591869e-01 -1.11186229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54264 meters Centerline goodness [0,1] 0.9999787129872065 Centerline is valid? [True, True] Translation: X:258.42, Y:-41.46, Z:-11.13 [[ 9.82244696e-01 1.85472363e-01 2.82021375e-02 2.58424229e+02] [-1.85403551e-01 9.82649447e-01 -5.05849999e-03 -4.14595834e+01] [-2.86510268e-02 -2.60091655e-04 9.99589441e-01 -1.11250717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.45, Y:-41.47, Z:-11.13 [[ 9.82151166e-01 1.85043619e-01 3.37334613e-02 2.58453792e+02] [-1.85103863e-01 9.82718028e-01 -1.35550276e-03 -4.14688477e+01] [-3.34013077e-02 -4.91288537e-03 9.99429946e-01 -1.11279670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.48, Y:-41.47, Z:-11.13 [[ 9.82150810e-01 1.85186547e-01 3.29503960e-02 2.58481358e+02] [-1.85086466e-01 9.82703378e-01 -6.08863743e-03 -4.14705582e+01] [-3.35079991e-02 -1.18712143e-04 9.99438442e-01 -1.11289555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63264 meters Centerline goodness [0,1] 0.9999785665294925 Centerline is valid? [True, True] Translation: X:258.51, Y:-41.47, Z:-11.13 [[ 9.82053185e-01 1.86526779e-01 2.79159833e-02 2.58509681e+02] [-1.86322460e-01 9.82440043e-01 -9.77258500e-03 -4.14740910e+01] [-2.92486286e-02 4.39582354e-03 9.99562502e-01 -1.11251174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.54, Y:-41.48, Z:-11.13 [[ 9.82006234e-01 1.86667232e-01 2.86199517e-02 2.58537250e+02] [-1.86597099e-01 9.82423152e-01 -5.12566509e-03 -4.14822122e+01] [-2.90736969e-02 -3.06964890e-04 9.99577224e-01 -1.11273288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.57, Y:-41.49, Z:-11.13 [[ 9.81847143e-01 1.87458115e-01 2.89074906e-02 2.58565062e+02] [-1.87386944e-01 9.82272540e-01 -5.17593847e-03 -4.14867298e+01] [-2.93653059e-02 -3.34905921e-04 9.99568690e-01 -1.11290036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72264 meters Centerline goodness [0,1] 0.9999568723853883 Centerline is valid? [True, True] Translation: X:258.59, Y:-41.49, Z:-11.13 [[ 9.81539428e-01 1.88891216e-01 3.00076640e-02 2.58593909e+02] [-1.88815258e-01 9.81997939e-01 -5.37076171e-03 -4.14911717e+01] [-3.04819540e-02 -3.94290462e-04 9.99535240e-01 -1.11261062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75264 meters Centerline goodness [0,1] 0.99995699202202 Centerline is valid? [True, True] Translation: X:258.62, Y:-41.49, Z:-11.13 [[ 9.81309000e-01 1.90078204e-01 3.00486839e-02 2.58621812e+02] [-1.90002635e-01 9.81768857e-01 -5.37679541e-03 -4.14929690e+01] [-3.05228737e-02 -4.33031384e-04 9.99533975e-01 -1.11291940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78264 meters Centerline goodness [0,1] 0.999978428284833 Centerline is valid? [True, True] Translation: X:258.65, Y:-41.50, Z:-11.13 [[ 9.81105499e-01 1.91235943e-01 2.93396389e-02 2.58649984e+02] [-1.91164477e-01 9.81543989e-01 -5.24788427e-03 -4.14975811e+01] [-2.98017303e-02 -4.59968601e-04 9.99555724e-01 -1.11301783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81264 meters Centerline goodness [0,1] 0.999957034522761 Centerline is valid? [True, True] Translation: X:258.68, Y:-41.50, Z:-11.13 [[ 9.80902844e-01 1.92374375e-01 2.86654980e-02 2.58677499e+02] [-1.92306675e-01 9.81321489e-01 -5.12615119e-03 -4.15000821e+01] [-2.91162094e-02 -4.84310351e-04 9.99575916e-01 -1.11331545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84264 meters Centerline goodness [0,1] 0.9999575911789652 Centerline is valid? [True, True] Translation: X:258.71, Y:-41.50, Z:-11.14 [[ 9.80329238e-01 1.95240248e-01 2.89107255e-02 2.58706449e+02] [-1.95172684e-01 9.80755277e-01 -5.16814742e-03 -4.14952093e+01] [-2.93633770e-02 -5.76097860e-04 9.99568637e-01 -1.11388607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87264 meters Centerline goodness [0,1] 0.9998938879456706 Centerline is valid? [True, True] Translation: X:258.74, Y:-41.50, Z:-11.14 [[ 9.80164782e-01 1.96107369e-01 2.86164099e-02 2.58735192e+02] [-1.96041534e-01 9.80582248e-01 -5.11587687e-03 -4.15003136e+01] [-2.90640047e-02 -5.95602540e-04 9.99577375e-01 -1.11382460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90264 meters Centerline goodness [0,1] 0.9999785977227977 Centerline is valid? [True, True] Translation: X:258.76, Y:-41.50, Z:-11.14 [[ 9.80045574e-01 1.96728190e-01 2.84375042e-02 2.58764122e+02] [-1.96663571e-01 9.80457873e-01 -5.07919202e-03 -4.15045177e+01] [-2.88809951e-02 -6.14781478e-04 9.99582668e-01 -1.11386069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93264 meters Centerline goodness [0,1] 0.9999785209528105 Centerline is valid? [True, True] Translation: X:258.79, Y:-41.51, Z:-11.14 [[ 9.79899624e-01 1.97452014e-01 2.84504712e-02 2.58792205e+02] [-1.97387848e-01 9.80312342e-01 -5.07437432e-03 -4.15084913e+01] [-2.88922935e-02 -6.43399796e-04 9.99582323e-01 -1.11384146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96264 meters Centerline goodness [0,1] 0.9999785564180641 Centerline is valid? [True, True] Translation: X:258.82, Y:-41.51, Z:-11.14 [[ 9.79886279e-01 1.97495723e-01 2.86062668e-02 2.58818844e+02] [-1.97430882e-01 9.80303534e-01 -5.10180003e-03 -4.15121743e+01] [-2.90504081e-02 -6.48576615e-04 9.99577737e-01 -1.11404986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99264 meters Centerline goodness [0,1] 0.9998281233215168 Centerline is valid? [True, True] Translation: X:258.85, Y:-41.52, Z:-11.14 [[ 9.79996125e-01 1.97095054e-01 2.75886789e-02 2.58847178e+02] [-1.97034663e-01 9.80384190e-01 -4.91753640e-03 -4.15173204e+01] [-2.80167267e-02 -6.16759441e-04 9.99607264e-01 -1.11409274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02264 meters Centerline goodness [0,1] 0.999872670939264 Centerline is valid? [True, True] Translation: X:258.88, Y:-41.52, Z:-11.14 [[ 9.80021937e-01 1.96623496e-01 2.99366764e-02 2.58875651e+02] [-1.96552425e-01 9.80478843e-01 -5.32758075e-03 -4.15182760e+01] [-3.03998054e-02 -6.62980339e-04 9.99537599e-01 -1.11440853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05264 meters Centerline goodness [0,1] 0.999956796923941 Centerline is valid? [True, True] Translation: X:258.90, Y:-41.53, Z:-11.14 [[ 9.80301699e-01 1.95205633e-01 3.00556254e-02 2.58903186e+02] [-1.95133377e-01 9.80762139e-01 -5.34720054e-03 -4.15267145e+01] [-3.05212231e-02 -6.22985905e-04 9.99533925e-01 -1.11417835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:258.93, Y:-41.53, Z:-11.14 [[ 9.80541371e-01 1.94173180e-01 2.89032051e-02 2.58931025e+02] [-1.94105951e-01 9.80967100e-01 -5.14081753e-03 -4.15332238e+01] [-2.93513022e-02 -5.69499829e-04 9.99568995e-01 -1.11433108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11264 meters Centerline goodness [0,1] 0.99997850340721 Centerline is valid? [True, True] Translation: X:258.96, Y:-41.54, Z:-11.15 [[ 9.80809365e-01 1.92883398e-01 2.84426369e-02 2.58959011e+02] [-1.92817794e-01 9.81221545e-01 -5.05745215e-03 -4.15367054e+01] [-2.88840267e-02 -5.23850081e-04 9.99582632e-01 -1.11473139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264000000003 meters Centerline goodness [0,1] 0.9999785935994863 Centerline is valid? [True, True] Translation: X:258.99, Y:-41.54, Z:-11.15 [[ 9.81127424e-01 1.91289497e-01 2.82366150e-02 2.58987374e+02] [-1.91224223e-01 9.81533546e-01 -5.01935325e-03 -4.15418754e+01] [-2.86753344e-02 -4.74899633e-04 9.99588665e-01 -1.11492464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17264 meters Centerline goodness [0,1] 0.9999784133837021 Centerline is valid? [True, True] Translation: X:259.01, Y:-41.55, Z:-11.15 [[ 9.81992238e-01 1.86900717e-01 2.75566023e-02 2.59014540e+02] [-1.86836858e-01 9.82378749e-01 -4.89713237e-03 -4.15504983e+01] [-2.79862980e-02 -3.39643027e-04 9.99608249e-01 -1.11515689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264000000003 meters Centerline goodness [0,1] 0.9998924777428928 Centerline is valid? [True, True] Translation: X:259.04, Y:-41.56, Z:-11.15 [[ 9.82518754e-01 1.84242089e-01 2.66786637e-02 2.59041363e+02] [-1.84181281e-01 9.82880861e-01 -4.74011191e-03 -4.15568028e+01] [-2.70952760e-02 -2.56461606e-04 9.99632823e-01 -1.11547531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.07, Y:-41.57, Z:-11.15 [[ 9.83300013e-01 1.79698065e-01 2.88043288e-02 2.59068998e+02] [-1.79625295e-01 9.83721803e-01 -5.11550822e-03 -4.15669782e+01] [-2.92546932e-02 -1.43906771e-04 9.99571980e-01 -1.11530472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.10, Y:-41.58, Z:-11.15 [[ 9.83721539e-01 1.77430772e-01 2.84649609e-02 2.59096284e+02] [-1.77358783e-01 9.84133281e-01 -5.05440494e-03 -4.15750641e+01] [-2.89101223e-02 -7.63838048e-05 9.99582012e-01 -1.11534136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.12, Y:-41.58, Z:-11.15 [[ 9.84151259e-01 1.75082528e-01 2.81497544e-02 2.59124105e+02] [-1.75011237e-01 9.84553761e-01 -4.99584814e-03 -4.15832955e+01] [-2.85896323e-02 -9.85311884e-06 9.99591233e-01 -1.11545471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.15, Y:-41.59, Z:-11.16 [[ 9.84521206e-01 1.72973537e-01 2.82515636e-02 2.59150799e+02] [-1.72900888e-01 9.84926471e-01 -5.01296911e-03 -4.15906135e+01] [-2.86928239e-02 5.06539374e-05 9.99588275e-01 -1.11560289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.18, Y:-41.60, Z:-11.16 [[ 9.85033468e-01 1.69726684e-01 3.00319928e-02 2.59177606e+02] [-1.69643162e-01 9.85491162e-01 -5.32614372e-03 -4.15978670e+01] [-3.05002522e-02 1.51707597e-04 9.99534748e-01 -1.11556716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.21, Y:-41.60, Z:-11.15 [[ 9.85192628e-01 1.68687235e-01 3.06610990e-02 2.59206063e+02] [-1.68599742e-01 9.85669611e-01 -5.43551379e-03 -4.16034712e+01] [-3.11386153e-02 1.85574739e-04 9.99515059e-01 -1.11543011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.23, Y:-41.61, Z:-11.16 [[ 9.85342057e-01 1.67760645e-01 3.09418397e-02 2.59233378e+02] [-1.67671124e-01 9.85827733e-01 -5.48403363e-03 -4.16092475e+01] [-3.14233287e-02 2.15595932e-04 9.99506142e-01 -1.11552757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters Centerline goodness [0,1] 0.9998284734133791 Centerline is valid? [True, True] Translation: X:259.26, Y:-41.61, Z:-11.16 [[ 9.85428749e-01 1.67254484e-01 3.09211656e-02 2.59260498e+02] [-1.67164907e-01 9.85913731e-01 -5.47803341e-03 -4.16139291e+01] [-3.14018274e-02 2.29277841e-04 9.99506815e-01 -1.11573283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.29, Y:-41.62, Z:-11.16 [[ 9.85370931e-01 1.67496567e-01 3.14488088e-02 2.59289371e+02] [-1.67404109e-01 9.85872634e-01 -5.56903835e-03 -4.16186595e+01] [-3.19373148e-02 2.22908700e-04 9.99489849e-01 -1.11588187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.32, Y:-41.62, Z:-11.16 [[ 9.85307638e-01 1.68043781e-01 3.04983128e-02 2.59316347e+02] [-1.67957110e-01 9.85779513e-01 -5.40008588e-03 -4.16229329e+01] [-3.09720628e-02 1.98337372e-04 9.99520231e-01 -1.11621926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.34, Y:-41.63, Z:-11.16 [[ 9.85164899e-01 1.68933012e-01 3.01953502e-02 2.59344591e+02] [-1.68848519e-01 9.85627521e-01 -5.34491260e-03 -4.16264918e+01] [-3.06643004e-02 1.67180104e-04 9.99529726e-01 -1.11634110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.37, Y:-41.63, Z:-11.16 [[ 9.84794529e-01 1.71085080e-01 3.01600831e-02 2.59373479e+02] [-1.71001874e-01 9.85256254e-01 -5.33600297e-03 -4.16300917e+01] [-3.06283210e-02 9.74357911e-05 9.99530838e-01 -1.11636622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.40, Y:-41.63, Z:-11.17 [[ 9.84594826e-01 1.72237331e-01 3.01219368e-02 2.59400877e+02] [-1.72154908e-01 9.85055480e-01 -5.32817880e-03 -4.16328618e+01] [-3.05894902e-02 6.04580147e-05 9.99532030e-01 -1.11650068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.43, Y:-41.63, Z:-11.17 [[ 9.84343387e-01 1.73621943e-01 3.03894178e-02 2.59428345e+02] [-1.73538789e-01 9.84812378e-01 -5.37291582e-03 -4.16342871e+01] [-3.08607309e-02 1.50514159e-05 9.99523694e-01 -1.11667274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.46, Y:-41.63, Z:-11.17 [[ 9.83805984e-01 1.76686489e-01 3.01275784e-02 2.59457659e+02] [-1.76606262e-01 9.84267178e-01 -5.32450986e-03 -4.16345036e+01] [-3.05943555e-02 -8.24343459e-05 9.99531880e-01 -1.11684830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.49, Y:-41.64, Z:-11.17 [[ 9.83585787e-01 1.77955189e-01 2.98487762e-02 2.59485239e+02] [-1.77877047e-01 9.84038585e-01 -5.27450240e-03 -4.16382604e+01] [-3.03109726e-02 -1.21486571e-04 9.99540510e-01 -1.11718914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71264 meters Centerline goodness [0,1] 0.9998067300878304 Centerline is valid? [True, True] Translation: X:259.51, Y:-41.64, Z:-11.18 [[ 9.83335754e-01 1.79612469e-01 2.81097218e-02 2.59512500e+02] [-1.79543920e-01 9.83737431e-01 -4.96456825e-03 -4.16401156e+01] [-2.85442839e-02 -1.65092178e-04 9.99592515e-01 -1.11758259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.54, Y:-41.64, Z:-11.18 [[ 9.82982388e-01 1.81457880e-01 2.86122736e-02 2.59541129e+02] [-1.81387716e-01 9.83398692e-01 -5.05068689e-03 -4.16424160e+01] [-2.90537593e-02 -2.25178699e-04 9.99577825e-01 -1.11759415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.57, Y:-41.64, Z:-11.18 [[ 9.82262010e-01 1.85297544e-01 2.87430619e-02 2.59571226e+02] [-1.85228420e-01 9.82682402e-01 -5.07234047e-03 -4.16398684e+01] [-2.91851933e-02 -3.41664600e-04 9.99573963e-01 -1.11774153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.60, Y:-41.64, Z:-11.18 [[ 9.81876621e-01 1.87258087e-01 2.92011859e-02 2.59600570e+02] [-1.87187653e-01 9.82310665e-01 -5.15170565e-03 -4.16418989e+01] [-2.96493349e-02 -4.07762116e-04 9.99560279e-01 -1.11783354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.63, Y:-41.64, Z:-11.18 [[ 9.81473686e-01 1.89285868e-01 2.96692522e-02 2.59629074e+02] [-1.89214105e-01 9.81921907e-01 -5.23357496e-03 -4.16431226e+01] [-3.01235305e-02 -4.77224886e-04 9.99546070e-01 -1.11793922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters Centerline goodness [0,1] 0.9999786470789204 Centerline is valid? [True, True] Translation: X:259.66, Y:-41.64, Z:-11.18 [[ 9.80874689e-01 1.92330383e-01 2.98976367e-02 2.59657848e+02] [-1.92259025e-01 9.81330061e-01 -5.27050709e-03 -4.16394646e+01] [-3.03531283e-02 -5.78383483e-04 9.99539070e-01 -1.11805092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.69, Y:-41.64, Z:-11.18 [[ 9.80733342e-01 1.93075750e-01 2.97299074e-02 2.59686890e+02] [-1.93005524e-01 9.81183672e-01 -5.24119153e-03 -4.16416153e+01] [-3.01824467e-02 -5.97825072e-04 9.99544227e-01 -1.11815706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters Centerline goodness [0,1] 0.999891894229314 Centerline is valid? [True, True] Translation: X:259.71, Y:-41.64, Z:-11.18 [[ 9.80635815e-01 1.93548553e-01 2.98723383e-02 2.59714636e+02] [-1.93478075e-01 9.81090501e-01 -5.25963292e-03 -4.16439557e+01] [-3.03254617e-02 -6.21858099e-04 9.99539884e-01 -1.11835183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95264000000003 meters Centerline goodness [0,1] 0.9999785398514958 Centerline is valid? [True, True] Translation: X:259.74, Y:-41.65, Z:-11.18 [[ 9.80697573e-01 1.93024755e-01 3.12043883e-02 2.59743055e+02] [-1.92947641e-01 9.81193682e-01 -5.49240485e-03 -4.16461242e+01] [-3.16777188e-02 -6.34425002e-04 9.99497934e-01 -1.11831252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters Centerline goodness [0,1] 0.9999571734475374 Centerline is valid? [True, True] Translation: X:259.77, Y:-41.65, Z:-11.18 [[ 9.80915094e-01 1.91956441e-01 3.09564620e-02 2.59772017e+02] [-1.91880179e-01 9.81403263e-01 -5.44358217e-03 -4.16498266e+01] [-3.14257035e-02 -6.00239543e-04 9.99505910e-01 -1.11847140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01264000000003 meters Centerline goodness [0,1] 0.9999786269983757 Centerline is valid? [True, True] Translation: X:259.80, Y:-41.65, Z:-11.19 [[ 9.81231514e-01 1.90409165e-01 3.04805769e-02 2.59800542e+02] [-1.90334638e-01 9.81704666e-01 -5.35493093e-03 -4.16547590e+01] [-3.09425524e-02 -5.47082564e-04 9.99521015e-01 -1.11865711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04264 meters Centerline goodness [0,1] 0.9999136684436579 Centerline is valid? [True, True] Translation: X:259.83, Y:-41.66, Z:-11.19 [[ 9.82081932e-01 1.86153836e-01 2.93569023e-02 2.59828259e+02] [-1.86082941e-01 9.82520528e-01 -5.15284544e-03 -4.16619909e+01] [-2.98029810e-02 -4.02302299e-04 9.99555712e-01 -1.11895934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07264 meters Centerline goodness [0,1] 0.999892264598147 Centerline is valid? [True, True] Translation: X:259.86, Y:-41.67, Z:-11.19 [[ 9.82574221e-01 1.83502327e-01 2.95769673e-02 2.59856490e+02] [-1.83429320e-01 9.83019220e-01 -5.18622415e-03 -4.16698148e+01] [-3.00264115e-02 -3.29432865e-04 9.99549051e-01 -1.11908128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.88, Y:-41.68, Z:-11.19 [[ 9.83007635e-01 1.80959649e-01 3.08155012e-02 2.59884883e+02] [-1.80879305e-01 9.83490485e-01 -5.39843191e-03 -4.16790370e+01] [-3.12836506e-02 -2.67186661e-04 9.99510511e-01 -1.11876798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.91, Y:-41.69, Z:-11.19 [[ 9.83891029e-01 1.75926627e-01 3.17531882e-02 2.59911834e+02] [-1.75838928e-01 9.84403275e-01 -5.55549262e-03 -4.16875105e+01] [-3.22353016e-02 -1.17447217e-04 9.99480301e-01 -1.11894729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.94, Y:-41.69, Z:-11.19 [[ 9.84300330e-01 1.73533567e-01 3.22329372e-02 2.59940395e+02] [-1.73441996e-01 9.84827954e-01 -5.63690324e-03 -4.16946822e+01] [-3.27220895e-02 -4.21392358e-05 9.99464488e-01 -1.11896928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.97, Y:-41.70, Z:-11.19 [[ 9.84076171e-01 1.76031439e-01 2.46378215e-02 2.59965626e+02] [-1.75730588e-01 9.84340126e-01 -1.39024171e-02 -4.16985529e+01] [-2.66992588e-02 9.35141853e-03 9.99599770e-01 -1.11920684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:259.99, Y:-41.71, Z:-11.19 [[ 9.85158549e-01 1.68224225e-01 3.41063457e-02 2.59994741e+02] [-1.68450931e-01 9.85702461e-01 3.86563998e-03 -4.17139112e+01] [-3.29684146e-02 -9.55351396e-03 9.99410733e-01 -1.11945354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.02, Y:-41.71, Z:-11.19 [[ 9.85610750e-01 1.65883464e-01 3.24673023e-02 2.60023787e+02] [-1.65786767e-01 9.86145342e-01 -5.66680205e-03 -4.17146386e+01] [-3.29575077e-02 2.02611932e-04 9.99456733e-01 -1.11910778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.05, Y:-41.73, Z:-11.19 [[ 9.86641138e-01 1.59537871e-01 3.29686479e-02 2.60049399e+02] [-1.59434663e-01 9.87191720e-01 -5.75297600e-03 -4.17268042e+01] [-3.34641938e-02 4.19777527e-04 9.99439829e-01 -1.11931246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.08, Y:-41.74, Z:-11.19 [[ 9.87133895e-01 1.56327634e-01 3.35908329e-02 2.60077148e+02] [-1.56218735e-01 9.87705110e-01 -5.85857700e-03 -4.17351171e+01] [-3.40936948e-02 5.35682496e-04 9.99418497e-01 -1.11929643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34264 meters Centerline goodness [0,1] 0.999978233424753 Centerline is valid? [True, True] Translation: X:260.10, Y:-41.74, Z:-11.19 [[ 9.87571045e-01 1.53356786e-01 3.44256765e-02 2.60104987e+02] [-1.53240662e-01 9.88170669e-01 -6.00241075e-03 -4.17430238e+01] [-3.49389542e-02 6.52393581e-04 9.99389235e-01 -1.11922579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.13, Y:-41.75, Z:-11.19 [[ 9.88303246e-01 1.48483340e-01 3.47763194e-02 2.60132915e+02] [-1.48361895e-01 9.88914560e-01 -6.06143824e-03 -4.17546843e+01] [-3.52908312e-02 8.31058446e-04 9.99376739e-01 -1.11934210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40264 meters Centerline goodness [0,1] 0.9998925124148161 Centerline is valid? [True, True] Translation: X:260.16, Y:-41.76, Z:-11.20 [[ 9.88440776e-01 1.47536968e-01 3.48952046e-02 2.60162760e+02] [-1.47459866e-01 9.89056455e-01 -4.78709834e-03 -4.17618845e+01] [-3.52196014e-02 -4.13878996e-04 9.99379512e-01 -1.11966521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43264 meters Centerline goodness [0,1] 0.9999359754145591 Centerline is valid? [True, True] Translation: X:260.19, Y:-41.77, Z:-11.20 [[ 9.88770527e-01 1.45743318e-01 3.30413278e-02 2.60189969e+02] [-1.45584748e-01 9.89319816e-01 -7.16814090e-03 -4.17706928e+01] [-3.37331490e-02 2.27733309e-03 9.99428281e-01 -1.11999518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46264 meters Centerline goodness [0,1] 0.9999569725915408 Centerline is valid? [True, True] Translation: X:260.22, Y:-41.78, Z:-11.20 [[ 9.88816318e-01 1.45331821e-01 3.34806146e-02 2.60217811e+02] [-1.45217479e-01 9.89382554e-01 -5.83489462e-03 -4.17763065e+01] [-3.39731318e-02 9.07668583e-04 9.99422334e-01 -1.12010446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49264 meters Centerline goodness [0,1] 0.9999566996471021 Centerline is valid? [True, True] Translation: X:260.25, Y:-41.78, Z:-11.20 [[ 9.88501660e-01 1.47382279e-01 3.38072896e-02 2.60247483e+02] [-1.47292390e-01 9.89079598e-01 -5.14780587e-03 -4.17808280e+01] [-3.41967958e-02 1.09058154e-04 9.99415113e-01 -1.12032042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52264 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:260.28, Y:-41.78, Z:-11.20 [[ 9.88453680e-01 1.48009520e-01 3.24423281e-02 2.60276907e+02] [-1.47757318e-01 9.88972570e-01 -1.00514051e-02 -4.17834403e+01] [-3.35722763e-02 5.14175698e-03 9.99423066e-01 -1.12034693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55264 meters Centerline goodness [0,1] 0.9999784812033311 Centerline is valid? [True, True] Translation: X:260.30, Y:-41.79, Z:-11.21 [[ 9.88467680e-01 1.47762937e-01 3.31324709e-02 2.60304367e+02] [-1.47642113e-01 9.89022178e-01 -6.07758637e-03 -4.17906650e+01] [-3.36667905e-02 1.11574970e-03 9.99432490e-01 -1.12052910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.33, Y:-41.80, Z:-11.21 [[ 9.88516903e-01 1.47040505e-01 3.48342129e-02 2.60330906e+02] [-1.47036110e-01 9.89127435e-01 -2.70186638e-03 -4.17993372e+01] [-3.48527594e-02 -2.45104657e-03 9.99389452e-01 -1.12057334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61264 meters Centerline goodness [0,1] 0.9999571495907786 Centerline is valid? [True, True] Translation: X:260.36, Y:-41.80, Z:-11.21 [[ 9.88183974e-01 1.49285937e-01 3.47295573e-02 2.60361209e+02] [-1.49088438e-01 9.88789673e-01 -8.22318218e-03 -4.18017922e+01] [-3.55678330e-02 2.94824140e-03 9.99362916e-01 -1.12057367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.39, Y:-41.81, Z:-11.21 [[ 9.88162650e-01 1.49190242e-01 3.57330243e-02 2.60388194e+02] [-1.49139467e-01 9.88807682e-01 -4.09721026e-03 -4.18091072e+01] [-3.59443527e-02 -1.28049407e-03 9.99352973e-01 -1.12071095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.42, Y:-41.81, Z:-11.21 [[ 9.87992135e-01 1.50346594e-01 3.56011525e-02 2.60416228e+02] [-1.50220767e-01 9.88633046e-01 -6.19851605e-03 -4.18134318e+01] [-3.61284016e-02 7.76052672e-04 9.99346855e-01 -1.12088080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.44, Y:-41.82, Z:-11.21 [[ 9.87878863e-01 1.51150510e-01 3.53394278e-02 2.60444464e+02] [-1.51027088e-01 9.88510483e-01 -6.15166132e-03 -4.18198200e+01] [-3.58632216e-02 7.39885339e-04 9.99356434e-01 -1.12110335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73264 meters Centerline goodness [0,1] 0.9999352988116549 Centerline is valid? [True, True] Translation: X:260.47, Y:-41.82, Z:-11.21 [[ 9.87723940e-01 1.52262616e-01 3.48928964e-02 2.60473649e+02] [-1.52143037e-01 9.88339831e-01 -6.07253092e-03 -4.18244982e+01] [-3.54106588e-02 6.89272925e-04 9.99372608e-01 -1.12115700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264000000003 meters Centerline goodness [0,1] 0.9999570566637322 Centerline is valid? [True, True] Translation: X:260.50, Y:-41.83, Z:-11.22 [[ 9.87642890e-01 1.52668318e-01 3.54105539e-02 2.60501203e+02] [-1.52545450e-01 9.88277247e-01 -6.16188720e-03 -4.18342939e+01] [-3.59361697e-02 6.84025178e-04 9.99353853e-01 -1.12154502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.53, Y:-41.84, Z:-11.22 [[ 9.87556764e-01 1.53213482e-01 3.54579502e-02 2.60530357e+02] [-1.53090689e-01 9.88192890e-01 -6.16867647e-03 -4.18399235e+01] [-3.59844187e-02 6.63636162e-04 9.99352131e-01 -1.12154601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.56, Y:-41.85, Z:-11.22 [[ 9.86926665e-01 1.56971360e-01 3.65479056e-02 2.60557573e+02] [-1.56918667e-01 9.87602064e-01 -4.32370461e-03 -4.18495361e+01] [-3.67734848e-02 -1.46786926e-03 9.99322549e-01 -1.12189587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.59, Y:-41.85, Z:-11.22 [[ 9.86680139e-01 1.58434712e-01 3.68882889e-02 2.60585970e+02] [-1.58358363e-01 9.87369039e-01 -5.00097969e-03 -4.18529566e+01] [-3.72146831e-02 -9.07201711e-04 9.99306882e-01 -1.12193885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters Centerline goodness [0,1] 0.9999785024829633 Centerline is valid? [True, True] Translation: X:260.62, Y:-41.86, Z:-11.22 [[ 9.86869532e-01 1.57804910e-01 3.44403449e-02 2.60615148e+02] [-1.57566648e-01 9.87462243e-01 -9.54307212e-03 -4.18579480e+01] [-3.55144838e-02 3.99111743e-03 9.99361192e-01 -1.12232020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.64, Y:-41.86, Z:-11.22 [[ 9.86641581e-01 1.59020453e-01 3.53678582e-02 2.60643386e+02] [-1.58901870e-01 9.87275184e-01 -6.15685474e-03 -4.18647462e+01] [-3.58968745e-02 4.54590088e-04 9.99355396e-01 -1.12239405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.67, Y:-41.87, Z:-11.23 [[ 9.85786265e-01 1.63883747e-01 3.69804961e-02 2.60670734e+02] [-1.63841965e-01 9.86477751e-01 -4.17817396e-03 -4.18708374e+01] [-3.71651714e-02 -1.94017065e-03 9.99307253e-01 -1.12259042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97264 meters Centerline goodness [0,1] 0.9998714735556841 Centerline is valid? [True, True] Translation: X:260.70, Y:-41.87, Z:-11.23 [[ 9.85985628e-01 1.63400069e-01 3.36564806e-02 2.60700107e+02] [-1.63220769e-01 9.86556921e-01 -8.02628390e-03 -4.18723382e+01] [-3.45155292e-02 2.42036392e-03 9.99401231e-01 -1.12277933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.73, Y:-41.88, Z:-11.23 [[ 9.85268701e-01 1.66629145e-01 3.84748564e-02 2.60725315e+02] [-1.66832173e-01 9.85983059e-01 2.10539806e-03 -4.18832792e+01] [-3.75847360e-02 -8.49322673e-03 9.99257351e-01 -1.12261924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03264 meters Centerline goodness [0,1] 0.9998259734609528 Centerline is valid? [True, True] Translation: X:260.76, Y:-41.88, Z:-11.23 [[ 9.85294226e-01 1.67817709e-01 3.21326278e-02 2.60757237e+02] [-1.67440009e-01 9.85781086e-01 -1.41242470e-02 -4.18801206e+01] [-3.40460355e-02 8.53625154e-03 9.99383810e-01 -1.12305724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.78, Y:-41.90, Z:-11.23 [[ 9.84508677e-01 1.70966801e-01 3.88975311e-02 2.60781004e+02] [-1.71174582e-01 9.85238579e-01 2.05085768e-03 -4.18964957e+01] [-3.79727197e-02 -8.67735579e-03 9.99241100e-01 -1.12342523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.81, Y:-41.90, Z:-11.24 [[ 9.84283602e-01 1.72562117e-01 3.75247410e-02 2.60809098e+02] [-1.72480128e-01 9.84997999e-01 -5.43583885e-03 -4.18971599e+01] [-3.78998147e-02 -1.12186509e-03 9.99280914e-01 -1.12358050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.84, Y:-41.90, Z:-11.24 [[ 9.84501640e-01 1.72410941e-01 3.21090161e-02 2.60840256e+02] [-1.71998986e-01 9.84979869e-01 -1.51989099e-02 -4.18966086e+01] [-3.42471928e-02 9.44063352e-03 9.99368803e-01 -1.12361852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.87, Y:-41.91, Z:-11.24 [[ 9.84360542e-01 1.72886571e-01 3.38312964e-02 2.60866516e+02] [-1.72786359e-01 9.84941740e-01 -5.88586673e-03 -4.19069661e+01] [-3.43394432e-02 -5.17715557e-05 9.99410226e-01 -1.12393796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.90, Y:-41.91, Z:-11.24 [[ 9.84202759e-01 1.73736072e-01 3.40691404e-02 2.60895238e+02] [-1.73635043e-01 9.84792247e-01 -5.92465918e-03 -4.19120003e+01] [-3.45803523e-02 -8.45307438e-05 9.99401917e-01 -1.12404903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.92, Y:-41.92, Z:-11.24 [[ 9.84127429e-01 1.74142779e-01 3.41686564e-02 2.60922308e+02] [-1.74041456e-01 9.84720408e-01 -5.94047045e-03 -4.19172741e+01] [-3.46810633e-02 -1.00582799e-04 9.99398426e-01 -1.12429413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.95, Y:-41.92, Z:-11.24 [[ 9.83993367e-01 1.74994436e-01 3.36749325e-02 2.60950639e+02] [-1.74896593e-01 9.84569414e-01 -5.85248688e-03 -4.19244682e+01] [-3.41794612e-02 -1.30822683e-04 9.99415703e-01 -1.12440769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:260.98, Y:-41.93, Z:-11.24 [[ 9.83975904e-01 1.75151948e-01 3.33648792e-02 2.60978760e+02] [-1.75056043e-01 9.84541404e-01 -5.79701541e-03 -4.19301773e+01] [-3.38644636e-02 -1.36600258e-04 9.99426425e-01 -1.12449989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.01, Y:-41.94, Z:-11.25 [[ 9.83957238e-01 1.75242073e-01 3.34420249e-02 2.61005725e+02] [-1.75145827e-01 9.84525366e-01 -5.80892647e-03 -4.19350235e+01] [-3.39424901e-02 -1.41495859e-04 9.99423778e-01 -1.12485971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.03, Y:-41.94, Z:-11.25 [[ 9.84005620e-01 1.74943922e-01 3.35792273e-02 2.61034033e+02] [-1.74846789e-01 9.84578390e-01 -5.83046136e-03 -4.19411535e+01] [-3.40813853e-02 -1.34013314e-04 9.99419052e-01 -1.12484244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.06, Y:-41.96, Z:-11.25 [[ 9.83412130e-01 1.76558525e-01 4.15652511e-02 2.61056654e+02] [-1.76955505e-01 9.84200292e-01 6.04440717e-03 -4.19554064e+01] [-3.98413407e-02 -1.32993433e-02 9.99117508e-01 -1.12533395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.09, Y:-41.95, Z:-11.25 [[ 9.84307025e-01 1.73665294e-01 3.13056855e-02 2.61091335e+02] [-1.73126985e-01 9.84712807e-01 -1.91764296e-02 -4.19459088e+01] [-3.41573897e-02 1.34556354e-02 9.99325882e-01 -1.12512725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.12, Y:-41.96, Z:-11.25 [[ 9.84576544e-01 1.71923790e-01 3.24228290e-02 2.61116974e+02] [-1.71669807e-01 9.85098781e-01 -1.04818442e-02 -4.19631507e+01] [-3.37417677e-02 4.75415715e-03 9.99419277e-01 -1.12478819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.14, Y:-41.97, Z:-11.25 [[ 9.84839497e-01 1.70185692e-01 3.35856408e-02 2.61143326e+02] [-1.69958232e-01 9.85405127e-01 -9.53602826e-03 -4.19725461e+01] [-3.47183582e-02 3.68330114e-03 9.99390349e-01 -1.12533411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.17, Y:-41.99, Z:-11.25 [[ 9.85305260e-01 1.66301782e-01 3.89520568e-02 2.61170062e+02] [-1.66726086e-01 9.85971702e-01 7.88760718e-03 -4.19921730e+01] [-3.70939026e-02 -1.42660248e-02 9.99209949e-01 -1.12534465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.20, Y:-41.99, Z:-11.25 [[ 9.85208765e-01 1.67441054e-01 3.64305184e-02 2.61201258e+02] [-1.67144957e-01 9.85870423e-01 -1.10486185e-02 -4.19885417e+01] [-3.77657630e-02 4.79601832e-03 9.99275110e-01 -1.12501757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.23, Y:-42.00, Z:-11.25 [[ 9.85694565e-01 1.64048503e-01 3.86563567e-02 2.61230122e+02] [-1.64103425e-01 9.86441551e-01 -1.76958992e-03 -4.20031801e+01] [-3.84225351e-02 -4.59936539e-03 9.99250997e-01 -1.12542736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.26, Y:-42.01, Z:-11.25 [[ 9.85867536e-01 1.63353434e-01 3.71598864e-02 2.61259485e+02] [-1.63163182e-01 9.86565708e-01 -8.11660200e-03 -4.20096660e+01] [-3.79865445e-02 1.93876909e-03 9.99276370e-01 -1.12524874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.29, Y:-42.02, Z:-11.26 [[ 9.86106090e-01 1.62319548e-01 3.53149246e-02 2.61289874e+02] [-1.61952150e-01 9.86712376e-01 -1.30456248e-02 -4.20171671e+01] [-3.69632331e-02 7.14504207e-03 9.99291083e-01 -1.12572589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.32, Y:-42.04, Z:-11.26 [[ 9.86385856e-01 1.59740839e-01 3.90615863e-02 2.61318667e+02] [-1.60077627e-01 9.87088363e-01 5.63171560e-03 -4.20391943e+01] [-3.76576223e-02 -1.18079307e-02 9.99220935e-01 -1.12636513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.35, Y:-42.04, Z:-11.27 [[ 9.86578707e-01 1.59431532e-01 3.52709791e-02 2.61349889e+02] [-1.59315384e-01 9.87208909e-01 -6.09747309e-03 -4.20432380e+01] [-3.57919543e-02 3.96427547e-04 9.99359184e-01 -1.12679441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.38, Y:-42.05, Z:-11.27 [[ 9.86614559e-01 1.59278233e-01 3.49593616e-02 2.61381233e+02] [-1.59163857e-01 9.87233651e-01 -6.04853141e-03 -4.20495494e+01] [-3.54764576e-02 4.03302314e-04 9.99370431e-01 -1.12667413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72264 meters Centerline goodness [0,1] 0.9998066927273508 Centerline is valid? [True, True] Translation: X:261.41, Y:-42.06, Z:-11.27 [[ 9.86521686e-01 1.60004827e-01 3.42551799e-02 2.61411576e+02] [-1.59895256e-01 9.87116161e-01 -5.93233368e-03 -4.20580875e+01] [-3.47630437e-02 3.75135054e-04 9.99395512e-01 -1.12722663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.44, Y:-42.06, Z:-11.27 [[ 9.86199070e-01 1.61858190e-01 3.48327412e-02 2.61443081e+02] [-1.61745803e-01 9.86813976e-01 -6.03924552e-03 -4.20649705e+01] [-3.53509372e-02 3.21848619e-04 9.99374908e-01 -1.12694157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.47, Y:-42.07, Z:-11.27 [[ 9.85934235e-01 1.63475619e-01 3.47765129e-02 2.61473824e+02] [-1.63364376e-01 9.86547338e-01 -6.03584281e-03 -4.20711916e+01] [-3.52953893e-02 2.69700732e-04 9.99376887e-01 -1.12723831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81264 meters Centerline goodness [0,1] 0.9999144494824194 Centerline is valid? [True, True] Translation: X:261.50, Y:-42.07, Z:-11.27 [[ 9.85649910e-01 1.65284586e-01 3.42820849e-02 2.61504861e+02] [-1.65177310e-01 9.86245893e-01 -5.95772195e-03 -4.20741593e+01] [-3.47952850e-02 2.09605546e-04 9.99394439e-01 -1.12741565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.53, Y:-42.08, Z:-11.28 [[ 9.85253526e-01 1.67554952e-01 3.46529617e-02 2.61534607e+02] [-1.67446737e-01 9.85862729e-01 -6.02240159e-03 -4.20784137e+01] [-3.51721467e-02 1.31067034e-04 9.99381260e-01 -1.12758744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.57, Y:-42.08, Z:-11.28 [[ 9.84301113e-01 1.73092919e-01 3.44986958e-02 2.61565342e+02] [-1.72988947e-01 9.84905497e-01 -5.99887967e-03 -4.20787304e+01] [-3.50163187e-02 -6.31891371e-05 9.99386739e-01 -1.12770503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.59, Y:-42.08, Z:-11.28 [[ 9.83803922e-01 1.75899928e-01 3.44827398e-02 2.61594760e+02] [-1.75797769e-01 9.84408040e-01 -5.99630438e-03 -4.20812294e+01] [-3.49998358e-02 -1.62800935e-04 9.99387305e-01 -1.12791742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.62, Y:-42.08, Z:-11.28 [[ 9.83368426e-01 1.78431831e-01 3.38913035e-02 2.61623014e+02] [-1.78334643e-01 9.83952245e-01 -5.89365854e-03 -4.20826697e+01] [-3.43990405e-02 -2.48355794e-04 9.99408147e-01 -1.12819874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96264 meters Centerline goodness [0,1] 0.9998712418721432 Centerline is valid? [True, True] Translation: X:261.65, Y:-42.08, Z:-11.29 [[ 9.83004279e-01 1.80693779e-01 3.24398862e-02 2.61651932e+02] [-1.80606027e-01 9.83539353e-01 -5.63951708e-03 -4.20837093e+01] [-3.29249303e-02 -3.15169522e-04 9.99457778e-01 -1.12866327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99264 meters Centerline goodness [0,1] 0.9999572521694524 Centerline is valid? [True, True] Translation: X:261.68, Y:-42.08, Z:-11.29 [[ 9.82193896e-01 1.84884160e-01 3.33616170e-02 2.61680643e+02] [-1.84793800e-01 9.82760208e-01 -5.79866722e-03 -4.20846954e+01] [-3.38585514e-02 -4.69604438e-04 9.99426525e-01 -1.12873323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02264 meters Centerline goodness [0,1] 0.9999787865931269 Centerline is valid? [True, True] Translation: X:261.71, Y:-42.09, Z:-11.29 [[ 9.81859605e-01 1.86592880e-01 3.36870034e-02 2.61708238e+02] [-1.86501803e-01 9.82437179e-01 -5.85375202e-03 -4.20867542e+01] [-3.41876330e-02 -5.35124245e-04 9.99415289e-01 -1.12888610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:261.73, Y:-42.09, Z:-11.29 [[ 9.81157387e-01 1.89807788e-01 3.60996685e-02 2.61733988e+02] [-1.89771699e-01 9.81818137e-01 -4.45501596e-03 -4.20928956e+01] [-3.62889060e-02 -2.47962362e-03 9.99338264e-01 -1.12892656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08264 meters Centerline goodness [0,1] 0.9999572503419972 Centerline is valid? [True, True] Translation: X:261.77, Y:-42.09, Z:-11.29 [[ 9.80995507e-01 1.90907024e-01 3.46745463e-02 2.61765878e+02] [-1.90756253e-01 9.81607732e-01 -7.63625393e-03 -4.20922537e+01] [-3.54946173e-02 8.76744249e-04 9.99369483e-01 -1.12878275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11264 meters Centerline goodness [0,1] 0.9999572959815519 Centerline is valid? [True, True] Translation: X:261.79, Y:-42.10, Z:-11.29 [[ 9.80751567e-01 1.92007520e-01 3.54891005e-02 2.61793128e+02] [-1.91910169e-01 9.81393154e-01 -6.16152161e-03 -4.20952316e+01] [-3.60118188e-02 -7.67797314e-04 9.99351069e-01 -1.12883829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264000000003 meters Centerline goodness [0,1] 0.9999568286312518 Centerline is valid? [True, True] Translation: X:261.82, Y:-42.10, Z:-11.29 [[ 9.80526658e-01 1.93097230e-01 3.57901331e-02 2.61821118e+02] [-1.92998995e-01 9.81179287e-01 -6.21240927e-03 -4.20966857e+01] [-3.63161363e-02 -8.16026807e-04 9.99340018e-01 -1.12903783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17264 meters Centerline goodness [0,1] 0.9999363935121383 Centerline is valid? [True, True] Translation: X:261.85, Y:-42.10, Z:-11.29 [[ 9.80194306e-01 1.94868905e-01 3.52878615e-02 2.61849660e+02] [-1.94774638e-01 9.80828910e-01 -6.12291225e-03 -4.20988161e+01] [-3.58045199e-02 -8.71536731e-04 9.99358433e-01 -1.12930619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264000000003 meters Centerline goodness [0,1] 0.9999139914421485 Centerline is valid? [True, True] Translation: X:261.88, Y:-42.10, Z:-11.30 [[ 9.80119649e-01 1.95376472e-01 3.45471802e-02 2.61877761e+02] [-1.95286488e-01 9.80727930e-01 -5.99295108e-03 -4.21021743e+01] [-3.50522661e-02 -8.72788371e-04 9.99385099e-01 -1.12952470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23264 meters Centerline goodness [0,1] 0.9999571771154505 Centerline is valid? [True, True] Translation: X:261.91, Y:-42.11, Z:-11.30 [[ 9.80080764e-01 1.95566400e-01 3.45757034e-02 2.61906220e+02] [-1.95476465e-01 9.80690065e-01 -5.99560849e-03 -4.21056703e+01] [-3.50805884e-02 -8.82555719e-04 9.99384097e-01 -1.12976092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264000000003 meters Centerline goodness [0,1] 0.9998721935841179 Centerline is valid? [True, True] Translation: X:261.93, Y:-42.11, Z:-11.30 [[ 9.80201487e-01 1.95156112e-01 3.34535139e-02 2.61934911e+02] [-1.95071734e-01 9.80771831e-01 -5.79947860e-03 -4.21069412e+01] [-3.39420678e-02 -8.41177434e-04 9.99423448e-01 -1.13015809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29264 meters Centerline goodness [0,1] 0.9999571679444896 Centerline is valid? [True, True] Translation: X:261.96, Y:-42.11, Z:-11.30 [[ 9.80338596e-01 1.94514738e-01 3.31700879e-02 2.61962808e+02] [-1.94431469e-01 9.80899258e-01 -5.74880472e-03 -4.21133396e+01] [-3.36547419e-02 -8.13533781e-04 9.99433188e-01 -1.13018932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters Centerline goodness [0,1] 0.9999349706284005 Centerline is valid? [True, True] Translation: X:261.99, Y:-42.12, Z:-11.30 [[ 9.80567149e-01 1.93400942e-01 3.29263086e-02 2.61990608e+02] [-1.93318313e-01 9.81119504e-01 -5.70514088e-03 -4.21176566e+01] [-3.34080232e-02 -7.70984726e-04 9.99441499e-01 -1.13038943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35264 meters Centerline goodness [0,1] 0.9999574513349644 Centerline is valid? [True, True] Translation: X:262.02, Y:-42.12, Z:-11.31 [[ 9.80964770e-01 1.91205835e-01 3.38887770e-02 2.62017923e+02] [-1.91117071e-01 9.81549699e-01 -5.86969187e-03 -4.21218084e+01] [-3.43858382e-02 -7.18762867e-04 9.99408374e-01 -1.13057143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters Centerline goodness [0,1] 0.9998935173353778 Centerline is valid? [True, True] Translation: X:262.05, Y:-42.12, Z:-11.31 [[ 9.81241019e-01 1.89704702e-01 3.43247439e-02 2.62045306e+02] [-1.89612796e-01 9.81840959e-01 -5.94303153e-03 -4.21245373e+01] [-3.48288604e-02 -6.76864337e-04 9.99393062e-01 -1.13076877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41264 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:262.07, Y:-42.13, Z:-11.31 [[ 9.81522300e-01 1.88232710e-01 3.43863664e-02 2.62073342e+02] [-1.88139649e-01 9.82124255e-01 -5.95147520e-03 -4.21324654e+01] [-3.48919468e-02 -6.27933261e-04 9.99390893e-01 -1.13058060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters Centerline goodness [0,1] 0.999957193613287 Centerline is valid? [True, True] Translation: X:262.10, Y:-42.14, Z:-11.31 [[ 9.81531358e-01 1.88185419e-01 3.43866537e-02 2.62101241e+02] [-1.88092387e-01 9.82133318e-01 -5.94981428e-03 -4.21372015e+01] [-3.48919466e-02 -6.27938485e-04 9.99390893e-01 -1.13072547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47264 meters Centerline goodness [0,1] 0.9999786716717144 Centerline is valid? [True, True] Translation: X:262.13, Y:-42.14, Z:-11.31 [[ 9.81787721e-01 1.86797731e-01 3.46334953e-02 2.62128702e+02] [-1.86702549e-01 9.82398222e-01 -5.99097911e-03 -4.21401839e+01] [-3.51429855e-02 -5.84292131e-04 9.99382124e-01 -1.13087468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.16, Y:-42.15, Z:-11.31 [[ 9.82395979e-01 1.83546770e-01 3.47666937e-02 2.62157148e+02] [-1.83448908e-01 9.83010865e-01 -6.01147546e-03 -4.21468046e+01] [-3.52794245e-02 -4.72262679e-04 9.99377376e-01 -1.13102733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53264 meters Centerline goodness [0,1] 0.9999786957540638 Centerline is valid? [True, True] Translation: X:262.18, Y:-42.15, Z:-11.31 [[ 9.82763548e-01 1.81565017e-01 3.47843828e-02 2.62184767e+02] [-1.81465853e-01 9.83378860e-01 -6.01345073e-03 -4.21536230e+01] [-3.52980590e-02 -4.02377516e-04 9.99376748e-01 -1.13117344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.22, Y:-42.16, Z:-11.31 [[ 9.83156702e-01 1.79620997e-01 3.37519886e-02 2.62216768e+02] [-1.79212220e-01 9.83699197e-01 -1.47942230e-02 -4.21553769e+01] [-3.58591572e-02 8.49627068e-03 9.99320736e-01 -1.13128291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.24, Y:-42.17, Z:-11.31 [[ 9.83977578e-01 1.74403409e-01 3.70348069e-02 2.62239307e+02] [-1.74609185e-01 9.84634962e-01 2.37152391e-03 -4.21741958e+01] [-3.60521638e-02 -8.80014380e-03 9.99311162e-01 -1.13123060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.27, Y:-42.18, Z:-11.31 [[ 9.84366075e-01 1.72506858e-01 3.55642208e-02 2.62269645e+02] [-1.72397463e-01 9.85008313e-01 -6.14311133e-03 -4.21753814e+01] [-3.60907820e-02 -8.41110420e-05 9.99348512e-01 -1.13124517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.30, Y:-42.18, Z:-11.31 [[ 9.84738203e-01 1.70324316e-01 3.57812781e-02 2.62298035e+02] [-1.70212167e-01 9.85388059e-01 -6.17987350e-03 -4.21816713e+01] [-3.63110269e-02 -4.85135397e-06 9.99340537e-01 -1.13146124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.33, Y:-42.19, Z:-11.32 [[ 9.85107773e-01 1.68287226e-01 3.52432330e-02 2.62328171e+02] [-1.68177189e-01 9.85738000e-01 -6.08507879e-03 -4.21888410e+01] [-3.57646351e-02 6.73505571e-05 9.99360239e-01 -1.13161093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.36, Y:-42.20, Z:-11.32 [[ 9.85543508e-01 1.65731929e-01 3.51698987e-02 2.62357140e+02] [-1.65620715e-01 9.86170828e-01 -6.07260655e-03 -4.21959680e+01] [-3.56899529e-02 1.59954187e-04 9.99362898e-01 -1.13201378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.39, Y:-42.20, Z:-11.32 [[ 9.85621017e-01 1.65360743e-01 3.47424124e-02 2.62385820e+02] [-1.65252029e-01 9.86233135e-01 -5.99761258e-03 -4.21997515e+01] [-3.52558879e-02 1.70118878e-04 9.99378303e-01 -1.13224783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.42, Y:-42.20, Z:-11.32 [[ 9.85634262e-01 1.65320600e-01 3.45572159e-02 2.62415180e+02] [-1.65212941e-01 9.86239864e-01 -5.96782125e-03 -4.22022677e+01] [-3.50683077e-02 1.72789823e-04 9.99384903e-01 -1.13235231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.45, Y:-42.20, Z:-11.32 [[ 9.85349347e-01 1.67098825e-01 3.41269201e-02 2.62445268e+02] [-1.66994931e-01 9.85940146e-01 -5.89251870e-03 -4.21996899e+01] [-3.46317335e-02 1.07166787e-04 9.99400136e-01 -1.13236720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.47, Y:-42.20, Z:-11.33 [[ 9.85141954e-01 1.68370317e-01 3.38639441e-02 2.62474864e+02] [-1.68268762e-01 9.85723812e-01 -5.84732406e-03 -4.22003770e+01] [-3.43650119e-02 6.22003017e-05 9.99409347e-01 -1.13252295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.50, Y:-42.20, Z:-11.33 [[ 9.84933760e-01 1.69573765e-01 3.39150005e-02 2.62502477e+02] [-1.69472669e-01 9.85517497e-01 -5.85462951e-03 -4.22008821e+01] [-3.44166179e-02 1.87566040e-05 9.99407573e-01 -1.13278145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.54, Y:-42.19, Z:-11.33 [[ 9.84542355e-01 1.72637917e-01 2.95381173e-02 2.62538721e+02] [-1.71934030e-01 9.84793050e-01 -2.49266329e-02 -4.21893760e+01] [-3.33922146e-02 1.94627183e-02 9.99252802e-01 -1.13272867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.56, Y:-42.21, Z:-11.33 [[ 9.84579194e-01 1.70768328e-01 3.79735319e-02 2.62558051e+02] [-1.71364564e-01 9.85121653e-01 1.30197721e-02 -4.22148043e+01] [-3.51851838e-02 -1.93263145e-02 9.99193923e-01 -1.13298007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.59, Y:-42.20, Z:-11.33 [[ 9.84463255e-01 1.72042188e-01 3.51224393e-02 2.62587908e+02] [-1.71935654e-01 9.85089579e-01 -6.05404949e-03 -4.22045837e+01] [-3.56403009e-02 -7.88103094e-05 9.99364680e-01 -1.13310397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.62, Y:-42.21, Z:-11.33 [[ 9.84543199e-01 1.71622339e-01 3.49351097e-02 2.62616863e+02] [-1.71516758e-01 9.85162813e-01 -6.01940626e-03 -4.22056494e+01] [-3.54498356e-02 -6.55912823e-05 9.99371455e-01 -1.13308156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.64, Y:-42.21, Z:-11.33 [[ 9.84739004e-01 1.70476051e-01 3.50287041e-02 2.62644173e+02] [-1.70369235e-01 9.85361820e-01 -6.03392850e-03 -4.22106070e+01] [-3.55445879e-02 -2.59687818e-05 9.99368091e-01 -1.13340269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.68, Y:-42.21, Z:-11.33 [[ 9.84777572e-01 1.70220543e-01 3.51866504e-02 2.62677644e+02] [-1.69773887e-01 9.85363704e-01 -1.53361954e-02 -4.22116053e+01] [-3.72821837e-02 9.12896691e-03 9.99263079e-01 -1.13335096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.70, Y:-42.23, Z:-11.33 [[ 9.85552113e-01 1.64926745e-01 3.85512838e-02 2.62700815e+02] [-1.65134546e-01 9.86268488e-01 2.24762724e-03 -4.22301816e+01] [-3.76512225e-02 -8.58130251e-03 9.99254095e-01 -1.13332080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.73, Y:-42.23, Z:-11.33 [[ 9.85876171e-01 1.63315945e-01 3.70955287e-02 2.62729014e+02] [-1.63191286e-01 9.86573791e-01 -6.38434228e-03 -4.22324132e+01] [-3.76401412e-02 2.40503896e-04 9.99291330e-01 -1.13343461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.76, Y:-42.24, Z:-11.34 [[ 9.86013968e-01 1.62554553e-01 3.67759837e-02 2.62760500e+02] [-1.62208249e-01 9.86680729e-01 -1.22320606e-02 -4.22369055e+01] [-3.82745315e-02 6.09561470e-03 9.99248670e-01 -1.13365226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16264 meters Centerline goodness [0,1] 0.9998493327593629 Centerline is valid? [True, True] Translation: X:262.78, Y:-42.25, Z:-11.34 [[ 9.86896438e-01 1.57566524e-01 3.47593231e-02 2.62784669e+02] [-1.57652658e-01 9.87494592e-01 -2.65936030e-04 -4.22519435e+01] [-3.43665462e-02 -5.21744835e-03 9.99395677e-01 -1.13412756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19264 meters Centerline goodness [0,1] 0.9999353879950895 Centerline is valid? [True, True] Translation: X:262.81, Y:-42.27, Z:-11.34 [[ 9.86449106e-01 1.55967441e-01 5.09148165e-02 2.62809127e+02] [-1.57394965e-01 9.87210989e-01 2.53236813e-02 -4.22742333e+01] [-4.63139966e-02 -3.29942585e-02 9.98381887e-01 -1.13434390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.85, Y:-42.24, Z:-11.34 [[ 9.86773944e-01 1.59487097e-01 2.90008608e-02 2.62851236e+02] [-1.57954727e-01 9.86224075e-01 -4.91159719e-02 -4.22381806e+01] [-3.64347109e-02 4.38855382e-02 9.98371960e-01 -1.13426225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.88, Y:-42.27, Z:-11.35 [[ 9.86839498e-01 1.57033993e-01 3.85763028e-02 2.62875421e+02] [-1.57135741e-01 9.87576933e-01 -3.99031540e-04 -4.22738768e+01] [-3.81597284e-02 -5.66793587e-03 9.99255578e-01 -1.13482989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.90, Y:-42.28, Z:-11.35 [[ 9.86778363e-01 1.57955489e-01 3.63115220e-02 2.62903542e+02] [-1.58090201e-01 9.87424308e-01 8.50975839e-04 -4.22765173e+01] [-3.57204632e-02 -6.58022035e-03 9.99340157e-01 -1.13484479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31264 meters Centerline goodness [0,1] 0.9999352820623449 Centerline is valid? [True, True] Translation: X:262.94, Y:-42.27, Z:-11.35 [[ 9.86268906e-01 1.60770238e-01 3.77700360e-02 2.62936515e+02] [-1.60611516e-01 9.86991297e-01 -7.21952663e-03 -4.22745983e+01] [-3.84393818e-02 1.05409189e-03 9.99260378e-01 -1.13489198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.96, Y:-42.28, Z:-11.35 [[ 9.85837309e-01 1.63734340e-01 3.62748667e-02 2.62963741e+02] [-1.63634051e-01 9.86504428e-01 -5.73674359e-03 -4.22765352e+01] [-3.67246186e-02 -2.80307517e-04 9.99325384e-01 -1.13490255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:262.98, Y:-42.30, Z:-11.36 [[ 9.84462019e-01 1.65474022e-01 5.87612256e-02 2.62984735e+02] [-1.67424842e-01 9.85429552e-01 2.99586405e-02 -4.23032554e+01] [-5.29476715e-02 -3.93312326e-02 9.97822428e-01 -1.13566835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.03, Y:-42.26, Z:-11.35 [[ 9.85043608e-01 1.69577678e-01 3.05368884e-02 2.63028367e+02] [-1.68168476e-01 9.84776864e-01 -4.39760464e-02 -4.22594140e+01] [-3.75293770e-02 3.81829815e-02 9.98565774e-01 -1.13490993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.05, Y:-42.29, Z:-11.35 [[ 9.84420409e-01 1.70562161e-01 4.27201101e-02 2.63053049e+02] [-1.70793030e-01 9.85305307e-01 1.78701204e-03 -4.22902357e+01] [-4.17875546e-02 -9.05546815e-03 9.99085481e-01 -1.13517948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.08, Y:-42.28, Z:-11.35 [[ 9.84116535e-01 1.74085318e-01 3.47699208e-02 2.63084174e+02] [-1.73648328e-01 9.84689819e-01 -1.52387451e-02 -4.22762061e+01] [-3.68904288e-02 8.95896245e-03 9.99279157e-01 -1.13545793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.11, Y:-42.28, Z:-11.36 [[ 9.83851625e-01 1.75241157e-01 3.64213726e-02 2.63110934e+02] [-1.75128473e-01 9.84525520e-01 -6.28638776e-03 -4.22832859e+01] [-3.69594047e-02 -1.93546554e-04 9.99316749e-01 -1.13595591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.14, Y:-42.29, Z:-11.36 [[ 9.83563302e-01 1.76874496e-01 3.63131183e-02 2.63139588e+02] [-1.76763696e-01 9.84233380e-01 -6.26492957e-03 -4.22865923e+01] [-3.68486894e-02 -2.56886173e-04 9.99320823e-01 -1.13609293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.17, Y:-42.29, Z:-11.36 [[ 9.83322687e-01 1.78213858e-01 3.62810554e-02 2.63168521e+02] [-1.78104228e-01 9.83991731e-01 -6.25766305e-03 -4.22888574e+01] [-3.68154608e-02 -3.08507311e-04 9.99322034e-01 -1.13618811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58264 meters Centerline goodness [0,1] 0.9999786292821576 Centerline is valid? [True, True] Translation: X:263.20, Y:-42.29, Z:-11.36 [[ 9.82889061e-01 1.80578845e-01 3.63369525e-02 2.63198010e+02] [-1.80470555e-01 9.83560431e-01 -6.26556348e-03 -4.22880345e+01] [-3.68710169e-02 -3.99396202e-04 9.99319953e-01 -1.13629547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.23, Y:-42.29, Z:-11.36 [[ 9.82693581e-01 1.81726441e-01 3.59002396e-02 2.63226737e+02] [-1.81621567e-01 9.83349027e-01 -6.18856364e-03 -4.22907421e+01] [-3.64270913e-02 -4.38796009e-04 9.99336217e-01 -1.13637177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264000000003 meters Centerline goodness [0,1] 0.999914465946755 Centerline is valid? [True, True] Translation: X:263.26, Y:-42.29, Z:-11.37 [[ 9.82483824e-01 1.83013328e-01 3.50949701e-02 2.63255097e+02] [-1.82913966e-01 9.83110317e-01 -6.04868200e-03 -4.22906952e+01] [-3.56092166e-02 -4.76627942e-04 9.99365677e-01 -1.13679536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67264 meters Centerline goodness [0,1] 0.9999575308432251 Centerline is valid? [True, True] Translation: X:263.28, Y:-42.29, Z:-11.37 [[ 9.82238270e-01 1.84181816e-01 3.58474438e-02 2.63284341e+02] [-1.84079063e-01 9.82892046e-01 -6.17453000e-03 -4.22929531e+01] [-3.63714035e-02 -5.33904209e-04 9.99338199e-01 -1.13702803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264000000003 meters Centerline goodness [0,1] 0.9998705306087219 Centerline is valid? [True, True] Translation: X:263.31, Y:-42.30, Z:-11.37 [[ 9.82379936e-01 1.83737910e-01 3.42058718e-02 2.63312602e+02] [-1.83644138e-01 9.82975145e-01 -5.89029725e-03 -4.22991351e+01] [-3.47057927e-02 -4.95197990e-04 9.99397450e-01 -1.13710032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73264 meters Centerline goodness [0,1] 0.9999786329351937 Centerline is valid? [True, True] Translation: X:263.34, Y:-42.30, Z:-11.37 [[ 9.82487361e-01 1.83052542e-01 3.47901212e-02 2.63339815e+02] [-1.82955165e-01 9.83103014e-01 -5.98929857e-03 -4.23037574e+01] [-3.52986293e-02 -4.80622214e-04 9.99376694e-01 -1.13737680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.37, Y:-42.31, Z:-11.38 [[ 9.83062559e-01 1.80121852e-01 3.38249044e-02 2.63368022e+02] [-1.80028148e-01 9.83644236e-01 -5.82084356e-03 -4.23104381e+01] [-3.43201334e-02 -3.67181523e-04 9.99410823e-01 -1.13761021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.40, Y:-42.32, Z:-11.38 [[ 9.83507471e-01 1.77598633e-01 3.42312649e-02 2.63395372e+02] [-1.77501189e-01 9.84102965e-01 -5.88922295e-03 -4.23175389e+01] [-3.47330072e-02 -2.83995454e-04 9.99396587e-01 -1.13774768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters Centerline goodness [0,1] 0.9999785770903404 Centerline is valid? [True, True] Translation: X:263.42, Y:-42.33, Z:-11.38 [[ 9.83991599e-01 1.74790385e-01 3.47685771e-02 2.63423162e+02] [-1.74688191e-01 9.84605649e-01 -5.97920819e-03 -4.23260953e+01] [-3.52784455e-02 -1.90169209e-04 9.99377504e-01 -1.13785278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85264 meters Centerline goodness [0,1] 0.9997861282802575 Centerline is valid? [True, True] Translation: X:263.45, Y:-42.34, Z:-11.38 [[ 9.84953412e-01 1.69172193e-01 3.53205987e-02 2.63449820e+02] [-1.69063177e-01 9.85586510e-01 -6.07234512e-03 -4.23382500e+01] [-3.58387775e-02 9.56443230e-06 9.99357585e-01 -1.13797605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters Centerline goodness [0,1] 0.9998497950775701 Centerline is valid? [True, True] Translation: X:263.48, Y:-42.35, Z:-11.38 [[ 9.85372374e-01 1.66582411e-01 3.59386348e-02 2.63478087e+02] [-1.66467888e-01 9.86027530e-01 -6.17679222e-03 -4.23471442e+01] [-3.64654282e-02 1.03811792e-04 9.99334910e-01 -1.13781016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91264 meters Centerline goodness [0,1] 0.9998275453232447 Centerline is valid? [True, True] Translation: X:263.51, Y:-42.36, Z:-11.38 [[ 9.86022074e-01 1.62556507e-01 3.65493127e-02 2.63505139e+02] [-1.62435368e-01 9.86699203e-01 -6.27965754e-03 -4.23594924e+01] [-3.70839769e-02 2.54979872e-04 9.99312120e-01 -1.13783401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.53, Y:-42.37, Z:-11.38 [[ 9.85712875e-01 1.63184284e-01 4.17255019e-02 2.63529630e+02] [-1.63285701e-01 9.86578330e-01 -9.88865596e-04 -4.23728450e+01] [-4.13268433e-02 -5.83844028e-03 9.99128623e-01 -1.13811064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.56, Y:-42.37, Z:-11.38 [[ 9.85930653e-01 1.62526065e-01 3.90643876e-02 2.63559040e+02] [-1.62344822e-01 9.86703344e-01 -7.78908445e-03 -4.23743700e+01] [-3.98108911e-02 1.33759608e-03 9.99206337e-01 -1.13813307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters Centerline goodness [0,1] 0.9998710148977793 Centerline is valid? [True, True] Translation: X:263.59, Y:-42.38, Z:-11.39 [[ 9.86579130e-01 1.59464353e-01 3.51104106e-02 2.63592144e+02] [-1.59180260e-01 9.87190883e-01 -1.07612948e-02 -4.23809064e+01] [-3.63767202e-02 5.02798455e-03 9.99325499e-01 -1.13882198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.63, Y:-42.39, Z:-11.40 [[ 9.87558442e-01 1.52277531e-01 3.92412668e-02 2.63627107e+02] [-1.51917444e-01 9.88320122e-01 -1.20178110e-02 -4.23901894e+01] [-4.06129761e-02 5.90685778e-03 9.99157493e-01 -1.14019104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.65, Y:-42.40, Z:-11.39 [[ 9.86657994e-01 1.58430865e-01 3.74921894e-02 2.63647548e+02] [-1.58466776e-01 9.87362222e-01 -2.03079171e-03 -4.24048646e+01] [-3.73401115e-02 -3.93756952e-03 9.99294857e-01 -1.13931838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.68, Y:-42.41, Z:-11.39 [[ 9.86095883e-01 1.61043153e-01 4.09879666e-02 2.63676027e+02] [-1.61203600e-01 9.86920978e-01 6.18230642e-04 -4.24101262e+01] [-4.03523223e-02 -7.21704245e-03 9.99159449e-01 -1.13893729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.71, Y:-42.41, Z:-11.39 [[ 9.85856318e-01 1.62652472e-01 4.03917550e-02 2.63706537e+02] [-1.62562201e-01 9.86682793e-01 -5.53139740e-03 -4.24128094e+01] [-4.07535451e-02 -1.11300951e-03 9.99168609e-01 -1.13908497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.74, Y:-42.41, Z:-11.39 [[ 9.85291697e-01 1.67013261e-01 3.61502861e-02 2.63737143e+02] [-1.66544004e-01 9.85909886e-01 -1.56458107e-02 -4.24080512e+01] [-3.82539823e-02 9.39507394e-03 9.99223882e-01 -1.13933078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.77, Y:-42.41, Z:-11.39 [[ 9.85069891e-01 1.68265722e-01 3.63862049e-02 2.63766146e+02] [-1.68074721e-01 9.85739586e-01 -8.26785219e-03 -4.24148349e+01] [-3.72585186e-02 2.02881104e-03 9.99303601e-01 -1.13947610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.79, Y:-42.43, Z:-11.40 [[ 9.84302133e-01 1.71438033e-01 4.19322395e-02 2.63792030e+02] [-1.71789812e-01 9.85121400e-01 4.90800166e-03 -4.24263658e+01] [-4.04669284e-02 -1.20344880e-02 9.99108402e-01 -1.13968397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.83, Y:-42.41, Z:-11.40 [[ 9.83841816e-01 1.75263297e-01 3.65794821e-02 2.63828973e+02] [-1.74811716e-01 9.84484184e-01 -1.52234905e-02 -4.24134531e+01] [-3.86800408e-02 8.58298453e-03 9.99214785e-01 -1.13978588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.85, Y:-42.42, Z:-11.40 [[ 9.82911126e-01 1.79522269e-01 4.07120694e-02 2.63852886e+02] [-1.79538198e-01 9.83745486e-01 -3.29458555e-03 -4.24240053e+01] [-4.06417660e-02 -4.07108677e-03 9.99165488e-01 -1.13965439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.88, Y:-42.43, Z:-11.40 [[ 9.82307404e-01 1.82166724e-01 4.34447801e-02 2.63880709e+02] [-1.82385570e-01 9.83226477e-01 1.09447817e-03 -4.24280670e+01] [-4.25166806e-02 -8.99881499e-03 9.99055230e-01 -1.13978674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33264 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:263.92, Y:-42.41, Z:-11.40 [[ 9.81983447e-01 1.85316134e-01 3.69653873e-02 2.63916506e+02] [-1.84768110e-01 9.82621698e-01 -1.77579125e-02 -4.24126267e+01] [-3.96138193e-02 1.06079513e-02 9.99158754e-01 -1.13998961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters Centerline goodness [0,1] 0.9999568900480676 Centerline is valid? [True, True] Translation: X:263.94, Y:-42.42, Z:-11.40 [[ 9.82031454e-01 1.84669758e-01 3.88754902e-02 2.63942352e+02] [-1.84548702e-01 9.82800458e-01 -6.71097586e-03 -4.24239764e+01] [-3.94461639e-02 -5.84031888e-04 9.99221527e-01 -1.14023855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:263.96, Y:-42.43, Z:-11.41 [[ 9.81044762e-01 1.88630749e-01 4.43803444e-02 2.63962015e+02] [-1.88902920e-01 9.81993765e-01 1.98285994e-03 -4.24303348e+01] [-4.32071931e-02 -1.03288510e-02 9.99012739e-01 -1.14095430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters Centerline goodness [0,1] 0.999892387491122 Centerline is valid? [True, True] Translation: X:263.99, Y:-42.43, Z:-11.42 [[ 9.80296338e-01 1.91297532e-01 4.92376345e-02 2.63990166e+02] [-1.91819228e-01 9.81411604e-01 6.05368153e-03 -4.24309171e+01] [-4.71643315e-02 -1.53791269e-02 9.98768746e-01 -1.14212313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45264000000003 meters Centerline goodness [0,1] 0.9999784992474736 Centerline is valid? [True, True] Translation: X:264.03, Y:-42.42, Z:-11.41 [[ 9.81554760e-01 1.88293610e-01 3.31024088e-02 2.64029099e+02] [-1.87455500e-01 9.81906062e-01 -2.68499673e-02 -4.24153526e+01] [-3.75591331e-02 2.01494846e-02 9.99091242e-01 -1.14059801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.04, Y:-42.45, Z:-11.41 [[ 9.80953516e-01 1.89036179e-01 4.46712779e-02 2.64044785e+02] [-1.89624223e-01 9.81812917e-01 9.27634287e-03 -4.24475390e+01] [-4.21052732e-02 -1.75704175e-02 9.98958671e-01 -1.14075950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51264000000003 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:264.08, Y:-42.43, Z:-11.41 [[ 9.81479037e-01 1.88361027e-01 3.49145056e-02 2.64083837e+02] [-1.87665814e-01 9.81980885e-01 -2.22504959e-02 -4.24281480e+01] [-3.84765033e-02 1.52861362e-02 9.99142579e-01 -1.14074121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54264 meters Centerline goodness [0,1] 0.9999786447989408 Centerline is valid? [True, True] Translation: X:264.11, Y:-42.44, Z:-11.41 [[ 9.81509031e-01 1.87657850e-01 3.77432566e-02 2.64108863e+02] [-1.87547800e-01 9.82234187e-01 -6.46727663e-03 -4.24380766e+01] [-3.82863521e-02 -7.30974304e-04 9.99266541e-01 -1.14128497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.13, Y:-42.46, Z:-11.41 [[ 9.81420946e-01 1.87560229e-01 4.04238362e-02 2.64129342e+02] [-1.87963023e-01 9.82155441e-01 6.37122003e-03 -4.24602983e+01] [-3.85075032e-02 -1.38510353e-02 9.99162310e-01 -1.14107370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60264 meters Centerline goodness [0,1] 0.9998927843894071 Centerline is valid? [True, True] Translation: X:264.17, Y:-42.44, Z:-11.43 [[ 9.81259997e-01 1.87531748e-01 4.42793709e-02 2.64165046e+02] [-1.87520814e-01 9.82250605e-01 -4.43770754e-03 -4.24418397e+01] [-4.43256499e-02 -3.94875881e-03 9.99009331e-01 -1.14312815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.19, Y:-42.45, Z:-11.41 [[ 9.83064552e-01 1.81113941e-01 2.79611790e-02 2.64194746e+02] [-1.80494683e-01 9.83300011e-01 -2.32971646e-02 -4.24460515e+01] [-3.17136689e-02 1.78557725e-02 9.99337488e-01 -1.14052647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.21, Y:-42.48, Z:-11.41 [[ 9.82845099e-01 1.80497725e-01 3.78956800e-02 2.64212050e+02] [-1.80997479e-01 9.83430966e-01 1.01709110e-02 -4.24754573e+01] [-3.54319589e-02 -1.68554526e-02 9.99229939e-01 -1.14080150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69264 meters Centerline goodness [0,1] 0.9999359754145591 Centerline is valid? [True, True] Translation: X:264.25, Y:-42.46, Z:-11.41 [[ 9.83685783e-01 1.77612163e-01 2.85692084e-02 2.64250366e+02] [-1.77059957e-01 9.83979426e-01 -2.08389161e-02 -4.24598073e+01] [-3.18127583e-02 1.54404827e-02 9.99374574e-01 -1.14078607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72264 meters Centerline goodness [0,1] 0.9999360068259385 Centerline is valid? [True, True] Translation: X:264.26, Y:-42.51, Z:-11.43 [[ 9.81703459e-01 1.81986040e-01 5.60303523e-02 2.64261324e+02] [-1.83962954e-01 9.82399847e-01 3.23755002e-02 -4.25056789e+01] [-4.91523205e-02 -4.20906497e-02 9.97904017e-01 -1.14341653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.31, Y:-42.46, Z:-11.41 [[ 9.84532644e-01 1.73329145e-01 2.55436825e-02 2.64308525e+02] [-1.72090521e-01 9.84070711e-01 -4.46059101e-02 -4.24617713e+01] [-3.28682941e-02 3.95201489e-02 9.98678043e-01 -1.14063511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.33, Y:-42.49, Z:-11.41 [[ 9.84847262e-01 1.70422434e-01 3.21257527e-02 2.64331438e+02] [-1.70336695e-01 9.85371084e-01 -5.40722910e-03 -4.24908810e+01] [-3.25773009e-02 -1.46899742e-04 9.99469208e-01 -1.14144805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81264 meters Centerline goodness [0,1] 0.999978653460274 Centerline is valid? [True, True] Translation: X:264.36, Y:-42.50, Z:-11.41 [[ 9.84926021e-01 1.69932949e-01 3.23036530e-02 2.64359444e+02] [-1.69846066e-01 9.85455618e-01 -5.43497448e-03 -4.24968058e+01] [-3.27573976e-02 -1.33600602e-04 9.99463324e-01 -1.14128953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.39, Y:-42.50, Z:-11.41 [[ 9.84943813e-01 1.69842945e-01 3.22344524e-02 2.64387370e+02] [-1.69756438e-01 9.85471134e-01 -5.42172869e-03 -4.25015964e+01] [-3.26869647e-02 -1.31907681e-04 9.99465630e-01 -1.14135023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.41, Y:-42.50, Z:-11.42 [[ 9.84770676e-01 1.70845790e-01 3.22246931e-02 2.64414621e+02] [-1.70759920e-01 9.85297766e-01 -5.41863075e-03 -4.25043876e+01] [-3.26766684e-02 -1.66577334e-04 9.99465961e-01 -1.14151417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.45, Y:-42.50, Z:-11.41 [[ 9.84946138e-01 1.70627701e-01 2.77000658e-02 2.64445944e+02] [-1.70213504e-01 9.85265745e-01 -1.66965454e-02 -4.25008530e+01] [-3.01408191e-02 1.17302726e-02 9.99476829e-01 -1.14133437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93264 meters Centerline goodness [0,1] 0.9999785903913676 Centerline is valid? [True, True] Translation: X:264.47, Y:-42.52, Z:-11.42 [[ 9.84764005e-01 1.70781428e-01 3.27651964e-02 2.64469909e+02] [-1.71079162e-01 9.85235919e-01 6.48870573e-03 -4.25168816e+01] [-3.11732979e-02 -1.19952862e-02 9.99442014e-01 -1.14204731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96264 meters Centerline goodness [0,1] 0.9999783615354655 Centerline is valid? [True, True] Translation: X:264.49, Y:-42.52, Z:-11.43 [[ 9.84303048e-01 1.72681097e-01 3.64520091e-02 2.64491388e+02] [-1.73111966e-01 9.84861112e-01 8.99094715e-03 -4.25218957e+01] [-3.43475996e-02 -1.51600956e-02 9.99294958e-01 -1.14280439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.53, Y:-42.51, Z:-11.42 [[ 9.84694842e-01 1.72122278e-01 2.73859213e-02 2.64528526e+02] [-1.71636095e-01 9.84972758e-01 -1.92280476e-02 -4.25090700e+01] [-3.02839618e-02 1.42333467e-02 9.99439990e-01 -1.14237985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02264 meters Centerline goodness [0,1] 0.9999786160294244 Centerline is valid? [True, True] Translation: X:264.55, Y:-42.52, Z:-11.43 [[ 9.84714200e-01 1.71455636e-01 3.06742365e-02 2.64554920e+02] [-1.71378420e-01 9.85191824e-01 -5.14851961e-03 -4.25217838e+01] [-3.11027497e-02 -1.87081833e-04 9.99516175e-01 -1.14261689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05264 meters Centerline goodness [0,1] 0.9997842875016179 Centerline is valid? [True, True] Translation: X:264.58, Y:-42.52, Z:-11.43 [[ 9.84625784e-01 1.71969392e-01 3.06364751e-02 2.64583861e+02] [-1.71892680e-01 9.85102272e-01 -5.14008299e-03 -4.25242031e+01] [-3.10639982e-02 -2.05127576e-04 9.99517377e-01 -1.14285996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.61, Y:-42.53, Z:-11.43 [[ 9.84697593e-01 1.71506614e-01 3.09213639e-02 2.64612668e+02] [-1.71428288e-01 9.85182949e-01 -5.18636171e-03 -4.25293490e+01] [-3.13526958e-02 -1.93798582e-04 9.99508365e-01 -1.14278804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.64, Y:-42.53, Z:-11.43 [[ 9.84726530e-01 1.71417569e-01 3.04906170e-02 2.64641378e+02] [-1.71341393e-01 9.85198448e-01 -5.11331944e-03 -4.25341104e+01] [-3.09158213e-02 -1.89083468e-04 9.99521974e-01 -1.14285652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.67, Y:-42.54, Z:-11.43 [[ 9.84721226e-01 1.71552526e-01 2.98971363e-02 2.64669204e+02] [-1.71479436e-01 9.85174956e-01 -5.01089518e-03 -4.25373045e+01] [-3.03135417e-02 -1.92409244e-04 9.99540420e-01 -1.14325686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.70, Y:-42.54, Z:-11.44 [[ 9.84760133e-01 1.71422758e-01 2.93550505e-02 2.64696622e+02] [-1.71352314e-01 9.85197545e-01 -4.91747380e-03 -4.25416156e+01] [-2.97634906e-02 -1.87523670e-04 9.99556952e-01 -1.14353444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264000000003 meters Centerline goodness [0,1] 0.9999786862185089 Centerline is valid? [True, True] Translation: X:264.72, Y:-42.55, Z:-11.44 [[ 9.84860817e-01 1.70886205e-01 2.91045810e-02 2.64722839e+02] [-1.70816765e-01 9.85290757e-01 -4.87413706e-03 -4.25456301e+01] [-2.95093974e-02 -1.71203764e-04 9.99564488e-01 -1.14402648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23264 meters Centerline goodness [0,1] 0.9999785287928887 Centerline is valid? [True, True] Translation: X:264.75, Y:-42.55, Z:-11.44 [[ 9.85063417e-01 1.69681883e-01 2.92937279e-02 2.64750698e+02] [-1.69611099e-01 9.85498878e-01 -4.90264687e-03 -4.25549514e+01] [-2.97008263e-02 -1.39123302e-04 9.99558823e-01 -1.14383416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.78, Y:-42.56, Z:-11.44 [[ 9.85145227e-01 1.69168962e-01 2.95083785e-02 2.64778135e+02] [-1.69096944e-01 9.85587057e-01 -4.93729425e-03 -4.25610074e+01] [-2.99183129e-02 -1.25824779e-04 9.99552339e-01 -1.14401964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.81, Y:-42.57, Z:-11.44 [[ 9.85228991e-01 1.68635401e-01 2.97646982e-02 2.64806565e+02] [-1.68561946e-01 9.85678492e-01 -4.97812776e-03 -4.25666261e+01] [-3.01779114e-02 -1.12599644e-04 9.99544537e-01 -1.14394950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.83, Y:-42.57, Z:-11.44 [[ 9.85123859e-01 1.69071988e-01 3.07513373e-02 2.64834488e+02] [-1.68993837e-01 9.85603696e-01 -5.14172210e-03 -4.25699008e+01] [-3.11779529e-02 -1.31553372e-04 9.99513841e-01 -1.14398457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35264 meters Centerline goodness [0,1] 0.9999570575857775 Centerline is valid? [True, True] Translation: X:264.86, Y:-42.57, Z:-11.44 [[ 9.84945670e-01 1.70032861e-01 3.11585187e-02 2.64862868e+02] [-1.69953175e-01 9.85438379e-01 -5.20767237e-03 -4.25735064e+01] [-3.15902756e-02 -1.66214826e-04 9.99500889e-01 -1.14392991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.89, Y:-42.57, Z:-11.44 [[ 9.84755171e-01 1.71337978e-01 3.00091760e-02 2.64890465e+02] [-1.71054730e-01 9.85191061e-01 -1.17835463e-02 -4.25717324e+01] [-3.15837410e-02 6.47069666e-03 9.99480164e-01 -1.14394715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.92, Y:-42.58, Z:-11.44 [[ 9.84409467e-01 1.72811493e-01 3.27748335e-02 2.64918194e+02] [-1.72948818e-01 9.84929845e-01 1.38082539e-03 -4.25813315e+01] [-3.20422892e-02 -7.02766631e-03 9.99461807e-01 -1.14418902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:264.95, Y:-42.57, Z:-11.44 [[ 9.83603220e-01 1.77327426e-01 3.28586228e-02 2.64949077e+02] [-1.77243078e-01 9.84151818e-01 -5.48551029e-03 -4.25742187e+01] [-3.33106048e-02 -4.28397876e-04 9.99444956e-01 -1.14404890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47264 meters Centerline goodness [0,1] 0.999978594515915 Centerline is valid? [True, True] Translation: X:264.98, Y:-42.57, Z:-11.44 [[ 9.83242602e-01 1.79338563e-01 3.27363059e-02 2.64977215e+02] [-1.79256003e-01 9.83787291e-01 -5.46365240e-03 -4.25739233e+01] [-3.31854052e-02 -4.96083551e-04 9.99449090e-01 -1.14424619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.01, Y:-42.57, Z:-11.44 [[ 9.82519432e-01 1.83369628e-01 3.21114570e-02 2.65007669e+02] [-1.83292419e-01 9.83043840e-01 -5.35697404e-03 -4.25732595e+01] [-3.25492763e-02 -6.22455528e-04 9.99469938e-01 -1.14422389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53264 meters Centerline goodness [0,1] 0.9999785421539386 Centerline is valid? [True, True] Translation: X:265.04, Y:-42.57, Z:-11.44 [[ 9.82245979e-01 1.84831333e-01 3.20969497e-02 2.65035814e+02] [-1.84754983e-01 9.82770028e-01 -5.35425866e-03 -4.25718956e+01] [-3.25335549e-02 -6.70872346e-04 9.99470419e-01 -1.14443814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters Centerline goodness [0,1] 0.9998490207919938 Centerline is valid? [True, True] Translation: X:265.07, Y:-42.57, Z:-11.45 [[ 9.81988552e-01 1.86162454e-01 3.22803999e-02 2.65065017e+02] [-1.86086022e-01 9.82518712e-01 -5.38256463e-03 -4.25725691e+01] [-3.27181283e-02 -7.21314355e-04 9.99464358e-01 -1.14450809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59264 meters Centerline goodness [0,1] 0.999893025246042 Centerline is valid? [True, True] Translation: X:265.09, Y:-42.57, Z:-11.45 [[ 9.81764184e-01 1.87321870e-01 3.23975880e-02 2.65093627e+02] [-1.87245560e-01 9.82298291e-01 -5.40063567e-03 -4.25706662e+01] [-3.28357525e-02 -7.64153846e-04 9.99460469e-01 -1.14475501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters Centerline goodness [0,1] 0.999914998512474 Centerline is valid? [True, True] Translation: X:265.12, Y:-42.58, Z:-11.45 [[ 9.81902732e-01 1.85843460e-01 3.64586626e-02 2.65124607e+02] [-1.86089575e-01 9.82526735e-01 3.44760028e-03 -4.25772456e+01] [-3.51808967e-02 -1.01697852e-02 9.99329215e-01 -1.14512444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65264 meters Centerline goodness [0,1] 0.9998711589254654 Centerline is valid? [True, True] Translation: X:265.15, Y:-42.57, Z:-11.45 [[ 9.81753798e-01 1.87734065e-01 3.02555902e-02 2.65152499e+02] [-1.87362344e-01 9.82180708e-01 -1.47108109e-02 -4.25692739e+01] [-3.24781773e-02 8.77363618e-03 9.99433935e-01 -1.14491465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters Centerline goodness [0,1] 0.9998921530563823 Centerline is valid? [True, True] Translation: X:265.18, Y:-42.58, Z:-11.46 [[ 9.82358795e-01 1.83656894e-01 3.52326994e-02 2.65183321e+02] [-1.83721644e-01 9.82977286e-01 -1.41864006e-03 -4.25797631e+01] [-3.48934862e-02 -5.07939592e-03 9.99378129e-01 -1.14570844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71264 meters Centerline goodness [0,1] 0.999978875768394 Centerline is valid? [True, True] Translation: X:265.21, Y:-42.58, Z:-11.45 [[ 9.82303144e-01 1.84643281e-01 3.14227907e-02 2.65208754e+02] [-1.84421022e-01 9.82797923e-01 -9.85539213e-03 -4.25780577e+01] [-3.27019854e-02 3.88595951e-03 9.99457593e-01 -1.14536387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters Centerline goodness [0,1] 0.9999357505407663 Centerline is valid? [True, True] Translation: X:265.24, Y:-42.59, Z:-11.45 [[ 9.82952464e-01 1.80962244e-01 3.25133804e-02 2.65236790e+02] [-1.80882300e-01 9.83489881e-01 -5.40805188e-03 -4.25863150e+01] [-3.29552338e-02 -5.65237093e-04 9.99456669e-01 -1.14548179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77264 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:265.26, Y:-42.59, Z:-11.45 [[ 9.83279658e-01 1.79163530e-01 3.25813408e-02 2.65264634e+02] [-1.79082314e-01 9.83819176e-01 -5.41781237e-03 -4.25926447e+01] [-3.30248223e-02 -5.07517223e-04 9.99454403e-01 -1.14548872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.29, Y:-42.60, Z:-11.46 [[ 9.83600184e-01 1.77337583e-01 3.28946747e-02 2.65293054e+02] [-1.77253832e-01 9.84149977e-01 -5.46826043e-03 -4.25968164e+01] [-3.33430214e-02 -4.52125169e-04 9.99443865e-01 -1.14555238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83264 meters Centerline goodness [0,1] 0.9999782267897579 Centerline is valid? [True, True] Translation: X:265.32, Y:-42.60, Z:-11.46 [[ 9.84330363e-01 1.73370321e-01 3.21942238e-02 2.65321350e+02] [-1.73288027e-01 9.84856657e-01 -5.35028970e-03 -4.26019190e+01] [-3.26342770e-02 -3.12420905e-04 9.99467311e-01 -1.14572563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters Centerline goodness [0,1] 0.999935957646657 Centerline is valid? [True, True] Translation: X:265.35, Y:-42.61, Z:-11.46 [[ 9.84719777e-01 1.71293108e-01 3.13947697e-02 2.65348655e+02] [-1.71213837e-01 9.85220084e-01 -5.21609796e-03 -4.26056625e+01] [-3.18242393e-02 -2.38824180e-04 9.99493452e-01 -1.14642642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.38, Y:-42.61, Z:-11.46 [[ 9.85120821e-01 1.68923716e-01 3.16503660e-02 2.65376669e+02] [-1.68841996e-01 9.85629114e-01 -5.25640749e-03 -4.26133512e+01] [-3.20834541e-02 -1.65714512e-04 9.99485180e-01 -1.14607429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters Centerline goodness [0,1] 0.999848887161885 Centerline is valid? [True, True] Translation: X:265.40, Y:-42.62, Z:-11.47 [[ 9.85830820e-01 1.64848292e-01 3.10263503e-02 2.65403093e+02] [-1.64767786e-01 9.86318934e-01 -5.15144574e-03 -4.26196262e+01] [-3.14510838e-02 -3.36890530e-05 9.99505292e-01 -1.14664247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95264000000003 meters Centerline goodness [0,1] 0.9998490989048892 Centerline is valid? [True, True] Translation: X:265.43, Y:-42.63, Z:-11.47 [[ 9.86199443e-01 1.62606314e-01 3.11423457e-02 2.65430661e+02] [-1.62524144e-01 9.86691028e-01 -5.16888701e-03 -4.26257566e+01] [-3.15683668e-02 3.61704145e-05 9.99501594e-01 -1.14674358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.46, Y:-42.63, Z:-11.47 [[ 9.86575376e-01 1.60285902e-01 3.12643167e-02 2.65459130e+02] [-1.60202003e-01 9.87070625e-01 -5.18654645e-03 -4.26324379e+01] [-3.16914188e-02 1.08312846e-04 9.99497695e-01 -1.14670049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.49, Y:-42.64, Z:-11.47 [[ 9.87213455e-01 1.56502431e-01 3.02751393e-02 2.65487112e+02] [-1.56422020e-01 9.87677549e-01 -5.02112752e-03 -4.26397630e+01] [-3.06878940e-02 2.21226211e-04 9.99528991e-01 -1.14682868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.51, Y:-42.65, Z:-11.47 [[ 9.87444235e-01 1.55020905e-01 3.03710773e-02 2.65513996e+02] [-1.54939323e-01 9.87911154e-01 -5.03571357e-03 -4.26455468e+01] [-3.07845669e-02 2.66812186e-04 9.99526007e-01 -1.14701532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.54, Y:-42.65, Z:-11.47 [[ 9.87614407e-01 1.53918456e-01 3.04449051e-02 2.65542208e+02] [-1.53836016e-01 9.88083508e-01 -5.04590320e-03 -4.26510527e+01] [-3.08587662e-02 2.99883791e-04 9.99523710e-01 -1.14706751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.57, Y:-42.66, Z:-11.47 [[ 9.87724420e-01 1.53169999e-01 3.06499896e-02 2.65568906e+02] [-1.53086126e-01 9.88199801e-01 -5.07854423e-03 -4.26576920e+01] [-3.10661942e-02 3.24113990e-04 9.99517277e-01 -1.14732428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.60, Y:-42.66, Z:-11.48 [[ 9.87845688e-01 1.52527206e-01 2.99390628e-02 2.65595584e+02] [-1.52446947e-01 9.88299216e-01 -4.95868637e-03 -4.26634779e+01] [-3.03450868e-02 3.34298229e-04 9.99539426e-01 -1.14762766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.62, Y:-42.67, Z:-11.48 [[ 9.87821407e-01 1.52713692e-01 2.97892105e-02 2.65623438e+02] [-1.52634345e-01 9.88270419e-01 -4.93302547e-03 -4.26666572e+01] [-3.01931361e-02 3.26091518e-04 9.99544030e-01 -1.14774363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19264 meters Centerline goodness [0,1] 0.9997845802546261 Centerline is valid? [True, True] Translation: X:265.65, Y:-42.66, Z:-11.48 [[ 9.87517403e-01 1.55072670e-01 2.76015412e-02 2.65652704e+02] [-1.55005532e-01 9.87903038e-01 -4.56863185e-03 -4.26648065e+01] [-2.79761164e-02 2.33211898e-04 9.99608565e-01 -1.14811409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.68, Y:-42.67, Z:-11.48 [[ 9.87181870e-01 1.57135881e-01 2.79333296e-02 2.65682170e+02] [-1.57067963e-01 9.87576976e-01 -4.62290577e-03 -4.26666746e+01] [-2.83127375e-02 1.76217596e-04 9.99599099e-01 -1.14810581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.71, Y:-42.67, Z:-11.48 [[ 9.87193197e-01 1.57064619e-01 2.79337905e-02 2.65709284e+02] [-1.56996751e-01 9.87588312e-01 -4.62011862e-03 -4.26710283e+01] [-2.83127422e-02 1.75435313e-04 9.99599099e-01 -1.14823369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.74, Y:-42.67, Z:-11.49 [[ 9.86830721e-01 1.59287030e-01 2.81561674e-02 2.65736784e+02] [-1.59219036e-01 9.87232308e-01 -4.65496409e-03 -4.26732081e+01] [-2.85381535e-02 1.10663729e-04 9.99592698e-01 -1.14883111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31264 meters Centerline goodness [0,1] 0.9997201713412402 Centerline is valid? [True, True] Translation: X:265.77, Y:-42.67, Z:-11.49 [[ 9.86389476e-01 1.62064928e-01 2.77625717e-02 2.65765042e+02] [-1.61999991e-01 9.86780096e-01 -4.58741602e-03 -4.26717085e+01] [-2.81390124e-02 2.74425125e-05 9.99604019e-01 -1.14868297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.79, Y:-42.67, Z:-11.49 [[ 9.85512468e-01 1.67066584e-01 2.92221155e-02 2.65793872e+02] [-1.66996910e-01 9.85945608e-01 -4.82604963e-03 -4.26668712e+01] [-2.96176881e-02 -1.23870922e-04 9.99561292e-01 -1.14854113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.82, Y:-42.67, Z:-11.48 [[ 9.85100629e-01 1.69390448e-01 2.97258663e-02 2.65822697e+02] [-1.69319470e-01 9.85549003e-01 -4.90719242e-03 -4.26679868e+01] [-3.01275294e-02 -1.99089606e-04 9.99546043e-01 -1.14845826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.85, Y:-42.67, Z:-11.48 [[ 9.84734711e-01 1.71400995e-01 3.03191157e-02 2.65851891e+02] [-1.71328154e-01 9.85201313e-01 -5.00361908e-03 -4.26687301e+01] [-3.07280579e-02 -2.67280746e-04 9.99527746e-01 -1.14848104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:265.88, Y:-42.67, Z:-11.48 [[ 9.84399847e-01 1.73229728e-01 3.07961581e-02 2.65881152e+02] [-1.73155518e-01 9.84881390e-01 -5.08083128e-03 -4.26693771e+01] [-3.12107140e-02 -3.30955184e-04 9.99512772e-01 -1.14844414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46264 meters Centerline goodness [0,1] 0.9999786210582576 Centerline is valid? [True, True] Translation: X:265.91, Y:-42.66, Z:-11.49 [[ 9.83924755e-01 1.75763809e-01 3.16094906e-02 2.65910457e+02] [-1.75686979e-01 9.84432275e-01 -5.21358151e-03 -4.26640608e+01] [-3.20337617e-02 -4.23603993e-04 9.99486698e-01 -1.14864659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49264 meters Centerline goodness [0,1] 0.9999784936986537 Centerline is valid? [True, True] Translation: X:265.94, Y:-42.67, Z:-11.49 [[ 9.83779799e-01 1.76558734e-01 3.16910272e-02 2.65938680e+02] [-1.76481986e-01 9.84290002e-01 -5.22492723e-03 -4.26682348e+01] [-3.21156678e-02 -4.52717580e-04 9.99484056e-01 -1.14850628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52264 meters Centerline goodness [0,1] 0.9999570806240478 Centerline is valid? [True, True] Translation: X:265.97, Y:-42.67, Z:-11.49 [[ 9.83785866e-01 1.76687489e-01 3.07717553e-02 2.65967518e+02] [-1.76615238e-01 9.84266901e-01 -5.07193234e-03 -4.26722017e+01] [-3.11837672e-02 -4.45065545e-04 9.99513569e-01 -1.14896731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.00, Y:-42.67, Z:-11.49 [[ 9.83860391e-01 1.76252111e-01 3.08856535e-02 2.65995372e+02] [-1.76179137e-01 9.84344963e-01 -5.08982238e-03 -4.26737860e+01] [-3.12992294e-02 -4.33733149e-04 9.99509965e-01 -1.14931407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58264 meters Centerline goodness [0,1] 0.9999786105407256 Centerline is valid? [True, True] Translation: X:266.02, Y:-42.68, Z:-11.50 [[ 9.84052747e-01 1.75254718e-01 3.04298486e-02 2.66022181e+02] [-1.75183476e-01 9.84523045e-01 -5.01244954e-03 -4.26779377e+01] [-3.08373426e-02 -3.98291908e-04 9.99524337e-01 -1.14953241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.05, Y:-42.69, Z:-11.49 [[ 9.84576305e-01 1.72333453e-01 3.01774775e-02 2.66049854e+02] [-1.72262166e-01 9.85038621e-01 -4.96594530e-03 -4.26875124e+01] [-3.05817794e-02 -3.09085578e-04 9.99532220e-01 -1.14932426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.08, Y:-42.69, Z:-11.50 [[ 9.84944287e-01 1.70128793e-01 3.06748461e-02 2.66076755e+02] [-1.70054110e-01 9.85421805e-01 -5.04642406e-03 -4.26945790e+01] [-3.10862042e-02 -2.45937099e-04 9.99516677e-01 -1.14960738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.10, Y:-42.70, Z:-11.49 [[ 9.85357619e-01 1.67763831e-01 3.04246424e-02 2.66104288e+02] [-1.67689296e-01 9.85827200e-01 -5.00325757e-03 -4.27039896e+01] [-3.08328057e-02 -1.71888914e-04 9.99524541e-01 -1.14941161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.13, Y:-42.71, Z:-11.49 [[ 9.86120247e-01 1.63078641e-01 3.11803786e-02 2.66131177e+02] [-1.62998059e-01 9.86613073e-01 -5.12607772e-03 -4.27138681e+01] [-3.15989230e-02 -2.74121761e-05 9.99500629e-01 -1.14946067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73264 meters Centerline goodness [0,1] 0.9998499882133596 Centerline is valid? [True, True] Translation: X:266.16, Y:-42.72, Z:-11.50 [[ 9.86500674e-01 1.60864263e-01 3.06448783e-02 2.66158752e+02] [-1.60785422e-01 9.86976538e-01 -5.03596206e-03 -4.27211359e+01] [-3.10558822e-02 4.07302678e-05 9.99517649e-01 -1.14970357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.19, Y:-42.73, Z:-11.50 [[ 9.86692967e-01 1.59513075e-01 3.15050484e-02 2.66186332e+02] [-1.59429102e-01 9.87195812e-01 -5.17586484e-03 -4.27276796e+01] [-3.19272700e-02 8.41678711e-05 9.99490191e-01 -1.14962094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79264 meters Centerline goodness [0,1] 0.9999143927233815 Centerline is valid? [True, True] Translation: X:266.21, Y:-42.73, Z:-11.50 [[ 9.86955604e-01 1.58222467e-01 2.97369624e-02 2.66213583e+02] [-1.58147122e-01 9.87403482e-01 -4.88371499e-03 -4.27345543e+01] [-3.01350937e-02 1.17194845e-04 9.99545828e-01 -1.15017370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.24, Y:-42.74, Z:-11.50 [[ 9.86883782e-01 1.58624304e-01 2.99788487e-02 2.66241964e+02] [-1.58547974e-01 9.87339009e-01 -4.92142235e-03 -4.27385783e+01] [-3.03799440e-02 1.03786169e-04 9.99538418e-01 -1.14996400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.27, Y:-42.74, Z:-11.50 [[ 9.86749946e-01 1.59496166e-01 2.97576303e-02 2.66268624e+02] [-1.59421382e-01 9.87198545e-01 -4.88423619e-03 -4.27420140e+01] [-3.01557063e-02 7.55172624e-05 9.99545210e-01 -1.15032474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.30, Y:-42.74, Z:-11.50 [[ 9.86535625e-01 1.60749619e-01 3.01167875e-02 2.66297366e+02] [-1.60673700e-01 9.86995217e-01 -4.93995049e-03 -4.27448067e+01] [-3.05192204e-02 3.44614565e-05 9.99534180e-01 -1.15018004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.33, Y:-42.75, Z:-11.50 [[ 9.86056033e-01 1.63684134e-01 3.00167420e-02 2.66326063e+02] [-1.63610123e-01 9.86512798e-01 -4.92207014e-03 -4.27458980e+01] [-3.04175649e-02 -5.76058816e-05 9.99537277e-01 -1.15015980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.35, Y:-42.75, Z:-11.50 [[ 9.85742761e-01 1.65486051e-01 3.04232974e-02 2.66353131e+02] [-1.65410909e-01 9.86212124e-01 -4.98775290e-03 -4.27474776e+01] [-3.08292283e-02 -1.15703966e-04 9.99524660e-01 -1.15034374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97264 meters Centerline goodness [0,1] 0.9999782901306934 Centerline is valid? [True, True] Translation: X:266.38, Y:-42.75, Z:-11.50 [[ 9.85448507e-01 1.67306513e-01 2.99961805e-02 2.66382449e+02] [-1.67234407e-01 9.85904915e-01 -4.91454194e-03 -4.27491983e+01] [-3.03956166e-02 -1.73365425e-04 9.99537931e-01 -1.15048731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.41, Y:-42.75, Z:-11.51 [[ 9.85119940e-01 1.69233630e-01 2.99780194e-02 2.66411370e+02] [-1.69162547e-01 9.85575935e-01 -4.91010053e-03 -4.27508580e+01] [-3.03765686e-02 -2.34120154e-04 9.99538498e-01 -1.15064315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03264 meters Centerline goodness [0,1] 0.9999784296807592 Centerline is valid? [True, True] Translation: X:266.44, Y:-42.75, Z:-11.51 [[ 9.84556612e-01 1.72513768e-01 2.97872081e-02 2.66439337e+02] [-1.72445119e-01 9.85007050e-01 -4.87778538e-03 -4.27490486e+01] [-3.01820951e-02 -3.34202795e-04 9.99544361e-01 -1.15089813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.47, Y:-42.75, Z:-11.51 [[ 9.84390556e-01 1.73353303e-01 3.03951707e-02 2.66467752e+02] [-1.73282293e-01 9.84859633e-01 -4.97504470e-03 -4.27520159e+01] [-3.07974171e-02 -3.69557856e-04 9.99525579e-01 -1.15078814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09264 meters Centerline goodness [0,1] 0.99991414098051 Centerline is valid? [True, True] Translation: X:266.50, Y:-42.75, Z:-11.51 [[ 9.84253979e-01 1.74127422e-01 3.03931978e-02 2.66495412e+02] [-1.74056873e-01 9.84723049e-01 -4.97205717e-03 -4.27532146e+01] [-3.07946540e-02 -3.96377916e-04 9.99525654e-01 -1.15108153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters Centerline goodness [0,1] 0.999957282299921 Centerline is valid? [True, True] Translation: X:266.52, Y:-42.76, Z:-11.51 [[ 9.84310100e-01 1.73854265e-01 3.01383566e-02 2.66522596e+02] [-1.73784799e-01 9.84771316e-01 -4.92928650e-03 -4.27574257e+01] [-3.05363666e-02 -3.85641758e-04 9.99533582e-01 -1.15121377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15264 meters Centerline goodness [0,1] 0.9999785476777862 Centerline is valid? [True, True] Translation: X:266.55, Y:-42.76, Z:-11.51 [[ 9.84404076e-01 1.73398180e-01 2.96932203e-02 2.66550004e+02] [-1.73330615e-01 9.84851733e-01 -4.85411067e-03 -4.27611129e+01] [-3.00851134e-02 -3.68337796e-04 9.99547273e-01 -1.15143210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.58, Y:-42.77, Z:-11.52 [[ 9.84879928e-01 1.70890610e-01 2.84240629e-02 2.66578231e+02] [-1.70827708e-01 9.85289968e-01 -4.64477752e-03 -4.27677257e+01] [-2.87996929e-02 -2.81069366e-04 9.99585163e-01 -1.15176177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21264 meters Centerline goodness [0,1] 0.9999786939384255 Centerline is valid? [True, True] Translation: X:266.60, Y:-42.77, Z:-11.52 [[ 9.85139052e-01 1.69464261e-01 2.79805782e-02 2.66604978e+02] [-1.69402762e-01 9.85536305e-01 -4.57119077e-03 -4.27736687e+01] [-2.83505292e-02 -2.36728700e-04 9.99598015e-01 -1.15212900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.63, Y:-42.78, Z:-11.52 [[ 9.85637856e-01 1.66451901e-01 2.84917955e-02 2.66631523e+02] [-1.66386927e-01 9.86049563e-01 -4.65291010e-03 -4.27833035e+01] [-2.88688083e-02 -1.54577977e-04 9.99583197e-01 -1.15225122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27264 meters Centerline goodness [0,1] 0.9999785186458154 Centerline is valid? [True, True] Translation: X:266.66, Y:-42.79, Z:-11.52 [[ 9.85819833e-01 1.65295070e-01 2.89274499e-02 2.66659522e+02] [-1.65227652e-01 9.86244151e-01 -4.72213252e-03 -4.27898750e+01] [-2.93100735e-02 -1.24442744e-04 9.99570360e-01 -1.15205849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.69, Y:-42.79, Z:-11.52 [[ 9.85973343e-01 1.64253117e-01 2.96222962e-02 2.66687053e+02] [-1.64181975e-01 9.86418220e-01 -4.83473746e-03 -4.27941785e+01] [-3.00140934e-02 -9.65248375e-05 9.99549471e-01 -1.15229084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.72, Y:-42.80, Z:-11.52 [[ 9.86097809e-01 1.63672138e-01 2.86799891e-02 2.66715153e+02] [-1.63605274e-01 9.86514787e-01 -4.67859877e-03 -4.27984404e+01] [-2.90589896e-02 -7.86414857e-05 9.99577695e-01 -1.15237027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.74, Y:-42.80, Z:-11.53 [[ 9.86158571e-01 1.63452271e-01 2.78321486e-02 2.66743734e+02] [-1.63389310e-01 9.86551240e-01 -4.53690666e-03 -4.28028131e+01] [-2.81994084e-02 -7.33661685e-05 9.99602315e-01 -1.15261814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.77, Y:-42.81, Z:-11.53 [[ 9.86180643e-01 1.63487504e-01 2.68248956e-02 2.66771780e+02] [-1.63429065e-01 9.86545402e-01 -4.37151188e-03 -4.28090238e+01] [-2.71786650e-02 -7.28671990e-05 9.99630589e-01 -1.15298817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters Centerline goodness [0,1] 0.9999782608695652 Centerline is valid? [True, True] Translation: X:266.80, Y:-42.81, Z:-11.53 [[ 9.86180943e-01 1.63661380e-01 2.57313013e-02 2.66799663e+02] [-1.63607692e-01 9.86516572e-01 -4.19240785e-03 -4.28135276e+01] [-2.60704904e-02 -7.53660896e-05 9.99660104e-01 -1.15313369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:266.83, Y:-42.82, Z:-11.53 [[ 9.86003658e-01 1.64590012e-01 2.65878667e-02 2.66827303e+02] [-1.64533057e-01 9.86362062e-01 -4.33080598e-03 -4.28160459e+01] [-2.69380705e-02 -1.04392464e-04 9.99637099e-01 -1.15310991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters Centerline goodness [0,1] 0.9999785047934311 Centerline is valid? [True, True] Translation: X:266.86, Y:-42.82, Z:-11.53 [[ 9.85527426e-01 1.67062061e-01 2.87395405e-02 2.66855463e+02] [-1.66996667e-01 9.85946364e-01 -4.67774468e-03 -4.28152571e+01] [-2.91171191e-02 -1.89361813e-04 9.99575989e-01 -1.15285523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51264000000003 meters Centerline goodness [0,1] 0.9999785582572152 Centerline is valid? [True, True] Translation: X:266.88, Y:-42.82, Z:-11.53 [[ 9.85286810e-01 1.68416560e-01 2.90820454e-02 2.66884498e+02] [-1.68350248e-01 9.85715886e-01 -4.73144720e-03 -4.28168670e+01] [-2.94634882e-02 -2.34137025e-04 9.99565830e-01 -1.15294639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54264 meters Centerline goodness [0,1] 0.9999786192298646 Centerline is valid? [True, True] Translation: X:266.91, Y:-42.82, Z:-11.53 [[ 9.85022065e-01 1.70038394e-01 2.86090205e-02 2.66913851e+02] [-1.69974945e-01 9.85437399e-01 -4.65313857e-03 -4.28182564e+01] [-2.89836110e-02 -2.79372522e-04 9.99579848e-01 -1.15315563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57264000000004 meters Centerline goodness [0,1] 0.999957337883959 Centerline is valid? [True, True] Translation: X:266.94, Y:-42.82, Z:-11.53 [[ 9.84577826e-01 1.72551474e-01 2.88529431e-02 2.66943005e+02] [-1.72487998e-01 9.85000438e-01 -4.69345021e-03 -4.28171519e+01] [-2.92300233e-02 -3.55719374e-04 9.99572648e-01 -1.15330876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60264 meters Centerline goodness [0,1] 0.9999785724999465 Centerline is valid? [True, True] Translation: X:266.97, Y:-42.82, Z:-11.54 [[ 9.84422241e-01 1.73418284e-01 2.89646464e-02 2.66970473e+02] [-1.73354874e-01 9.84848185e-01 -4.70535108e-03 -4.28179765e+01] [-2.93417734e-02 -3.89110383e-04 9.99569362e-01 -1.15368705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.00, Y:-42.82, Z:-11.54 [[ 9.84313054e-01 1.74082137e-01 2.86918215e-02 2.66998543e+02] [-1.74020232e-01 9.84731052e-01 -4.65986304e-03 -4.28226889e+01] [-2.90649265e-02 -4.06193409e-04 9.99577443e-01 -1.15362719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.03, Y:-42.82, Z:-11.54 [[ 9.84185201e-01 1.74825081e-01 2.85601209e-02 2.67026708e+02] [-1.74764235e-01 9.84599413e-01 -4.63227601e-03 -4.28228178e+01] [-2.89301163e-02 -4.32270191e-04 9.99581343e-01 -1.15377135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69264 meters Centerline goodness [0,1] 0.9999141280779718 Centerline is valid? [True, True] Translation: X:267.05, Y:-42.83, Z:-11.54 [[ 9.84247861e-01 1.74508779e-01 2.83343235e-02 2.67054817e+02] [-1.74448781e-01 9.84655528e-01 -4.59492549e-03 -4.28254681e+01] [-2.87014031e-02 -4.20342617e-04 9.99587941e-01 -1.15393341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72264 meters Centerline goodness [0,1] 0.9999786753102743 Centerline is valid? [True, True] Translation: X:267.08, Y:-42.83, Z:-11.54 [[ 9.84388012e-01 1.73738594e-01 2.81982789e-02 2.67082761e+02] [-1.73679010e-01 9.84791724e-01 -4.56745061e-03 -4.28294308e+01] [-2.85629742e-02 -4.01305550e-04 9.99591914e-01 -1.15418824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75264 meters Centerline goodness [0,1] 0.999915164369035 Centerline is valid? [True, True] Translation: X:267.11, Y:-42.84, Z:-11.54 [[ 9.84700149e-01 1.71933194e-01 2.83653570e-02 2.67110068e+02] [-1.71872379e-01 9.85108546e-01 -4.58665238e-03 -4.28369493e+01] [-2.87315534e-02 -3.58744099e-04 9.99587099e-01 -1.15434980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.14, Y:-42.84, Z:-11.54 [[ 9.84909071e-01 1.70805179e-01 2.79233388e-02 2.67137727e+02] [-1.70745843e-01 9.85304768e-01 -4.51336651e-03 -4.28445235e+01] [-2.82839053e-02 -3.22538406e-04 9.99599878e-01 -1.15425237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81264 meters Centerline goodness [0,1] 0.9998053296418066 Centerline is valid? [True, True] Translation: X:267.17, Y:-42.85, Z:-11.55 [[ 9.85198580e-01 1.69214284e-01 2.73913130e-02 2.67166110e+02] [-1.69156609e-01 9.85579247e-01 -4.42605352e-03 -4.28502897e+01] [-2.77452612e-02 -2.72879995e-04 9.99614989e-01 -1.15451021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.19, Y:-42.86, Z:-11.54 [[ 9.85580166e-01 1.66687006e-01 2.91063434e-02 2.67193046e+02] [-1.66620821e-01 9.86009835e-01 -4.70176444e-03 -4.28578203e+01] [-2.94828639e-02 -2.15757069e-04 9.99565263e-01 -1.15445013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.22, Y:-42.87, Z:-11.54 [[ 9.85857547e-01 1.65023865e-01 2.91893839e-02 2.67220769e+02] [-1.64956634e-01 9.86289560e-01 -4.71310995e-03 -4.28655790e+01] [-2.95669603e-02 -1.68527508e-04 9.99562788e-01 -1.15448339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.25, Y:-42.87, Z:-11.55 [[ 9.86066975e-01 1.64063717e-01 2.74775826e-02 2.67249825e+02] [-1.63773659e-01 9.86418633e-01 -1.25087900e-02 -4.28678158e+01] [-2.91566380e-02 7.83440051e-03 9.99544152e-01 -1.15450008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.28, Y:-42.89, Z:-11.55 [[ 9.86602107e-01 1.60147636e-01 3.11290460e-02 2.67275433e+02] [-1.60308321e-01 9.87063241e-01 2.72037607e-03 -4.28865910e+01] [-3.02906752e-02 -7.67417387e-03 9.99511672e-01 -1.15461917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.30, Y:-42.89, Z:-11.55 [[ 9.86829604e-01 1.58990287e-01 2.98231803e-02 2.67302330e+02] [-1.58917602e-01 9.87280147e-01 -4.80696344e-03 -4.28895728e+01] [-3.02080943e-02 4.22551288e-06 9.99543631e-01 -1.15482821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.33, Y:-42.90, Z:-11.55 [[ 9.87034279e-01 1.57820361e-01 2.92586153e-02 2.67328832e+02] [-1.57749959e-01 9.87467839e-01 -4.71363078e-03 -4.28972333e+01] [-2.96358485e-02 3.69697946e-05 9.99560761e-01 -1.15511624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.36, Y:-42.90, Z:-11.55 [[ 9.87211320e-01 1.56771801e-01 2.89208041e-02 2.67356924e+02] [-1.56702622e-01 9.87634851e-01 -4.65726726e-03 -4.29044039e+01] [-2.92933222e-02 6.57411128e-05 9.99570856e-01 -1.15534475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.39, Y:-42.91, Z:-11.55 [[ 9.87382964e-01 1.55725092e-01 2.87154744e-02 2.67385140e+02] [-1.55656488e-01 9.87800429e-01 -4.62285859e-03 -4.29112292e+01] [-2.90850530e-02 9.47819180e-05 9.99576936e-01 -1.15539284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.41, Y:-42.92, Z:-11.56 [[ 9.87407889e-01 1.55563781e-01 2.87327603e-02 2.67411778e+02] [-1.55495029e-01 9.87825845e-01 -4.62555159e-03 -4.29171324e+01] [-2.91025315e-02 9.95047211e-05 9.99576427e-01 -1.15582701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.44, Y:-42.92, Z:-11.56 [[ 9.87334512e-01 1.56050882e-01 2.86126369e-02 2.67438972e+02] [-1.55983039e-01 9.87749015e-01 -4.60169964e-03 -4.29222426e+01] [-2.89802032e-02 8.03308086e-05 9.99579982e-01 -1.15576409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.47, Y:-42.93, Z:-11.55 [[ 9.87122368e-01 1.57188766e-01 2.96836965e-02 2.67467757e+02] [-1.57116340e-01 9.87568575e-01 -4.77136185e-03 -4.29271197e+01] [-3.00646904e-02 4.61242424e-05 9.99547954e-01 -1.15546481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.49, Y:-42.93, Z:-11.56 [[ 9.87133751e-01 1.57117239e-01 2.96838640e-02 2.67494887e+02] [-1.57044812e-01 9.87579957e-01 -4.77031992e-03 -4.29313485e+01] [-3.00646886e-02 4.72469435e-05 9.99547954e-01 -1.15559247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.52, Y:-42.94, Z:-11.56 [[ 9.87003378e-01 1.57936496e-01 2.96714460e-02 2.67522132e+02] [-1.57864567e-01 9.87449271e-01 -4.76611638e-03 -4.29358577e+01] [-3.00517914e-02 2.01029985e-05 9.99548343e-01 -1.15573800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.55, Y:-42.94, Z:-11.56 [[ 9.86690670e-01 1.60092340e-01 2.84950034e-02 2.67548890e+02] [-1.60026965e-01 9.87102042e-01 -4.57494725e-03 -4.29415122e+01] [-2.88598901e-02 -4.59111370e-05 9.99583466e-01 -1.15610035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.58, Y:-42.95, Z:-11.56 [[ 9.86425696e-01 1.61698642e-01 2.85988581e-02 2.67577933e+02] [-1.61633521e-01 9.86840180e-01 -4.58963583e-03 -4.29452881e+01] [-2.89646402e-02 -9.51994048e-05 9.99580432e-01 -1.15619258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.61, Y:-42.95, Z:-11.56 [[ 9.86100671e-01 1.63518181e-01 2.94494570e-02 2.67606474e+02] [-1.63449984e-01 9.86540309e-01 -4.72464466e-03 -4.29479480e+01] [-2.98256417e-02 -1.54538002e-04 9.99555105e-01 -1.15616395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.64, Y:-42.95, Z:-11.56 [[ 9.85716819e-01 1.65714150e-01 3.00195323e-02 2.67635675e+02] [-1.65644351e-01 9.86173803e-01 -4.81457163e-03 -4.29500352e+01] [-3.04023190e-02 -2.26761707e-04 9.99537717e-01 -1.15619046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:267.66, Y:-42.95, Z:-11.56 [[ 9.84937839e-01 1.70247316e-01 3.02209348e-02 2.67663325e+02] [-1.70178743e-01 9.85401296e-01 -4.84574967e-03 -4.29493835e+01] [-3.06047242e-02 -3.70198481e-04 9.99531497e-01 -1.15640686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters Centerline goodness [0,1] 0.9999786201441002 Centerline is valid? [True, True] Translation: X:267.69, Y:-42.95, Z:-11.57 [[ 9.84504464e-01 1.72795654e-01 2.98767755e-02 2.67692020e+02] [-1.72729884e-01 9.84957594e-01 -4.78800308e-03 -4.29507332e+01] [-3.02547031e-02 -4.46801570e-04 9.99542122e-01 -1.15654054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41264 meters Centerline goodness [0,1] 0.9999142753048584 Centerline is valid? [True, True] Translation: X:267.72, Y:-42.95, Z:-11.57 [[ 9.84089727e-01 1.75193250e-01 2.95759257e-02 2.67720867e+02] [-1.75129921e-01 9.84533930e-01 -4.73839585e-03 -4.29512704e+01] [-2.99486373e-02 -5.16622847e-04 9.99551305e-01 -1.15672424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters Centerline goodness [0,1] 0.9998705892502804 Centerline is valid? [True, True] Translation: X:267.75, Y:-42.95, Z:-11.57 [[ 9.83244462e-01 1.80029625e-01 2.86297254e-02 2.67751046e+02] [-1.79972392e-01 9.83660977e-01 -4.58473497e-03 -4.29457774e+01] [-2.89873318e-02 -6.44644884e-04 9.99579571e-01 -1.15725152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47264 meters Centerline goodness [0,1] 0.9999570409829023 Centerline is valid? [True, True] Translation: X:267.78, Y:-42.95, Z:-11.57 [[ 9.82873139e-01 1.82151189e-01 2.79524003e-02 2.67780499e+02] [-1.82097483e-01 9.83270292e-01 -4.47648538e-03 -4.29490660e+01] [-2.83001620e-02 -6.90244499e-04 9.99599232e-01 -1.15736566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters Centerline goodness [0,1] 0.9998707620729763 Centerline is valid? [True, True] Translation: X:267.81, Y:-42.95, Z:-11.58 [[ 9.82570766e-01 1.83842615e-01 2.75060523e-02 2.67808920e+02] [-1.83791272e-01 9.82955423e-01 -4.40501672e-03 -4.29504848e+01] [-2.78470531e-02 -7.27131699e-04 9.99611931e-01 -1.15762473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53264 meters Centerline goodness [0,1] 0.9998070119009328 Centerline is valid? [True, True] Translation: X:267.84, Y:-42.95, Z:-11.58 [[ 9.82137340e-01 1.85972547e-01 2.86436208e-02 2.67837084e+02] [-1.85917826e-01 9.82554597e-01 -4.58537191e-03 -4.29498809e+01] [-2.89966746e-02 -8.21894741e-04 9.99579170e-01 -1.15764451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters Centerline goodness [0,1] 0.9998931144316894 Centerline is valid? [True, True] Translation: X:267.87, Y:-42.95, Z:-11.58 [[ 9.82091903e-01 1.86117678e-01 2.92524329e-02 2.67865108e+02] [-1.86060660e-01 9.82527098e-01 -4.68320607e-03 -4.29526622e+01] [-2.96129355e-02 -8.43388206e-04 9.99561085e-01 -1.15759590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59264 meters Centerline goodness [0,1] 0.9998055693577308 Centerline is valid? [True, True] Translation: X:267.89, Y:-42.96, Z:-11.58 [[ 9.82127426e-01 1.85887898e-01 2.95196163e-02 2.67892393e+02] [-1.85829901e-01 9.82570592e-01 -4.72022927e-03 -4.29559126e+01] [-2.98825403e-02 -8.49760761e-04 9.99553056e-01 -1.15763568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters Centerline goodness [0,1] 0.9998718003504123 Centerline is valid? [True, True] Translation: X:267.92, Y:-42.96, Z:-11.58 [[ 9.82422354e-01 1.84245122e-01 3.00008981e-02 2.67919293e+02] [-1.84184694e-01 9.82879983e-01 -4.78924457e-03 -4.29617812e+01] [-3.03696772e-02 -8.20645323e-04 9.99538398e-01 -1.15770647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65264 meters Centerline goodness [0,1] 0.9998069705093834 Centerline is valid? [True, True] Translation: X:267.95, Y:-42.97, Z:-11.58 [[ 9.82749137e-01 1.82528174e-01 2.97925962e-02 2.67947290e+02] [-1.82467796e-01 9.83200328e-01 -4.75593614e-03 -4.29679523e+01] [-3.01601827e-02 -7.62297230e-04 9.99544788e-01 -1.15786583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters Centerline goodness [0,1] 0.999957274999466 Centerline is valid? [True, True] Translation: X:267.97, Y:-42.97, Z:-11.58 [[ 9.83069378e-01 1.80810908e-01 2.96987291e-02 2.67974870e+02] [-1.80750272e-01 9.83517620e-01 -4.73611021e-03 -4.29737357e+01] [-3.00655637e-02 -7.12128451e-04 9.99547675e-01 -1.15805141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71264 meters Centerline goodness [0,1] 0.9998931349918783 Centerline is valid? [True, True] Translation: X:268.00, Y:-42.98, Z:-11.58 [[ 9.83593401e-01 1.77958580e-01 2.95764298e-02 2.68001975e+02] [-1.77897353e-01 9.84037778e-01 -4.70993669e-03 -4.29825869e+01] [-2.99424979e-02 -6.28905937e-04 9.99551425e-01 -1.15822897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters Centerline goodness [0,1] 0.9999571468363652 Centerline is valid? [True, True] Translation: X:268.03, Y:-42.99, Z:-11.58 [[ 9.83837761e-01 1.76590093e-01 2.96513005e-02 2.68030240e+02] [-1.76527920e-01 9.84284305e-01 -4.72234837e-03 -4.29885178e+01] [-3.00192296e-02 -5.88257742e-04 9.99549148e-01 -1.15831483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77264 meters Centerline goodness [0,1] 0.9999785504386435 Centerline is valid? [True, True] Translation: X:268.06, Y:-43.00, Z:-11.58 [[ 9.84064760e-01 1.75290748e-01 2.98278623e-02 2.68058257e+02] [-1.75227375e-01 9.84516553e-01 -4.74584061e-03 -4.29979038e+01] [-3.01979261e-02 -5.56443514e-04 9.99543784e-01 -1.15800141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.09, Y:-43.00, Z:-11.58 [[ 9.84467155e-01 1.73093648e-01 2.93770425e-02 2.68085298e+02] [-1.73031388e-01 9.84905250e-01 -4.66774421e-03 -4.30023416e+01] [-2.97415603e-02 -4.87909586e-04 9.99557503e-01 -1.15840357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83264 meters Centerline goodness [0,1] 0.9999569984949473 Centerline is valid? [True, True] Translation: X:268.11, Y:-43.01, Z:-11.58 [[ 9.84695866e-01 1.71880261e-01 2.88310145e-02 2.68112956e+02] [-1.71819870e-01 9.85117748e-01 -4.57773647e-03 -4.30095579e+01] [-2.91887666e-02 -4.46062982e-04 9.99573818e-01 -1.15844761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.14, Y:-43.01, Z:-11.59 [[ 9.84810153e-01 1.71188990e-01 2.90394800e-02 2.68140779e+02] [-1.71127458e-01 9.85238116e-01 -4.60958183e-03 -4.30116022e+01] [-2.93999122e-02 -4.29889404e-04 9.99567637e-01 -1.15877958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.17, Y:-43.02, Z:-11.59 [[ 9.84993773e-01 1.70196292e-01 2.86441819e-02 2.68168938e+02] [-1.70136061e-01 9.85410100e-01 -4.54488666e-03 -4.30175155e+01] [-2.89997890e-02 -3.96723222e-04 9.99579339e-01 -1.15868242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters Centerline goodness [0,1] 0.9997853201949293 Centerline is valid? [True, True] Translation: X:268.20, Y:-43.02, Z:-11.59 [[ 9.85375964e-01 1.67942311e-01 2.88026058e-02 2.68196640e+02] [-1.67880484e-01 9.85796769e-01 -4.56880336e-03 -4.30201435e+01] [-2.91608111e-02 -3.33406388e-04 9.99574678e-01 -1.15920872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95264000000003 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:268.22, Y:-43.03, Z:-11.59 [[ 9.85404663e-01 1.67665146e-01 2.94287098e-02 2.68224873e+02] [-1.67600538e-01 9.85843947e-01 -4.66608723e-03 -4.30279975e+01] [-2.97944556e-02 -3.34283480e-04 9.99555991e-01 -1.15873242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98264 meters Centerline goodness [0,1] 0.9999576298116645 Centerline is valid? [True, True] Translation: X:268.25, Y:-43.03, Z:-11.60 [[ 9.85635061e-01 1.66385092e-01 2.89746118e-02 2.68252200e+02] [-1.66321945e-01 9.86060807e-01 -4.59289186e-03 -4.30287741e+01] [-2.93349179e-02 -2.92198563e-04 9.99569596e-01 -1.15950904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.28, Y:-43.04, Z:-11.59 [[ 9.85728721e-01 1.65847716e-01 2.88690760e-02 2.68280780e+02] [-1.65784857e-01 9.86151336e-01 -4.57418140e-03 -4.30352937e+01] [-2.92278954e-02 -2.77153642e-04 9.99572735e-01 -1.15907105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04264 meters Centerline goodness [0,1] 0.9999358426005133 Centerline is valid? [True, True] Translation: X:268.31, Y:-43.04, Z:-11.59 [[ 9.85848144e-01 1.65156041e-01 2.87561963e-02 2.68309360e+02] [-1.65093418e-01 9.86267416e-01 -4.55489263e-03 -4.30375648e+01] [-2.91135675e-02 -2.57026302e-04 9.99576077e-01 -1.15922734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.34, Y:-43.04, Z:-11.59 [[ 9.85775560e-01 1.65480191e-01 2.93743228e-02 2.68337384e+02] [-1.65415030e-01 9.86213076e-01 -4.65150931e-03 -4.30386948e+01] [-2.97390739e-02 -2.73610280e-04 9.99557658e-01 -1.15943809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.37, Y:-43.04, Z:-11.60 [[ 9.85849311e-01 1.65075998e-01 2.91727616e-02 2.68365165e+02] [-1.65011598e-01 9.86280815e-01 -4.61800677e-03 -4.30404770e+01] [-2.95348572e-02 -2.61185219e-04 9.99563717e-01 -1.15954523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.39, Y:-43.05, Z:-11.60 [[ 9.85941848e-01 1.64515015e-01 2.92144060e-02 2.68394013e+02] [-1.64450257e-01 9.86374548e-01 -4.62215380e-03 -4.30454879e+01] [-2.95767602e-02 -2.47141714e-04 9.99562481e-01 -1.15953957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.42, Y:-43.05, Z:-11.60 [[ 9.86156309e-01 1.63412550e-01 2.81438009e-02 2.68422347e+02] [-1.63352040e-01 9.86557801e-01 -4.45147978e-03 -4.30507458e+01] [-2.84929140e-02 -2.07492417e-04 9.99593973e-01 -1.15984811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.45, Y:-43.06, Z:-11.60 [[ 9.86393217e-01 1.62182066e-01 2.69332244e-02 2.68449497e+02] [-1.62126218e-01 9.86760837e-01 -4.25901613e-03 -4.30557873e+01] [-2.72673871e-02 -1.65517212e-04 9.99628162e-01 -1.16036610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.48, Y:-43.06, Z:-11.61 [[ 9.86833425e-01 1.59638545e-01 2.59870474e-02 2.68477133e+02] [-1.59585716e-01 9.87175530e-01 -4.10768348e-03 -4.30638959e+01] [-2.63095219e-02 -9.35622225e-05 9.99653840e-01 -1.16061497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.51, Y:-43.07, Z:-11.60 [[ 9.87001984e-01 1.58564558e-01 2.61603741e-02 2.68505841e+02] [-1.58510677e-01 9.87348609e-01 -4.13385738e-03 -4.30694014e+01] [-2.64848923e-02 -6.65731869e-05 9.99649211e-01 -1.16040786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.53, Y:-43.07, Z:-11.60 [[ 9.87117662e-01 1.57787719e-01 2.64907141e-02 2.68533624e+02] [-1.57732219e-01 9.87473055e-01 -4.18494573e-03 -4.30732836e+01] [-2.68191994e-02 -4.74052595e-05 9.99640299e-01 -1.16044334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.56, Y:-43.08, Z:-11.61 [[ 9.87195482e-01 1.57273428e-01 2.66486129e-02 2.68561442e+02] [-1.57217123e-01 9.87555096e-01 -4.20819947e-03 -4.30768294e+01] [-2.69788114e-02 -3.53027318e-05 9.99636005e-01 -1.16093412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.59, Y:-43.08, Z:-11.61 [[ 9.87384164e-01 1.55902592e-01 2.76928607e-02 2.68589562e+02] [-1.55841304e-01 9.87772434e-01 -4.37106442e-03 -4.30839357e+01] [-2.80357047e-02 2.28271984e-07 9.99606922e-01 -1.16050368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37264 meters Centerline goodness [0,1] 0.9998712335822817 Centerline is valid? [True, True] Translation: X:268.62, Y:-43.09, Z:-11.61 [[ 9.87526964e-01 1.54976530e-01 2.77987675e-02 2.68616668e+02] [-1.54914431e-01 9.87918152e-01 -4.38685847e-03 -4.30885488e+01] [-2.81427671e-02 2.57107647e-05 9.99603914e-01 -1.16069167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.65, Y:-43.09, Z:-11.61 [[ 9.87471904e-01 1.55284032e-01 2.80376108e-02 2.68645064e+02] [-1.55221056e-01 9.87869865e-01 -4.42204061e-03 -4.30931996e+01] [-2.83841831e-02 1.46132868e-05 9.99597088e-01 -1.16067411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.67, Y:-43.10, Z:-11.61 [[ 9.87436380e-01 1.55571682e-01 2.76920034e-02 2.68673252e+02] [-1.55510399e-01 9.87824606e-01 -4.36622032e-03 -4.30966958e+01] [-2.80341026e-02 4.97028170e-06 9.99606967e-01 -1.16081322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.70, Y:-43.10, Z:-11.61 [[ 9.87422408e-01 1.55574201e-01 2.81718924e-02 2.68701065e+02] [-1.55510795e-01 9.87824209e-01 -4.44122654e-03 -4.31013988e+01] [-2.85198176e-02 4.33320526e-06 9.99593227e-01 -1.16093463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49264 meters Centerline goodness [0,1] 0.9998709011102505 Centerline is valid? [True, True] Translation: X:268.73, Y:-43.11, Z:-11.61 [[ 9.87496880e-01 1.55014670e-01 2.86419993e-02 2.68729196e+02] [-1.54948994e-01 9.87912168e-01 -4.51194186e-03 -4.31055740e+01] [-2.89951968e-02 1.74795309e-05 9.99579551e-01 -1.16108596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.76, Y:-43.11, Z:-11.61 [[ 9.87597633e-01 1.54262696e-01 2.92221886e-02 2.68756364e+02] [-1.54194039e-01 9.88029868e-01 -4.60206809e-03 -4.31118800e+01] [-2.95823226e-02 3.91042614e-05 9.99562347e-01 -1.16086392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.78, Y:-43.12, Z:-11.61 [[ 9.87745840e-01 1.53200829e-01 2.97936541e-02 2.68783093e+02] [-1.53129034e-01 9.88195072e-01 -4.69018958e-03 -4.31186154e+01] [-3.01604831e-02 7.04417671e-05 9.99545067e-01 -1.16101945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.81, Y:-43.13, Z:-11.61 [[ 9.87870284e-01 1.52318265e-01 3.01902008e-02 2.68811187e+02] [-1.52244197e-01 9.88331491e-01 -4.75056206e-03 -4.31258907e+01] [-3.05615235e-02 9.66562339e-05 9.99532883e-01 -1.16112381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.84, Y:-43.14, Z:-11.61 [[ 9.88139148e-01 1.50559461e-01 3.02137764e-02 2.68838393e+02] [-1.50484498e-01 9.88600944e-01 -4.75284704e-03 -4.31355432e+01] [-3.05849539e-02 1.49769268e-04 9.99532160e-01 -1.16118416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.87, Y:-43.14, Z:-11.61 [[ 9.88282731e-01 1.49773666e-01 2.94124585e-02 2.68866397e+02] [-1.49702319e-01 9.88720294e-01 -4.62546840e-03 -4.31420068e+01] [-2.97734680e-02 1.68157281e-04 9.99556658e-01 -1.16121515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67264 meters Centerline goodness [0,1] 0.9999352247700479 Centerline is valid? [True, True] Translation: X:268.89, Y:-43.15, Z:-11.62 [[ 9.88467042e-01 1.48637828e-01 2.89776232e-02 2.68893319e+02] [-1.48568122e-01 9.88891681e-01 -4.55588977e-03 -4.31504739e+01] [-2.93329081e-02 1.98195814e-04 9.99569678e-01 -1.16154763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.92, Y:-43.16, Z:-11.62 [[ 9.88437658e-01 1.48846349e-01 2.89095422e-02 2.68919285e+02] [-1.48777100e-01 9.88860318e-01 -4.54379166e-03 -4.31569591e+01] [-2.92638259e-02 1.90176929e-04 9.99571704e-01 -1.16182613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.95, Y:-43.16, Z:-11.62 [[ 9.88409485e-01 1.49191205e-01 2.80833287e-02 2.68947122e+02] [-1.49126082e-01 9.88808351e-01 -4.41100890e-03 -4.31633090e+01] [-2.84271137e-02 1.71926263e-04 9.99595853e-01 -1.16212948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:268.97, Y:-43.17, Z:-11.62 [[ 9.88332647e-01 1.49830287e-01 2.73763416e-02 2.68974754e+02] [-1.49768676e-01 9.88711719e-01 -4.29893203e-03 -4.31693798e+01] [-2.77114200e-02 1.48656455e-04 9.99615954e-01 -1.16239033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79264 meters Centerline goodness [0,1] 0.9999570372916309 Centerline is valid? [True, True] Translation: X:269.00, Y:-43.17, Z:-11.62 [[ 9.87874767e-01 1.52738530e-01 2.78277964e-02 2.69003693e+02] [-1.52676075e-01 9.88266633e-01 -4.36794766e-03 -4.31731103e+01] [-2.81684366e-02 6.63465441e-05 9.99603189e-01 -1.16233373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.03, Y:-43.18, Z:-11.62 [[ 9.87517623e-01 1.54904124e-01 2.85246839e-02 2.69032138e+02] [-1.54839446e-01 9.87929508e-01 -4.47588898e-03 -4.31765158e+01] [-2.88737105e-02 3.27300783e-06 9.99583067e-01 -1.16232901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.06, Y:-43.18, Z:-11.62 [[ 9.87172759e-01 1.57116567e-01 2.83606959e-02 2.69060593e+02] [-1.57053581e-01 9.87580063e-01 -4.44882088e-03 -4.31798187e+01] [-2.87074414e-02 -6.23940843e-05 9.99587855e-01 -1.16237877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters Centerline goodness [0,1] 0.9998494656028902 Centerline is valid? [True, True] Translation: X:269.09, Y:-43.18, Z:-11.63 [[ 9.86485864e-01 1.61539285e-01 2.73989047e-02 2.69088645e+02] [-1.61482240e-01 9.86866265e-01 -4.29666404e-03 -4.31802156e+01] [-2.77331348e-02 -1.85838170e-04 9.99615345e-01 -1.16273288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91264 meters Centerline goodness [0,1] 0.9999139248133244 Centerline is valid? [True, True] Translation: X:269.12, Y:-43.18, Z:-11.63 [[ 9.86111764e-01 1.63814669e-01 2.73558421e-02 2.69116974e+02] [-1.63758715e-01 9.86491100e-01 -4.28857279e-03 -4.31828349e+01] [-2.76888259e-02 -2.50745475e-04 9.99616560e-01 -1.16281598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.14, Y:-43.18, Z:-11.63 [[ 9.85699669e-01 1.66246046e-01 2.75393192e-02 2.69144414e+02] [-1.66190320e-01 9.86084250e-01 -4.31617309e-03 -4.31849627e+01] [-2.78736357e-02 -3.22317890e-04 9.99611403e-01 -1.16297218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97264 meters Centerline goodness [0,1] 0.9999568547082299 Centerline is valid? [True, True] Translation: X:269.17, Y:-43.19, Z:-11.63 [[ 9.85360259e-01 1.68312110e-01 2.71328851e-02 2.69173063e+02] [-1.68258851e-01 9.85733682e-01 -4.25059402e-03 -4.31871709e+01] [-2.74612252e-02 -3.76981658e-04 9.99622798e-01 -1.16309363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters Centerline goodness [0,1] 0.9999786306521925 Centerline is valid? [True, True] Translation: X:269.20, Y:-43.18, Z:-11.63 [[ 9.84468165e-01 1.73422922e-01 2.73298810e-02 2.69202686e+02] [-1.73370904e-01 9.84847305e-01 -4.27962677e-03 -4.31833540e+01] [-2.76579451e-02 -5.25049862e-04 9.99617308e-01 -1.16331694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03264 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:269.23, Y:-43.18, Z:-11.63 [[ 9.84056021e-01 1.75781353e-01 2.71046628e-02 2.69231774e+02] [-1.75731024e-01 9.84429060e-01 -4.24649163e-03 -4.31842492e+01] [-2.74290717e-02 -5.84344470e-04 9.99623581e-01 -1.16333453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters Centerline goodness [0,1] 0.9999571899481998 Centerline is valid? [True, True] Translation: X:269.26, Y:-43.19, Z:-11.63 [[ 9.84089857e-01 1.75591727e-01 2.71053109e-02 2.69258908e+02] [-1.75541441e-01 9.84462902e-01 -4.24234942e-03 -4.31883019e+01] [-2.74290944e-02 -5.83252277e-04 9.99623581e-01 -1.16346217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09264 meters Centerline goodness [0,1] 0.999978608252936 Centerline is valid? [True, True] Translation: X:269.29, Y:-43.19, Z:-11.64 [[ 9.83713392e-01 1.77609162e-01 2.76215128e-02 2.69288400e+02] [-1.77557906e-01 9.84100886e-01 -4.31705695e-03 -4.31881870e+01] [-2.79491041e-02 -6.57671236e-04 9.99609131e-01 -1.16352339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters Centerline goodness [0,1] 0.9999360981532366 Centerline is valid? [True, True] Translation: X:269.32, Y:-43.18, Z:-11.63 [[ 9.83084130e-01 1.80729166e-01 2.97079530e-02 2.69316959e+02] [-1.80671521e-01 9.83532568e-01 -4.63565435e-03 -4.31844076e+01] [-3.00565372e-02 -8.10142821e-04 9.99547872e-01 -1.16336299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15264 meters Centerline goodness [0,1] 0.9998719562944152 Centerline is valid? [True, True] Translation: X:269.35, Y:-43.19, Z:-11.63 [[ 9.82941274e-01 1.81460268e-01 2.99770397e-02 2.69345339e+02] [-1.81401916e-01 9.83397918e-01 -4.67755872e-03 -4.31875420e+01] [-3.03281495e-02 -8.40126911e-04 9.99539643e-01 -1.16331817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:269.37, Y:-43.19, Z:-11.63 [[ 9.82981238e-01 1.81247119e-01 2.99560870e-02 2.69372905e+02] [-1.81188894e-01 9.83437227e-01 -4.66951156e-03 -4.31906449e+01] [-3.03062666e-02 -8.37668023e-04 9.99540309e-01 -1.16344092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21264 meters Centerline goodness [0,1] 0.999978379313327 Centerline is valid? [True, True] Translation: X:269.40, Y:-43.20, Z:-11.63 [[ 9.83295812e-01 1.79549048e-01 2.98577578e-02 2.69400938e+02] [-1.79490610e-01 9.83748706e-01 -4.64798464e-03 -4.31970274e+01] [-3.02070718e-02 -7.88843339e-04 9.99543351e-01 -1.16339979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters Centerline goodness [0,1] 0.9998713743649109 Centerline is valid? [True, True] Translation: X:269.43, Y:-43.20, Z:-11.64 [[ 9.83610486e-01 1.77846775e-01 2.96805795e-02 2.69428543e+02] [-1.77788470e-01 9.84057914e-01 -4.61319918e-03 -4.31981832e+01] [-3.00278517e-02 -7.39273744e-04 9.99548789e-01 -1.16381482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.46, Y:-43.21, Z:-11.64 [[ 9.84395054e-01 1.73636705e-01 2.85774689e-02 2.69456547e+02] [-1.73580881e-01 9.84809600e-01 -4.44172926e-03 -4.32069528e+01] [-2.89146129e-02 -5.88085905e-04 9.99581712e-01 -1.16402483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters Centerline goodness [0,1] 0.999978467302599 Centerline is valid? [True, True] Translation: X:269.49, Y:-43.21, Z:-11.64 [[ 9.84762337e-01 1.71600484e-01 2.82207963e-02 2.69485166e+02] [-1.71545393e-01 9.85166481e-01 -4.37983915e-03 -4.32125983e+01] [-2.85537651e-02 -5.28046955e-04 9.99592119e-01 -1.16413920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33264 meters Centerline goodness [0,1] 0.999957499256237 Centerline is valid? [True, True] Translation: X:269.51, Y:-43.22, Z:-11.65 [[ 9.85087357e-01 1.69719020e-01 2.82551507e-02 2.69512499e+02] [-1.69663041e-01 9.85492379e-01 -4.38447760e-03 -4.32153704e+01] [-2.85893649e-02 -4.74761333e-04 9.99591128e-01 -1.16451445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.54, Y:-43.22, Z:-11.65 [[ 9.85429927e-01 1.67786038e-01 2.78514887e-02 2.69540595e+02] [-1.67730969e-01 9.85823347e-01 -4.31853262e-03 -4.32200826e+01] [-2.81812373e-02 -4.15945886e-04 9.99602744e-01 -1.16469738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.57, Y:-43.22, Z:-11.65 [[ 9.86034239e-01 1.64377135e-01 2.67700920e-02 2.69568391e+02] [-1.64325029e-01 9.86397518e-01 -4.14987918e-03 -4.32236626e+01] [-2.70880976e-02 -3.07073193e-04 9.99633003e-01 -1.16504231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.60, Y:-43.23, Z:-11.65 [[ 9.86340438e-01 1.62582958e-01 2.64446894e-02 2.69595778e+02] [-1.62531509e-01 9.86694844e-01 -4.09786706e-03 -4.32275556e+01] [-2.67590821e-02 -2.56203287e-04 9.99641879e-01 -1.16530109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.62, Y:-43.23, Z:-11.65 [[ 9.86668068e-01 1.60538138e-01 2.67138465e-02 2.69624514e+02] [-1.60484936e-01 9.87029617e-01 -4.13774320e-03 -4.32328185e+01] [-2.70316233e-02 -2.04590867e-04 9.99634558e-01 -1.16540698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.65, Y:-43.24, Z:-11.65 [[ 9.87023508e-01 1.58284971e-01 2.70270780e-02 2.69653025e+02] [-1.58229704e-01 9.87393461e-01 -4.18498694e-03 -4.32388344e+01] [-2.73487806e-02 -1.45806061e-04 9.99625942e-01 -1.16538760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.68, Y:-43.25, Z:-11.65 [[ 9.87894599e-01 1.52672084e-01 2.74863083e-02 2.69681285e+02] [-1.52612786e-01 9.88276902e-01 -4.25473252e-03 -4.32467385e+01] [-2.78136625e-02 8.46519487e-06 9.99613125e-01 -1.16539643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.71, Y:-43.25, Z:-11.66 [[ 9.88419186e-01 1.49196891e-01 2.77092214e-02 2.69708707e+02] [-1.49135300e-01 9.88807502e-01 -4.28787744e-03 -4.32547639e+01] [-2.80388240e-02 1.05797287e-04 9.99606829e-01 -1.16550983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:269.74, Y:-43.26, Z:-11.66 [[ 9.88931459e-01 1.45666014e-01 2.82131404e-02 2.69736489e+02] [-1.45600764e-01 9.89333801e-01 -4.36445933e-03 -4.32636313e+01] [-2.85479668e-02 2.08296332e-04 9.99592402e-01 -1.16559534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60264 meters Centerline goodness [0,1] 0.9999573387939678 Centerline is valid? [True, True] Translation: X:269.76, Y:-43.28, Z:-11.66 [[ 9.89935483e-01 1.38658510e-01 2.83117813e-02 2.69763336e+02] [-1.38589973e-01 9.90340168e-01 -4.37839127e-03 -4.32765249e+01] [-2.86453955e-02 4.10595874e-04 9.99589552e-01 -1.16567927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63264 meters Centerline goodness [0,1] 0.9998920039742537 Centerline is valid? [True, True] Translation: X:269.79, Y:-43.28, Z:-11.66 [[ 9.90401030e-01 1.35499408e-01 2.73076806e-02 2.69792533e+02] [-1.35434494e-01 9.90777310e-01 -4.22138113e-03 -4.32826139e+01] [-2.76278249e-02 4.82458326e-04 9.99618162e-01 -1.16565164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66264 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:269.82, Y:-43.29, Z:-11.66 [[ 9.90714844e-01 1.32931655e-01 2.85179253e-02 2.69818626e+02] [-1.32859801e-01 9.91125038e-01 -4.40826699e-03 -4.32924618e+01] [-2.88508280e-02 5.78449674e-04 9.99583561e-01 -1.16588455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69264 meters Centerline goodness [0,1] 0.9998709954848419 Centerline is valid? [True, True] Translation: X:269.85, Y:-43.30, Z:-11.66 [[ 9.91026959e-01 1.30614159e-01 2.83814607e-02 2.69846628e+02] [-1.30542090e-01 9.91433069e-01 -4.38547218e-03 -4.33001412e+01] [-2.87111235e-02 6.41145949e-04 9.99587545e-01 -1.16586742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72264 meters Centerline goodness [0,1] 0.9996804090763822 Centerline is valid? [True, True] Translation: X:269.87, Y:-43.31, Z:-11.66 [[ 9.91542405e-01 1.26415436e-01 2.93733955e-02 2.69872757e+02] [-1.26336442e-01 9.91977075e-01 -4.53728535e-03 -4.33144943e+01] [-2.97113179e-02 7.87980556e-04 9.99558211e-01 -1.16591385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75264 meters Centerline goodness [0,1] 0.9999782995529708 Centerline is valid? [True, True] Translation: X:269.90, Y:-43.32, Z:-11.66 [[ 9.91743690e-01 1.24674083e-01 3.00137654e-02 2.69902030e+02] [-1.24590851e-01 9.92197379e-01 -4.63480481e-03 -4.33171777e+01] [-3.03574194e-02 8.57097865e-04 9.99538740e-01 -1.16565964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78264 meters Centerline goodness [0,1] 0.9999135751787913 Centerline is valid? [True, True] Translation: X:269.93, Y:-43.33, Z:-11.66 [[ 9.91950280e-01 1.23121656e-01 2.95922433e-02 2.69929202e+02] [-1.23040106e-01 9.92391186e-01 -4.56802413e-03 -4.33280234e+01] [-2.99295041e-02 8.90220048e-04 9.99551616e-01 -1.16588128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81264 meters Centerline goodness [0,1] 0.9999566837044096 Centerline is valid? [True, True] Translation: X:269.96, Y:-43.34, Z:-11.66 [[ 9.92095964e-01 1.21955900e-01 2.95356916e-02 2.69957741e+02] [-1.21874182e-01 9.92535091e-01 -4.55807195e-03 -4.33369184e+01] [-2.98710941e-02 9.22406520e-04 9.99553334e-01 -1.16605435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84264 meters Centerline goodness [0,1] 0.9998695822284049 Centerline is valid? [True, True] Translation: X:269.99, Y:-43.35, Z:-11.66 [[ 9.92180994e-01 1.21526112e-01 2.84302466e-02 2.69985248e+02] [-1.21450235e-01 9.92587827e-01 -4.38702758e-03 -4.33465294e+01] [-2.87526551e-02 8.99865240e-04 9.99586152e-01 -1.16642394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87264 meters Centerline goodness [0,1] 0.9999568015897015 Centerline is valid? [True, True] Translation: X:270.01, Y:-43.35, Z:-11.67 [[ 9.92139228e-01 1.21773731e-01 2.88255184e-02 2.70013407e+02] [-1.21695860e-01 9.92557475e-01 -4.44711473e-03 -4.33538320e+01] [-2.91525255e-02 9.04210709e-04 9.99574566e-01 -1.16663345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90264 meters Centerline goodness [0,1] 0.9999137168618822 Centerline is valid? [True, True] Translation: X:270.04, Y:-43.36, Z:-11.67 [[ 9.91990827e-01 1.23367596e-01 2.71041563e-02 2.70040816e+02] [-1.23299362e-01 9.92360714e-01 -4.18086900e-03 -4.33632596e+01] [-2.74128836e-02 8.05458507e-04 9.99623872e-01 -1.16701258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93264 meters Centerline goodness [0,1] 0.9999142973453603 Centerline is valid? [True, True] Translation: X:270.07, Y:-43.37, Z:-11.67 [[ 9.91782453e-01 1.25003740e-01 2.72329087e-02 2.70068938e+02] [-1.24935559e-01 9.92155979e-01 -4.19760748e-03 -4.33695574e+01] [-2.75440098e-02 7.60754769e-04 9.99620302e-01 -1.16726242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96264 meters Centerline goodness [0,1] 0.9999356236990623 Centerline is valid? [True, True] Translation: X:270.10, Y:-43.37, Z:-11.67 [[ 9.91535334e-01 1.27043566e-01 2.67882994e-02 2.70097476e+02] [-1.26978331e-01 9.91896896e-01 -4.12926660e-03 -4.33743150e+01] [-2.70958277e-02 6.92780188e-04 9.99632601e-01 -1.16742898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99264 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:270.13, Y:-43.38, Z:-11.68 [[ 9.90951920e-01 1.31530891e-01 2.67192191e-02 2.70126738e+02] [-1.31467668e-01 9.91311910e-01 -4.11690793e-03 -4.33787170e+01] [-2.70285807e-02 5.66944393e-04 9.99634500e-01 -1.16753165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.16, Y:-43.38, Z:-11.68 [[ 9.90637239e-01 1.33995638e-01 2.61348382e-02 2.70155015e+02] [-1.33936011e-01 9.90981801e-01 -4.02675169e-03 -4.33824864e+01] [-2.64387162e-02 4.88654195e-04 9.99650317e-01 -1.16763455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05264 meters Centerline goodness [0,1] 0.9999346063301072 Centerline is valid? [True, True] Translation: X:270.18, Y:-43.39, Z:-11.68 [[ 9.90305085e-01 1.36561315e-01 2.54331730e-02 2.70183911e+02] [-1.36505722e-01 9.90631536e-01 -3.91748158e-03 -4.33854957e+01] [-2.57298797e-02 4.07728270e-04 9.99668849e-01 -1.16764148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.21, Y:-43.39, Z:-11.68 [[ 9.89431110e-01 1.42442530e-01 2.71331016e-02 2.70212758e+02] [-1.42381519e-01 9.89803037e-01 -4.17735473e-03 -4.33897426e+01] [-2.74514594e-02 2.69952514e-04 9.99623101e-01 -1.16805162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.24, Y:-43.39, Z:-11.68 [[ 9.88950676e-01 1.45664120e-01 2.75413126e-02 2.70241418e+02] [-1.45602521e-01 9.89334085e-01 -4.23970404e-03 -4.33911841e+01] [-2.78651320e-02 1.82773639e-04 9.99611675e-01 -1.16798851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264000000003 meters Centerline goodness [0,1] 0.9998501680258567 Centerline is valid? [True, True] Translation: X:270.27, Y:-43.39, Z:-11.68 [[ 9.88440350e-01 1.49103067e-01 2.74581461e-02 2.70270584e+02] [-1.49043187e-01 9.88821656e-01 -4.22615153e-03 -4.33919890e+01] [-2.77813416e-02 8.48490974e-05 9.99614020e-01 -1.16797994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.30, Y:-43.39, Z:-11.68 [[ 9.87315418e-01 1.56117547e-01 2.89063352e-02 2.70299455e+02] [-1.56054228e-01 9.87738476e-01 -4.44753058e-03 -4.33900403e+01] [-2.92462370e-02 -1.19840308e-04 9.99572230e-01 -1.16814052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.33, Y:-43.39, Z:-11.68 [[ 9.86836200e-01 1.59199311e-01 2.84586480e-02 2.70327958e+02] [-1.59139251e-01 9.87246441e-01 -4.37758556e-03 -4.33919105e+01] [-2.87926075e-02 -2.08928019e-04 9.99585385e-01 -1.16800855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.36, Y:-43.39, Z:-11.68 [[ 9.86391837e-01 1.61979026e-01 2.81769266e-02 2.70356264e+02] [-1.61921332e-01 9.86794159e-01 -4.33250193e-03 -4.33906917e+01] [-2.85066011e-02 -2.88900958e-04 9.99593563e-01 -1.16849164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.39, Y:-43.39, Z:-11.69 [[ 9.86001043e-01 1.64442625e-01 2.75783719e-02 2.70385591e+02] [-1.64388372e-01 9.86386586e-01 -4.23855644e-03 -4.33913110e+01] [-2.78999355e-02 -3.54342601e-04 9.99610658e-01 -1.16864971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29264 meters Centerline goodness [0,1] 0.9999146976030027 Centerline is valid? [True, True] Translation: X:270.41, Y:-43.39, Z:-11.69 [[ 9.85451776e-01 1.67849352e-01 2.66719419e-02 2.70414031e+02] [-1.67799888e-01 9.85812560e-01 -4.09802082e-03 -4.33909756e+01] [-2.69813855e-02 -4.37146963e-04 9.99635841e-01 -1.16919186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264000000004 meters Centerline goodness [0,1] 0.9999358714007823 Centerline is valid? [True, True] Translation: X:270.44, Y:-43.39, Z:-11.69 [[ 9.85308174e-01 1.68742238e-01 2.63411984e-02 2.70441303e+02] [-1.68694341e-01 9.85660108e-01 -4.04612276e-03 -4.33939323e+01] [-2.66462203e-02 -4.56933277e-04 9.99644822e-01 -1.16948027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35264 meters Centerline goodness [0,1] 0.9999568398109584 Centerline is valid? [True, True] Translation: X:270.47, Y:-43.40, Z:-11.69 [[ 9.85286807e-01 1.68901678e-01 2.61176312e-02 2.70469461e+02] [-1.68854693e-01 9.85632798e-01 -4.01003923e-03 -4.33996638e+01] [-2.64196963e-02 -4.59045856e-04 9.99650834e-01 -1.16949713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters Centerline goodness [0,1] 0.999892449989245 Centerline is valid? [True, True] Translation: X:270.50, Y:-43.40, Z:-11.70 [[ 9.85350363e-01 1.68516571e-01 2.62073738e-02 2.70497253e+02] [-1.68469154e-01 9.85698717e-01 -4.02275557e-03 -4.34021055e+01] [-2.65104757e-02 -4.51310446e-04 9.99648434e-01 -1.16975145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41264 meters Centerline goodness [0,1] 0.9998070615473664 Centerline is valid? [True, True] Translation: X:270.53, Y:-43.41, Z:-11.70 [[ 9.85421598e-01 1.68036848e-01 2.66062458e-02 2.70525889e+02] [-1.67987852e-01 9.85780614e-01 -4.08210132e-03 -4.34083480e+01] [-2.69138647e-02 -4.46935259e-04 9.99637656e-01 -1.16956214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters Centerline goodness [0,1] 0.9999784872214095 Centerline is valid? [True, True] Translation: X:270.55, Y:-43.41, Z:-11.70 [[ 9.85540423e-01 1.67224954e-01 2.73109942e-02 2.70554772e+02] [-1.67173055e-01 9.85918670e-01 -4.18882131e-03 -4.34123477e+01] [-2.76268946e-02 -4.37409618e-04 9.99618209e-01 -1.16955328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47264 meters Centerline goodness [0,1] 0.9999784677662461 Centerline is valid? [True, True] Translation: X:270.58, Y:-43.42, Z:-11.70 [[ 9.85588774e-01 1.66878902e-01 2.76803240e-02 2.70581963e+02] [-1.66825486e-01 9.85977304e-01 -4.24429605e-03 -4.34157270e+01] [-2.80004547e-02 -4.34652943e-04 9.99607816e-01 -1.16967742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.60, Y:-43.43, Z:-11.70 [[ 9.84812622e-01 1.69922364e-01 3.56439315e-02 2.70600553e+02] [-1.70301965e-01 9.85360443e-01 7.87645912e-03 -4.34282674e+01] [-3.37837335e-02 -1.38270679e-02 9.99333514e-01 -1.16989411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53264 meters Centerline goodness [0,1] 0.9999356926968339 Centerline is valid? [True, True] Translation: X:270.64, Y:-43.42, Z:-11.70 [[ 9.85754087e-01 1.65986419e-01 2.71549119e-02 2.70639653e+02] [-1.65568352e-01 9.86051846e-01 -1.69963906e-02 -4.34154199e+01] [-2.95973210e-02 1.22582675e-02 9.99486735e-01 -1.16962432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters Centerline goodness [0,1] 0.9999784570973093 Centerline is valid? [True, True] Translation: X:270.67, Y:-43.43, Z:-11.70 [[ 9.85984867e-01 1.64246080e-01 2.92757265e-02 2.70667036e+02] [-1.64185361e-01 9.86419320e-01 -4.48238541e-03 -4.34281268e+01] [-2.96143565e-02 -3.87081556e-04 9.99561324e-01 -1.16993443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59264 meters Centerline goodness [0,1] 0.999956915122792 Centerline is valid? [True, True] Translation: X:270.69, Y:-43.43, Z:-11.70 [[ 9.86232281e-01 1.62744942e-01 2.93252795e-02 2.70694847e+02] [-1.62683396e-01 9.86668113e-01 -4.48856273e-03 -4.34349983e+01] [-2.96648091e-02 -3.43970596e-04 9.99559844e-01 -1.17004133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.72, Y:-43.44, Z:-11.70 [[ 9.86831052e-01 1.59183798e-01 2.87226983e-02 2.70722987e+02] [-1.59123285e-01 9.87248937e-01 -4.39500394e-03 -4.34440470e+01] [-2.90560668e-02 -2.33323752e-04 9.99577756e-01 -1.17010170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.75, Y:-43.45, Z:-11.71 [[ 9.87134692e-01 1.57356673e-01 2.83545101e-02 2.70750530e+02] [-1.57296970e-01 9.87541820e-01 -4.33789675e-03 -4.34475164e+01] [-2.86838615e-02 -1.77990173e-04 9.99588518e-01 -1.17063164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.78, Y:-43.45, Z:-11.71 [[ 9.87363856e-01 1.55891031e-01 2.84710672e-02 2.70778843e+02] [-1.55830317e-01 9.87774249e-01 -4.35259683e-03 -4.34535798e+01] [-2.88015178e-02 -1.39058639e-04 9.99585141e-01 -1.17061359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.81, Y:-43.46, Z:-11.71 [[ 9.87634273e-01 1.54146637e-01 2.85894639e-02 2.70806344e+02] [-1.54084709e-01 9.88047978e-01 -4.36991080e-03 -4.34596378e+01] [-2.89213690e-02 -8.93255373e-05 9.99581686e-01 -1.17092032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.83, Y:-43.47, Z:-11.71 [[ 9.87996921e-01 1.51852041e-01 2.83380089e-02 2.70834185e+02] [-1.51790321e-01 9.88403236e-01 -4.32910981e-03 -4.34661662e+01] [-2.86667639e-02 -2.42883231e-05 9.99589024e-01 -1.17067935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.86, Y:-43.47, Z:-11.71 [[ 9.88100018e-01 1.51215466e-01 2.81467015e-02 2.70861849e+02] [-1.51154385e-01 9.88500826e-01 -4.29759414e-03 -4.34702428e+01] [-2.84729004e-02 -8.04449463e-06 9.99594565e-01 -1.17100503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.89, Y:-43.47, Z:-11.71 [[ 9.88208330e-01 1.50519374e-01 2.80751444e-02 2.70890096e+02] [-1.50458363e-01 9.88607059e-01 -4.28521632e-03 -4.34745545e+01] [-2.84002940e-02 1.05461857e-05 9.99596630e-01 -1.17085551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.92, Y:-43.48, Z:-11.71 [[ 9.88373665e-01 1.49279745e-01 2.88626964e-02 2.70917297e+02] [-1.49214799e-01 9.88795002e-01 -4.40317945e-03 -4.34801921e+01] [-2.91965955e-02 4.52451526e-05 9.99573688e-01 -1.17091491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters Centerline goodness [0,1] 0.9998055231427461 Centerline is valid? [True, True] Translation: X:270.94, Y:-43.48, Z:-11.71 [[ 9.88534119e-01 1.48335105e-01 2.82310639e-02 2.70944074e+02] [-1.48272647e-01 9.88937153e-01 -4.30467442e-03 -4.34845638e+01] [-2.85572823e-02 6.94229437e-05 9.99592155e-01 -1.17132302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:270.97, Y:-43.49, Z:-11.71 [[ 9.88650059e-01 1.47580889e-01 2.81236938e-02 2.70971999e+02] [-1.47518673e-01 9.89049985e-01 -4.28576185e-03 -4.34899728e+01] [-2.84482355e-02 8.83487144e-05 9.99595263e-01 -1.17139251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.00, Y:-43.50, Z:-11.71 [[ 9.88832949e-01 1.46204443e-01 2.88731737e-02 2.71000210e+02] [-1.46138321e-01 9.89254388e-01 -4.39852685e-03 -4.34952668e+01] [-2.92059979e-02 1.29931144e-04 9.99573405e-01 -1.17138959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.03, Y:-43.50, Z:-11.72 [[ 9.88891661e-01 1.45829556e-01 2.87580296e-02 2.71027646e+02] [-1.45763837e-01 9.89309720e-01 -4.37980460e-03 -4.34996034e+01] [-2.90893032e-02 1.39271511e-04 9.99576807e-01 -1.17156725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.06, Y:-43.50, Z:-11.72 [[ 9.88898514e-01 1.45783015e-01 2.87583203e-02 2.71055635e+02] [-1.45717331e-01 9.89316579e-01 -4.37789511e-03 -4.35037754e+01] [-2.90893058e-02 1.38708293e-04 9.99576807e-01 -1.17169897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.08, Y:-43.51, Z:-11.72 [[ 9.88886014e-01 1.45908105e-01 2.85530305e-02 2.71084685e+02] [-1.45843447e-01 9.89298139e-01 -4.34529427e-03 -4.35073423e+01] [-2.88814736e-02 1.32728326e-04 9.99582834e-01 -1.17180373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.11, Y:-43.51, Z:-11.72 [[ 9.88689991e-01 1.47187545e-01 2.87737464e-02 2.71112965e+02] [-1.47122461e-01 9.89108597e-01 -4.37766886e-03 -4.35091161e+01] [-2.91046983e-02 9.48930014e-05 9.99576364e-01 -1.17193465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.14, Y:-43.51, Z:-11.72 [[ 9.88550943e-01 1.48105007e-01 2.88433840e-02 2.71141977e+02] [-1.48040055e-01 9.88971639e-01 -4.38630943e-03 -4.35120069e+01] [-2.91749232e-02 6.61141689e-05 9.99574319e-01 -1.17202290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.17, Y:-43.51, Z:-11.72 [[ 9.88377556e-01 1.49205929e-01 2.91100998e-02 2.71171138e+02] [-1.49140288e-01 9.88806144e-01 -4.42549377e-03 -4.35147858e+01] [-2.94445554e-02 3.25700631e-05 9.99566415e-01 -1.17185945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.20, Y:-43.52, Z:-11.72 [[ 9.88029974e-01 1.51278136e-01 3.01943168e-02 2.71199612e+02] [-1.51208529e-01 9.88491236e-01 -4.58870805e-03 -4.35157812e+01] [-3.05409888e-02 -3.18571475e-05 9.99533515e-01 -1.17205919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.23, Y:-43.52, Z:-11.72 [[ 9.87925517e-01 1.51933710e-01 3.03202864e-02 2.71227520e+02] [-1.51863866e-01 9.88390684e-01 -4.60667641e-03 -4.35180670e+01] [-3.06681981e-02 -5.35027352e-05 9.99529619e-01 -1.17207658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.25, Y:-43.52, Z:-11.72 [[ 9.87884758e-01 1.52165587e-01 3.04850656e-02 2.71254970e+02] [-1.52095161e-01 9.88355012e-01 -4.62945965e-03 -4.35209674e+01] [-3.08345118e-02 -6.32583407e-05 9.99524501e-01 -1.17220515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.28, Y:-43.52, Z:-11.72 [[ 9.87887453e-01 1.52136099e-01 3.05448397e-02 2.71282511e+02] [-1.52065452e-01 9.88359552e-01 -4.63628045e-03 -4.35248726e+01] [-3.08946297e-02 -6.46915739e-05 9.99522645e-01 -1.17234426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.31, Y:-43.53, Z:-11.73 [[ 9.87862976e-01 1.52255381e-01 3.07414880e-02 2.71309314e+02] [-1.52183932e-01 9.88341183e-01 -4.66441826e-03 -4.35287482e+01] [-3.10932614e-02 -7.05544149e-05 9.99516485e-01 -1.17255685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28264 meters Centerline goodness [0,1] 0.9999356554564173 Centerline is valid? [True, True] Translation: X:271.34, Y:-43.53, Z:-11.73 [[ 9.87824215e-01 1.52590713e-01 3.03215307e-02 2.71337589e+02] [-1.52521492e-01 9.88289465e-01 -4.59646510e-03 -4.35325243e+01] [-3.06678273e-02 -8.41855711e-05 9.99529628e-01 -1.17260823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.37, Y:-43.54, Z:-11.73 [[ 9.87739942e-01 1.53019245e-01 3.09017564e-02 2.71366347e+02] [-1.52947606e-01 9.88223204e-01 -4.68287242e-03 -4.35372646e+01] [-3.12544023e-02 -1.00889537e-04 9.99511457e-01 -1.17269905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.39, Y:-43.54, Z:-11.73 [[ 9.87452255e-01 1.54552968e-01 3.24256673e-02 2.71394480e+02] [-1.54474963e-01 9.87984491e-01 -4.91228973e-03 -4.35388713e+01] [-3.27952653e-02 -1.58302192e-04 9.99462078e-01 -1.17265553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.42, Y:-43.54, Z:-11.73 [[ 9.87349427e-01 1.55275717e-01 3.21023636e-02 2.71423213e+02] [-1.55199710e-01 9.87871155e-01 -4.86123659e-03 -4.35417097e+01] [-3.24678310e-02 -1.82538352e-04 9.99472764e-01 -1.17278925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40264 meters Centerline goodness [0,1] 0.9998928395379241 Centerline is valid? [True, True] Translation: X:271.45, Y:-43.54, Z:-11.73 [[ 9.87344829e-01 1.55623494e-01 3.05207532e-02 2.71451284e+02] [-1.55554996e-01 9.87816427e-01 -4.62055404e-03 -4.35435823e+01] [-3.08679681e-02 -1.85575515e-04 9.99523454e-01 -1.17326240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.48, Y:-43.55, Z:-11.74 [[ 9.87342463e-01 1.55800745e-01 2.96814544e-02 2.71480000e+02] [-1.55736101e-01 9.87788486e-01 -4.49157854e-03 -4.35473740e+01] [-3.00187902e-02 -1.87747774e-04 9.99549317e-01 -1.17362714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.51, Y:-43.55, Z:-11.74 [[ 9.87458714e-01 1.55309499e-01 2.83592768e-02 2.71508298e+02] [-1.55250318e-01 9.87865847e-01 -4.29032553e-03 -4.35517657e+01] [-2.86814893e-02 -1.66267399e-04 9.99588588e-01 -1.17373520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.53, Y:-43.55, Z:-11.74 [[ 9.87526192e-01 1.54875315e-01 2.83840892e-02 2.71534577e+02] [-1.54815859e-01 9.87934012e-01 -4.29380174e-03 -4.35541183e+01] [-2.87066110e-02 -1.54065472e-04 9.99587868e-01 -1.17423561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.57, Y:-43.56, Z:-11.74 [[ 9.87739594e-01 1.53302931e-01 2.94738062e-02 2.71565054e+02] [-1.53245235e-01 9.88179179e-01 -4.21995870e-03 -4.35607640e+01] [-2.97723337e-02 -3.48500072e-04 9.99556645e-01 -1.17404104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.59, Y:-43.57, Z:-11.74 [[ 9.87959754e-01 1.51952372e-01 2.90861127e-02 2.71590108e+02] [-1.51878629e-01 9.88387781e-01 -4.74091797e-03 -4.35678254e+01] [-2.94687521e-02 2.66277234e-04 9.99565667e-01 -1.17423859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.62, Y:-43.58, Z:-11.74 [[ 9.88119742e-01 1.50422447e-01 3.15033810e-02 2.71620243e+02] [-1.50455585e-01 9.88615876e-01 -1.32955139e-03 -4.35752513e+01] [-3.13447370e-02 -3.42610364e-03 9.99502761e-01 -1.17410034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.65, Y:-43.57, Z:-11.75 [[ 9.88119331e-01 1.50901415e-01 2.91367752e-02 2.71645567e+02] [-1.50731262e-01 9.88542703e-01 -7.96309191e-03 -4.35735247e+01] [-3.00045883e-02 3.47666215e-03 9.99543715e-01 -1.17463589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264000000003 meters Centerline goodness [0,1] 0.9999356015884941 Centerline is valid? [True, True] Translation: X:271.67, Y:-43.58, Z:-11.75 [[ 9.88316693e-01 1.49558817e-01 2.93645172e-02 2.71674141e+02] [-1.49493192e-01 9.88752831e-01 -4.43006364e-03 -4.35802573e+01] [-2.96968046e-02 -1.14895589e-05 9.99558953e-01 -1.17451592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67264 meters Centerline goodness [0,1] 0.9999568015897015 Centerline is valid? [True, True] Translation: X:271.70, Y:-43.59, Z:-11.75 [[ 9.88473181e-01 1.48535189e-01 2.92928083e-02 2.71701311e+02] [-1.48469464e-01 9.88907123e-01 -4.41825021e-03 -4.35858394e+01] [-2.96241324e-02 1.82342818e-05 9.99561109e-01 -1.17462957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.73, Y:-43.59, Z:-11.75 [[ 9.88637757e-01 1.47356119e-01 2.96910676e-02 2.71728518e+02] [-1.47288135e-01 9.89083501e-01 -4.47589430e-03 -4.35923463e+01] [-3.00264955e-02 5.18961164e-05 9.99549102e-01 -1.17483300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.76, Y:-43.60, Z:-11.75 [[ 9.88828303e-01 1.46095173e-01 2.95768083e-02 2.71755860e+02] [-1.46027202e-01 9.89270536e-01 -4.45687417e-03 -4.35980246e+01] [-2.99105928e-02 8.80647535e-05 9.99552574e-01 -1.17505079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.78, Y:-43.60, Z:-11.75 [[ 9.89179401e-01 1.43869127e-01 2.87365175e-02 2.71784157e+02] [-1.43804077e-01 9.89596712e-01 -4.32843402e-03 -4.36028059e+01] [-2.90602912e-02 1.49169401e-04 9.99577649e-01 -1.17509210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.81, Y:-43.61, Z:-11.75 [[ 9.89327725e-01 1.42837036e-01 2.87790434e-02 2.71811465e+02] [-1.42771392e-01 9.89746204e-01 -4.33362709e-03 -4.36085536e+01] [-2.91029514e-02 1.78553339e-04 9.99576403e-01 -1.17529806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.84, Y:-43.62, Z:-11.76 [[ 9.89534672e-01 1.41421586e-01 2.86542983e-02 2.71839216e+02] [-1.41355973e-01 9.89949437e-01 -4.31288164e-03 -4.36175809e+01] [-2.89762410e-02 2.17289703e-04 9.99580077e-01 -1.17554119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.87, Y:-43.62, Z:-11.76 [[ 9.89590958e-01 1.41166093e-01 2.79619584e-02 2.71866322e+02] [-1.41103542e-01 9.89985902e-01 -4.20758798e-03 -4.36223560e+01] [-2.82759134e-02 2.18259649e-04 9.99600133e-01 -1.17579031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters Centerline goodness [0,1] 0.9999346761023408 Centerline is valid? [True, True] Translation: X:271.90, Y:-43.62, Z:-11.76 [[ 9.89624847e-01 1.41164729e-01 2.67428709e-02 2.71895230e+02] [-1.41107560e-01 9.89986099e-01 -4.02245996e-03 -4.36248974e+01] [-2.70429000e-02 2.07105062e-04 9.99634252e-01 -1.17582322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.92, Y:-43.63, Z:-11.76 [[ 9.89512580e-01 1.41692910e-01 2.80708662e-02 2.71923116e+02] [-1.41630176e-01 9.89910642e-01 -4.22069735e-03 -4.36294747e+01] [-2.83856921e-02 2.00751400e-04 9.99597025e-01 -1.17602623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.95, Y:-43.63, Z:-11.76 [[ 9.89457276e-01 1.41942630e-01 2.87504680e-02 2.71951701e+02] [-1.41876969e-01 9.89874866e-01 -4.32140031e-03 -4.36326917e+01] [-2.90727566e-02 1.96811705e-04 9.99577279e-01 -1.17594344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:271.98, Y:-43.64, Z:-11.76 [[ 9.89409966e-01 1.42311676e-01 2.85535502e-02 2.71978920e+02] [-1.42247100e-01 9.89821879e-01 -4.29062628e-03 -4.36365332e+01] [-2.88735350e-02 1.83528681e-04 9.99583056e-01 -1.17625071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.01, Y:-43.64, Z:-11.76 [[ 9.89354413e-01 1.42731863e-01 2.83806268e-02 2.72007989e+02] [-1.42668295e-01 9.89761379e-01 -4.26270663e-03 -4.36386653e+01] [-2.86984724e-02 1.68311982e-04 9.99588100e-01 -1.17621228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.04, Y:-43.64, Z:-11.76 [[ 9.89220827e-01 1.43496875e-01 2.91685291e-02 2.72036409e+02] [-1.43430103e-01 9.89650759e-01 -4.37956380e-03 -4.36411888e+01] [-2.94951107e-02 1.48710574e-04 9.99564914e-01 -1.17621759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.06, Y:-43.65, Z:-11.76 [[ 9.89166511e-01 1.43775947e-01 2.96325918e-02 2.72064086e+02] [-1.43707197e-01 9.89610255e-01 -4.44796657e-03 -4.36451317e+01] [-2.99642274e-02 1.41362858e-04 9.99550962e-01 -1.17634698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.09, Y:-43.65, Z:-11.76 [[ 9.89138393e-01 1.43984590e-01 2.95580213e-02 2.72092763e+02] [-1.43916338e-01 9.89579921e-01 -4.43480182e-03 -4.36489218e+01] [-2.98885675e-02 1.32750556e-04 9.99553228e-01 -1.17649386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.12, Y:-43.65, Z:-11.77 [[ 9.89158014e-01 1.43917051e-01 2.92284938e-02 2.72120589e+02] [-1.43850318e-01 9.89589746e-01 -4.38418456e-03 -4.36528519e+01] [-2.95551767e-02 1.32123171e-04 9.99563142e-01 -1.17679667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.15, Y:-43.66, Z:-11.77 [[ 9.89254448e-01 1.43128900e-01 2.98287594e-02 2.72148935e+02] [-1.43059101e-01 9.89704043e-01 -4.47218404e-03 -4.36581777e+01] [-3.01617426e-02 1.56852454e-04 9.99545019e-01 -1.17672765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.18, Y:-43.66, Z:-11.77 [[ 9.89345605e-01 1.42348087e-01 3.05335358e-02 2.72175659e+02] [-1.42274618e-01 9.89816644e-01 -4.57652137e-03 -4.36647379e+01] [-3.08740610e-02 1.83614155e-04 9.99523266e-01 -1.17680605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.20, Y:-43.67, Z:-11.77 [[ 9.89702967e-01 1.39817667e-01 3.06440439e-02 2.72203231e+02] [-1.39742514e-01 9.90177232e-01 -4.59108617e-03 -4.36733470e+01] [-3.09849495e-02 2.61535863e-04 9.99519817e-01 -1.17665701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.23, Y:-43.68, Z:-11.77 [[ 9.89911145e-01 1.38305657e-01 3.07810024e-02 2.72229953e+02] [-1.38229142e-01 9.90389545e-01 -4.61025743e-03 -4.36802023e+01] [-3.11228076e-02 3.08913662e-04 9.99515520e-01 -1.17685259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27264 meters Centerline goodness [0,1] 0.9997850987471257 Centerline is valid? [True, True] Translation: X:272.26, Y:-43.69, Z:-11.77 [[ 9.90109763e-01 1.36939273e-01 3.05006972e-02 2.72258442e+02] [-1.36863560e-01 9.90579384e-01 -4.56624320e-03 -4.36865208e+01] [-3.08386598e-02 3.46647957e-04 9.99524315e-01 -1.17694411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.29, Y:-43.70, Z:-11.77 [[ 9.90212908e-01 1.35884955e-01 3.18382837e-02 2.72285244e+02] [-1.35801957e-01 9.90724545e-01 -4.76498328e-03 -4.36954535e+01] [-3.21904587e-02 3.94646700e-04 9.99481675e-01 -1.17708524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.31, Y:-43.70, Z:-11.77 [[ 9.90394621e-01 1.34426638e-01 3.23724274e-02 2.72314367e+02] [-1.34340137e-01 9.90923448e-01 -4.84236326e-03 -4.37046879e+01] [-3.27295400e-02 4.46934207e-04 9.99464145e-01 -1.17703100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.34, Y:-43.71, Z:-11.77 [[ 9.90441117e-01 1.34065184e-01 3.24487347e-02 2.72342494e+02] [-1.33978096e-01 9.90972409e-01 -4.85332087e-03 -4.37109076e+01] [-3.28064622e-02 4.59508861e-04 9.99461618e-01 -1.17707173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39264000000003 meters Centerline goodness [0,1] 0.9998280937748458 Centerline is valid? [True, True] Translation: X:272.37, Y:-43.72, Z:-11.77 [[ 9.90490951e-01 1.33910942e-01 3.15521029e-02 2.72371654e+02] [-1.33828580e-01 9.90993268e-01 -4.71741808e-03 -4.37165243e+01] [-3.18996355e-02 4.49986803e-04 9.99490976e-01 -1.17733699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters Centerline goodness [0,1] 0.9999786689419795 Centerline is valid? [True, True] Translation: X:272.40, Y:-43.72, Z:-11.77 [[ 9.90477368e-01 1.33949387e-01 3.18142416e-02 2.72398485e+02] [-1.33865679e-01 9.90988071e-01 -4.75634269e-03 -4.37230174e+01] [-3.21646431e-02 4.52214730e-04 9.99482482e-01 -1.17746124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.43, Y:-43.73, Z:-11.78 [[ 9.90412174e-01 1.34798017e-01 3.02195310e-02 2.72428093e+02] [-1.34722955e-01 9.90873016e-01 -4.51571854e-03 -4.37281265e+01] [-3.05524277e-02 4.01158105e-04 9.99533085e-01 -1.17762447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48264 meters Centerline goodness [0,1] 0.9999349804941482 Centerline is valid? [True, True] Translation: X:272.46, Y:-43.73, Z:-11.78 [[ 9.90310162e-01 1.35793666e-01 2.90837125e-02 2.72455823e+02] [-1.35724573e-01 9.90737076e-01 -4.34594177e-03 -4.37329408e+01] [-2.94044636e-02 3.56455845e-04 9.99567532e-01 -1.17797928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.48, Y:-43.74, Z:-11.78 [[ 9.90089322e-01 1.37213240e-01 2.99276094e-02 2.72484554e+02] [-1.37140790e-01 9.90541480e-01 -4.46990686e-03 -4.37374669e+01] [-3.02578689e-02 3.21311052e-04 9.99542074e-01 -1.17797889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.51, Y:-43.74, Z:-11.78 [[ 9.89834582e-01 1.38933508e-01 3.04134872e-02 2.72512879e+02] [-1.38859551e-01 9.90301675e-01 -4.54074702e-03 -4.37414676e+01] [-3.07493892e-02 2.71385243e-04 9.99527089e-01 -1.17808101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.54, Y:-43.74, Z:-11.78 [[ 9.89143735e-01 1.43538703e-01 3.14851133e-02 2.72542274e+02] [-1.43461805e-01 9.89644696e-01 -4.69968514e-03 -4.37393247e+01] [-3.18336621e-02 1.31752906e-04 9.99493172e-01 -1.17793597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.57, Y:-43.74, Z:-11.78 [[ 9.88746832e-01 1.46117949e-01 3.20818751e-02 2.72570357e+02] [-1.46039511e-01 9.89267175e-01 -4.78734556e-03 -4.37399423e+01] [-3.24370630e-02 4.82514040e-05 9.99473779e-01 -1.17808360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.60, Y:-43.74, Z:-11.78 [[ 9.88372567e-01 1.48575471e-01 3.23264244e-02 2.72599252e+02] [-1.48497215e-01 9.88901071e-01 -4.82172557e-03 -4.37416374e+01] [-3.26840259e-02 -3.47227140e-05 9.99465734e-01 -1.17818404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66264 meters Centerline goodness [0,1] 0.9999146648461834 Centerline is valid? [True, True] Translation: X:272.63, Y:-43.74, Z:-11.78 [[ 9.87618870e-01 1.53557641e-01 3.20783165e-02 2.72627673e+02] [-1.53483252e-01 9.88139672e-01 -4.78334745e-03 -4.37387486e+01] [-3.24323767e-02 -1.99360123e-04 9.99473912e-01 -1.17842069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.66, Y:-43.74, Z:-11.78 [[ 9.87229699e-01 1.55896927e-01 3.27669078e-02 2.72656883e+02] [-1.55820668e-01 9.87773287e-01 -4.88383318e-03 -4.37392105e+01] [-3.31276508e-02 -2.84296314e-04 9.99451088e-01 -1.17837143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.68, Y:-43.74, Z:-11.79 [[ 9.86937593e-01 1.57676752e-01 3.30488832e-02 2.72684630e+02] [-1.57600222e-01 9.87490719e-01 -4.92437212e-03 -4.37392690e+01] [-3.34119244e-02 -3.48463361e-04 9.99441605e-01 -1.17856779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.71, Y:-43.74, Z:-11.79 [[ 9.86678264e-01 1.59377858e-01 3.26297558e-02 2.72713120e+02] [-1.59304257e-01 9.87217573e-01 -4.85980269e-03 -4.37403626e+01] [-3.29872133e-02 -4.02997331e-04 9.99455693e-01 -1.17888221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.74, Y:-43.74, Z:-11.79 [[ 9.86693030e-01 1.59472372e-01 3.17084754e-02 2.72741125e+02] [-1.59402953e-01 9.87202313e-01 -4.72152263e-03 -4.37438097e+01] [-3.20556327e-02 -3.95731135e-04 9.99486008e-01 -1.17913228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.77, Y:-43.75, Z:-11.79 [[ 9.86783521e-01 1.58975886e-01 3.13839272e-02 2.72768234e+02] [-1.58907690e-01 9.87282394e-01 -4.67127965e-03 -4.37468437e+01] [-3.17274196e-02 -3.77605598e-04 9.99496487e-01 -1.17935878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.80, Y:-43.75, Z:-11.79 [[ 9.86922740e-01 1.58105768e-01 3.14017770e-02 2.72796858e+02] [-1.58037191e-01 9.87422119e-01 -4.66962428e-03 -4.37519992e+01] [-3.17451037e-02 -3.54090242e-04 9.99495934e-01 -1.17944727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.82, Y:-43.76, Z:-11.80 [[ 9.86934147e-01 1.58034514e-01 3.14019501e-02 2.72824039e+02] [-1.57965938e-01 9.87433526e-01 -4.66845973e-03 -4.37559056e+01] [-3.17451161e-02 -3.52976198e-04 9.99495934e-01 -1.17957506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90264 meters Centerline goodness [0,1] 0.9999146174863388 Centerline is valid? [True, True] Translation: X:272.85, Y:-43.76, Z:-11.80 [[ 9.87316477e-01 1.55844915e-01 3.03073765e-02 2.72851816e+02] [-1.55780077e-01 9.87781498e-01 -4.50341555e-03 -4.37584458e+01] [-3.06389002e-02 -2.74989067e-04 9.99530481e-01 -1.18044911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.88, Y:-43.77, Z:-11.80 [[ 9.87453310e-01 1.54908177e-01 3.06499142e-02 2.72879952e+02] [-1.54841480e-01 9.87928840e-01 -4.55218119e-03 -4.37658583e+01] [-3.09851043e-02 -2.50811688e-04 9.99519815e-01 -1.18025156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.91, Y:-43.77, Z:-11.80 [[ 9.87572526e-01 1.54142240e-01 3.06704356e-02 2.72907968e+02] [-1.54075128e-01 9.88048641e-01 -4.55381474e-03 -4.37704923e+01] [-3.10058174e-02 -2.28328971e-04 9.99519178e-01 -1.18030886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.94, Y:-43.77, Z:-11.80 [[ 9.87640650e-01 1.53678997e-01 3.08011652e-02 2.72937236e+02] [-1.53611132e-01 9.88120802e-01 -4.57176049e-03 -4.37717046e+01] [-3.11378556e-02 -2.16145352e-04 9.99515076e-01 -1.18035903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.97, Y:-43.78, Z:-11.80 [[ 9.87614416e-01 1.53878624e-01 3.06453115e-02 2.72965997e+02] [-1.53811583e-01 9.88089733e-01 -4.54723227e-03 -4.37753340e+01] [-3.09800395e-02 -2.22691734e-04 9.99519979e-01 -1.18027786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:272.99, Y:-43.78, Z:-11.80 [[ 9.87555148e-01 1.54357404e-01 3.01433407e-02 2.72994436e+02] [-1.54292810e-01 9.88015049e-01 -4.47126930e-03 -4.37777771e+01] [-3.04722478e-02 -2.35275724e-04 9.99535586e-01 -1.18045038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.03, Y:-43.77, Z:-11.80 [[ 9.87577955e-01 1.55350775e-01 2.35779335e-02 2.73029297e+02] [-1.54810132e-01 9.87670506e-01 -2.32549891e-02 -4.37705841e+01] [-2.68999100e-02 1.93160116e-02 9.99451493e-01 -1.18019256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11264 meters Centerline goodness [0,1] 0.9999358686590136 Centerline is valid? [True, True] Translation: X:273.05, Y:-43.79, Z:-11.82 [[ 9.87403149e-01 1.54960334e-01 3.19736727e-02 2.73050743e+02] [-1.55491639e-01 9.87725665e-01 1.48445770e-02 -4.37894008e+01] [-2.92808966e-02 -1.96292209e-02 9.99378468e-01 -1.18154196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.08, Y:-43.78, Z:-11.81 [[ 9.87179362e-01 1.56755995e-01 3.00743316e-02 2.73081831e+02] [-1.56693031e-01 9.87637311e-01 -4.45374918e-03 -4.37803408e+01] [-3.04006839e-02 -3.15788892e-04 9.99537743e-01 -1.18104239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.11, Y:-43.78, Z:-11.81 [[ 9.87073075e-01 1.57399040e-01 3.02040951e-02 2.73109983e+02] [-1.57335873e-01 9.87535026e-01 -4.47162714e-03 -4.37800580e+01] [-3.05314317e-02 -3.38364932e-04 9.99533750e-01 -1.18120281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264000000003 meters Centerline goodness [0,1] 0.9999355587060188 Centerline is valid? [True, True] Translation: X:273.14, Y:-43.78, Z:-11.81 [[ 9.86918562e-01 1.58531513e-01 2.93174321e-02 2.73139163e+02] [-1.58472558e-01 9.87353851e-01 -4.33840792e-03 -4.37779733e+01] [-2.96344539e-02 -3.64353161e-04 9.99560737e-01 -1.18137916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.17, Y:-43.78, Z:-11.82 [[ 9.86848937e-01 1.58915620e-01 2.95804105e-02 2.73166277e+02] [-1.58855781e-01 9.87292095e-01 -4.37710960e-03 -4.37787821e+01] [-2.99000965e-02 -3.79473249e-04 9.99552820e-01 -1.18170659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.19, Y:-43.78, Z:-11.82 [[ 9.86789267e-01 1.59344285e-01 2.92633052e-02 2.73194656e+02] [-1.59286053e-01 9.87222996e-01 -4.32537504e-03 -4.37786440e+01] [-2.95786317e-02 -3.93002720e-04 9.99562379e-01 -1.18207481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29264 meters Centerline goodness [0,1] 0.9999570271373628 Centerline is valid? [True, True] Translation: X:273.22, Y:-43.78, Z:-11.82 [[ 9.86802131e-01 1.59382279e-01 2.86154437e-02 2.73223774e+02] [-1.59326666e-01 9.87216865e-01 -4.22777681e-03 -4.37827493e+01] [-2.89234814e-02 -3.87224089e-04 9.99581554e-01 -1.18180809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.25, Y:-43.78, Z:-11.82 [[ 9.86940127e-01 1.58319423e-01 2.97345889e-02 2.73251909e+02] [-1.58258935e-01 9.87387878e-01 -4.39173191e-03 -4.37828318e+01] [-3.00548691e-02 -3.71387903e-04 9.99548181e-01 -1.18191780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.28, Y:-43.79, Z:-11.82 [[ 9.87146094e-01 1.57000569e-01 2.98899605e-02 2.73280163e+02] [-1.56938906e-01 9.87598455e-01 -4.41257618e-03 -4.37869650e+01] [-3.02120558e-02 -3.35040353e-04 9.99543456e-01 -1.18198653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.31, Y:-43.79, Z:-11.82 [[ 9.87331075e-01 1.55789584e-01 3.01156636e-02 2.73308113e+02] [-1.55726462e-01 9.87790218e-01 -4.44459211e-03 -4.37900132e+01] [-3.04403790e-02 -3.01521840e-04 9.99536539e-01 -1.18212427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41264 meters Centerline goodness [0,1] 0.999871690689021 Centerline is valid? [True, True] Translation: X:273.34, Y:-43.80, Z:-11.82 [[ 9.87855538e-01 1.52510708e-01 2.96971528e-02 2.73336240e+02] [-1.52447906e-01 9.88301798e-01 -4.38086334e-03 -4.37951246e+01] [-3.00178781e-02 -1.99608652e-04 9.99549342e-01 -1.18200303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.36, Y:-43.80, Z:-11.82 [[ 9.88134913e-01 1.50590301e-01 3.01985865e-02 2.73364592e+02] [-1.50524508e-01 9.88596247e-01 -4.45332775e-03 -4.38011682e+01] [-3.05248372e-02 -1.45138753e-04 9.99533998e-01 -1.18204056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.39, Y:-43.81, Z:-11.82 [[ 9.88393142e-01 1.48931437e-01 2.99737078e-02 2.73391212e+02] [-1.48865871e-01 9.88847520e-01 -4.41974329e-03 -4.38058159e+01] [-3.02976654e-02 -9.36181773e-05 9.99540916e-01 -1.18229884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters Centerline goodness [0,1] 0.9998718468997629 Centerline is valid? [True, True] Translation: X:273.42, Y:-43.81, Z:-11.83 [[ 9.88628988e-01 1.47542370e-01 2.90512189e-02 2.73418566e+02] [-1.47480302e-01 9.89055735e-01 -4.27953028e-03 -4.38103422e+01] [-2.93646867e-02 -5.36148447e-05 9.99568763e-01 -1.18256542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53264 meters Centerline goodness [0,1] 0.999806792323215 Centerline is valid? [True, True] Translation: X:273.45, Y:-43.82, Z:-11.83 [[ 9.89133012e-01 1.44225533e-01 2.85460982e-02 2.73447115e+02] [-1.44164278e-01 9.89544842e-01 -4.20321833e-03 -4.38160423e+01] [-2.88538557e-02 4.22143727e-05 9.99583640e-01 -1.18263513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.48, Y:-43.82, Z:-11.83 [[ 9.89321525e-01 1.42814759e-01 2.91009390e-02 2.73475569e+02] [-1.42750531e-01 9.89749432e-01 -4.28348909e-03 -4.38214438e+01] [-2.94143833e-02 8.35734610e-05 9.99567300e-01 -1.18265877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59264 meters Centerline goodness [0,1] 0.9998073052712714 Centerline is valid? [True, True] Translation: X:273.50, Y:-43.83, Z:-11.83 [[ 9.89508841e-01 1.41677052e-01 2.82819204e-02 2.73503258e+02] [-1.41615956e-01 9.89912926e-01 -4.16182552e-03 -4.38268409e+01] [-2.85862737e-02 1.12991965e-04 9.99591323e-01 -1.18288580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters Centerline goodness [0,1] 0.9999137726616224 Centerline is valid? [True, True] Translation: X:273.53, Y:-43.83, Z:-11.83 [[ 9.89653344e-01 1.40642394e-01 2.83897211e-02 2.73531790e+02] [-1.40580462e-01 9.90060451e-01 -4.17574029e-03 -4.38318690e+01] [-2.86948262e-02 1.41495246e-04 9.99588209e-01 -1.18286821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65264 meters Centerline goodness [0,1] 0.9999351056696013 Centerline is valid? [True, True] Translation: X:273.56, Y:-43.84, Z:-11.83 [[ 9.89856192e-01 1.39187202e-01 2.84893334e-02 2.73558887e+02] [-1.39124254e-01 9.90266070e-01 -4.18962916e-03 -4.38379579e+01] [-2.87951630e-02 1.83573110e-04 9.99585316e-01 -1.18315644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.59, Y:-43.84, Z:-11.83 [[ 9.89876390e-01 1.38677742e-01 3.02194720e-02 2.73589392e+02] [-1.38486764e-01 9.90329220e-01 -8.33378560e-03 -4.38396236e+01] [-3.10829367e-02 4.06442073e-03 9.99508545e-01 -1.18293829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71264 meters Centerline goodness [0,1] 0.9999785107983239 Centerline is valid? [True, True] Translation: X:273.61, Y:-43.85, Z:-11.83 [[ 9.90076264e-01 1.37540368e-01 2.88381637e-02 2.73614775e+02] [-1.37583666e-01 9.90490029e-01 -4.86878765e-04 -4.38482131e+01] [-2.86308791e-02 -3.48561318e-03 9.99583975e-01 -1.18322026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.64, Y:-43.85, Z:-11.83 [[ 9.90198957e-01 1.36750605e-01 2.83777515e-02 2.73642473e+02] [-1.36687372e-01 9.90605477e-01 -4.16541404e-03 -4.38497379e+01] [-2.86807789e-02 2.45708376e-04 9.99588592e-01 -1.18332667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77264 meters Centerline goodness [0,1] 0.9999570962759567 Centerline is valid? [True, True] Translation: X:273.67, Y:-43.86, Z:-11.84 [[ 9.90257834e-01 1.36428630e-01 2.78684686e-02 2.73669192e+02] [-1.36367567e-01 9.90649871e-01 -4.08897599e-03 -4.38552271e+01] [-2.81657482e-02 2.48785253e-04 9.99603236e-01 -1.18367781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.70, Y:-43.86, Z:-11.84 [[ 9.90314189e-01 1.35985702e-01 2.80302692e-02 2.73696642e+02] [-1.35923791e-01 9.90710765e-01 -4.11125206e-03 -4.38599125e+01] [-2.83289610e-02 2.61450781e-04 9.99598620e-01 -1.18364633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.72, Y:-43.86, Z:-11.84 [[ 9.90327541e-01 1.35947572e-01 2.77420139e-02 2.73724990e+02] [-1.35886980e-01 9.90715999e-01 -4.06662903e-03 -4.38636821e+01] [-2.80373054e-02 2.57516251e-04 9.99606844e-01 -1.18350017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.75, Y:-43.87, Z:-11.84 [[ 9.90212362e-01 1.36776054e-01 2.77810975e-02 2.73752788e+02] [-1.36715650e-01 9.90601967e-01 -4.07118594e-03 -4.38668684e+01] [-2.80768506e-02 2.33227843e-04 9.99605740e-01 -1.18377653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.78, Y:-43.87, Z:-11.84 [[ 9.90107502e-01 1.37510037e-01 2.78948693e-02 2.73780604e+02] [-1.37449478e-01 9.90500351e-01 -4.08607184e-03 -4.38702467e+01] [-2.81917537e-02 2.11515157e-04 9.99602511e-01 -1.18404470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.81, Y:-43.87, Z:-11.84 [[ 9.90026978e-01 1.38038182e-01 2.81432565e-02 2.73809609e+02] [-1.37976807e-01 9.90426889e-01 -4.12053148e-03 -4.38724038e+01] [-2.84426286e-02 1.96320650e-04 9.99595407e-01 -1.18390730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.84, Y:-43.87, Z:-11.84 [[ 9.89970275e-01 1.38698028e-01 2.68646974e-02 2.73838785e+02] [-1.38642379e-01 9.90334705e-01 -3.93215879e-03 -4.38743968e+01] [-2.71504248e-02 1.68134758e-04 9.99631345e-01 -1.18403901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.87, Y:-43.88, Z:-11.84 [[ 9.89975234e-01 1.38722145e-01 2.65556397e-02 2.73865578e+02] [-1.38667800e-01 9.90331328e-01 -3.88611551e-03 -4.38791370e+01] [-2.68379722e-02 1.64745963e-04 9.99639783e-01 -1.18433223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.89, Y:-43.88, Z:-11.84 [[ 9.89996170e-01 1.38648547e-01 2.61565193e-02 2.73894018e+02] [-1.38595860e-01 9.90341635e-01 -3.82537157e-03 -4.38849574e+01] [-2.64342723e-02 1.61917927e-04 9.99650540e-01 -1.18442593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04264 meters Centerline goodness [0,1] 0.999978354978355 Centerline is valid? [True, True] Translation: X:273.92, Y:-43.89, Z:-11.84 [[ 9.90000660e-01 1.38616863e-01 2.61544987e-02 2.73921720e+02] [-1.38564193e-01 9.90346070e-01 -3.82432279e-03 -4.38905672e+01] [-2.64321206e-02 1.62005077e-04 9.99650597e-01 -1.18441033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07264000000004 meters Centerline goodness [0,1] 0.9999568444674607 Centerline is valid? [True, True] Translation: X:273.95, Y:-43.90, Z:-11.85 [[ 9.89957344e-01 1.38879993e-01 2.63970539e-02 2.73948738e+02] [-1.38826481e-01 9.90309206e-01 -3.85802761e-03 -4.38955981e+01] [-2.66770484e-02 1.54672652e-04 9.99644092e-01 -1.18468408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:273.98, Y:-43.90, Z:-11.85 [[ 9.89922726e-01 1.39010154e-01 2.70032174e-02 2.73977484e+02] [-1.38954292e-01 9.90290944e-01 -3.94341604e-03 -4.38991238e+01] [-2.72892165e-02 1.51464202e-04 9.99627569e-01 -1.18472347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.00, Y:-43.90, Z:-11.85 [[ 9.89859895e-01 1.39470120e-01 2.69346293e-02 2.74004003e+02] [-1.39414728e-01 9.90226270e-01 -3.93280456e-03 -4.39019029e+01] [-2.72198863e-02 1.37841488e-04 9.99629461e-01 -1.18486494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.03, Y:-43.90, Z:-11.85 [[ 9.89580891e-01 1.41651531e-01 2.57779579e-02 2.74033257e+02] [-1.41601605e-01 9.89916582e-01 -3.76123255e-03 -4.39037501e+01] [-2.60508123e-02 7.18436560e-05 9.99660617e-01 -1.18492618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.06, Y:-43.91, Z:-11.85 [[ 9.89376831e-01 1.43013685e-01 2.60877784e-02 2.74061611e+02] [-1.42963059e-01 9.89720710e-01 -3.80514313e-03 -4.39060734e+01] [-2.63638021e-02 3.51318450e-05 9.99652414e-01 -1.18506458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.09, Y:-43.91, Z:-11.85 [[ 9.89207399e-01 1.44288759e-01 2.54848330e-02 2.74090808e+02] [-1.44240900e-01 9.89535626e-01 -3.71600858e-03 -4.39082157e+01] [-2.57543285e-02 -5.20655667e-08 9.99668302e-01 -1.18528131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.12, Y:-43.91, Z:-11.85 [[ 9.89046122e-01 1.45412625e-01 2.53562093e-02 2.74118743e+02] [-1.45365642e-01 9.89371097e-01 -3.69628248e-03 -4.39106782e+01] [-2.56241867e-02 -3.01278012e-05 9.99671646e-01 -1.18549854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28264 meters Centerline goodness [0,1] 0.9998708983324368 Centerline is valid? [True, True] Translation: X:274.15, Y:-43.91, Z:-11.86 [[ 9.88799489e-01 1.47048113e-01 2.55425766e-02 2.74146731e+02] [-1.47001017e-01 9.89129338e-01 -3.72212359e-03 -4.39120972e+01] [-2.58122431e-02 -7.43508221e-05 9.99666806e-01 -1.18550925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.17, Y:-43.92, Z:-11.85 [[ 9.88735098e-01 1.47235294e-01 2.69197612e-02 2.74174502e+02] [-1.47183115e-01 9.89101492e-01 -3.92045776e-03 -4.39154709e+01] [-2.72036057e-02 -8.58401114e-05 9.99629910e-01 -1.18546811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.20, Y:-43.92, Z:-11.86 [[ 9.88733602e-01 1.47204359e-01 2.71429702e-02 2.74203013e+02] [-1.47151351e-01 9.89106096e-01 -3.95107342e-03 -4.39191862e+01] [-2.74288925e-02 -8.75656773e-05 9.99623753e-01 -1.18553038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.23, Y:-43.92, Z:-11.86 [[ 9.88813674e-01 1.46673708e-01 2.70987327e-02 2.74230426e+02] [-1.46620696e-01 9.89184926e-01 -3.94379857e-03 -4.39232586e+01] [-2.73841095e-02 -7.35530848e-05 9.99624982e-01 -1.18563367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.26, Y:-43.93, Z:-11.86 [[ 9.88990882e-01 1.45492513e-01 2.69993280e-02 2.74257637e+02] [-1.45439500e-01 9.89359352e-01 -3.92745646e-03 -4.39279048e+01] [-2.72834532e-02 -4.25501404e-05 9.99627736e-01 -1.18553853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43264 meters Centerline goodness [0,1] 0.9999783263616463 Centerline is valid? [True, True] Translation: X:274.29, Y:-43.93, Z:-11.86 [[ 9.89075183e-01 1.44815502e-01 2.75454794e-02 2.74285615e+02] [-1.44760131e-01 9.89458675e-01 -4.00435434e-03 -4.39331912e+01] [-2.78350061e-02 -2.68796936e-05 9.99612531e-01 -1.18565912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.31, Y:-43.94, Z:-11.86 [[ 9.89201440e-01 1.43787255e-01 2.83854936e-02 2.74312547e+02] [-1.43728067e-01 9.89608622e-01 -4.12523366e-03 -4.39392808e+01] [-2.86836852e-02 8.94970187e-07 9.99588538e-01 -1.18588181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.34, Y:-43.95, Z:-11.86 [[ 9.89496051e-01 1.41740357e-01 2.84118869e-02 2.74339609e+02] [-1.41680258e-01 9.89903868e-01 -4.12757794e-03 -4.39464178e+01] [-2.87100811e-02 5.88186174e-05 9.99587779e-01 -1.18567458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.37, Y:-43.95, Z:-11.86 [[ 9.89646067e-01 1.40844994e-01 2.76287652e-02 2.74366641e+02] [-1.40787875e-01 9.90031657e-01 -4.01163224e-03 -4.39508667e+01] [-2.79183705e-02 8.03009319e-05 9.99610203e-01 -1.18601755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.40, Y:-43.96, Z:-11.86 [[ 9.89798309e-01 1.39881572e-01 2.70638805e-02 2.74395320e+02] [-1.39826454e-01 9.90168236e-01 -3.92781396e-03 -4.39555883e+01] [-2.73472236e-02 1.03497168e-04 9.99625989e-01 -1.18601222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58264 meters Centerline goodness [0,1] 0.999913926665519 Centerline is valid? [True, True] Translation: X:274.42, Y:-43.96, Z:-11.87 [[ 9.90101900e-01 1.37766236e-01 2.68084269e-02 2.74421611e+02] [-1.37711394e-01 9.90464759e-01 -3.89014263e-03 -4.39638692e+01] [-2.70887324e-02 1.59811769e-04 9.99633020e-01 -1.18650042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.45, Y:-43.97, Z:-11.87 [[ 9.90297928e-01 1.36248775e-01 2.73182251e-02 2.74448726e+02] [-1.36191326e-01 9.90674634e-01 -3.96136822e-03 -4.39700227e+01] [-2.76032042e-02 2.02429445e-04 9.99618938e-01 -1.18659807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.48, Y:-43.98, Z:-11.87 [[ 9.90516478e-01 1.34764415e-01 2.67518288e-02 2.74475958e+02] [-1.34708838e-01 9.90877640e-01 -3.87718068e-03 -4.39757991e+01] [-2.70302950e-02 2.36703587e-04 9.99634587e-01 -1.18681770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.50, Y:-43.99, Z:-11.87 [[ 9.90915067e-01 1.31874134e-01 2.63920984e-02 2.74503788e+02] [-1.31819063e-01 9.91266421e-01 -3.82329315e-03 -4.39862682e+01] [-2.66657944e-02 3.09577091e-04 9.99644357e-01 -1.18700737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264000000003 meters Centerline goodness [0,1] 0.9998064307990107 Centerline is valid? [True, True] Translation: X:274.53, Y:-43.99, Z:-11.87 [[ 9.91045470e-01 1.30972474e-01 2.59824584e-02 2.74531650e+02] [-1.30918821e-01 9.91385951e-01 -3.76276730e-03 -4.39941090e+01] [-2.62514632e-02 3.27480660e-04 9.99655317e-01 -1.18720529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.56, Y:-44.00, Z:-11.87 [[ 9.91102288e-01 1.30410924e-01 2.66316669e-02 2.74558267e+02] [-1.30354380e-01 9.91459968e-01 -3.85579563e-03 -4.40013542e+01] [-2.69070695e-02 3.49933439e-04 9.99637878e-01 -1.18738848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264000000003 meters Centerline goodness [0,1] 0.9998713523017217 Centerline is valid? [True, True] Translation: X:274.59, Y:-44.01, Z:-11.88 [[ 9.91105353e-01 1.30580787e-01 2.56678294e-02 2.74585453e+02] [-1.30528361e-01 9.91437617e-01 -3.71467710e-03 -4.40066952e+01] [-2.59331171e-02 3.31256658e-04 9.99663625e-01 -1.18759417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79264 meters Centerline goodness [0,1] 0.9998713523017217 Centerline is valid? [True, True] Translation: X:274.61, Y:-44.01, Z:-11.88 [[ 9.91111172e-01 1.30536566e-01 2.56680708e-02 2.74613476e+02] [-1.30484168e-01 9.91443440e-01 -3.71300824e-03 -4.40106575e+01] [-2.59331238e-02 3.30727082e-04 9.99663625e-01 -1.18772597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.64, Y:-44.01, Z:-11.87 [[ 9.91052824e-01 1.30778921e-01 2.66678554e-02 2.74642745e+02] [-1.30722482e-01 9.91411499e-01 -3.85638539e-03 -4.40129451e+01] [-2.69431524e-02 3.35793390e-04 9.99636911e-01 -1.18749699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85264 meters Centerline goodness [0,1] 0.9999141999141999 Centerline is valid? [True, True] Translation: X:274.67, Y:-44.02, Z:-11.87 [[ 9.90950336e-01 1.31471612e-01 2.70674366e-02 2.74670942e+02] [-1.31413763e-01 9.91319884e-01 -3.91283540e-03 -4.40166447e+01] [-2.73469149e-02 3.20391860e-04 9.99625952e-01 -1.18745510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.70, Y:-44.02, Z:-11.88 [[ 9.90809366e-01 1.32197676e-01 2.86456751e-02 2.74698282e+02] [-1.32133224e-01 9.91223322e-01 -4.13967979e-03 -4.40216907e+01] [-2.89415173e-02 3.16588106e-04 9.99581056e-01 -1.18762265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.73, Y:-44.03, Z:-11.88 [[ 9.90524983e-01 1.34421087e-01 2.81288107e-02 2.74727036e+02] [-1.34359888e-01 9.90924271e-01 -4.06314490e-03 -4.40257877e+01] [-2.84196936e-02 2.45262674e-04 9.99596049e-01 -1.18786820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters Centerline goodness [0,1] 0.9998490500938045 Centerline is valid? [True, True] Translation: X:274.76, Y:-44.03, Z:-11.88 [[ 9.90415825e-01 1.35493495e-01 2.67956490e-02 2.74755900e+02] [-1.35438385e-01 9.90778215e-01 -3.86940778e-03 -4.40292757e+01] [-2.70728249e-02 2.03163266e-04 9.99633443e-01 -1.18790708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.78, Y:-44.03, Z:-11.88 [[ 9.90248153e-01 1.36451041e-01 2.81017669e-02 2.74784507e+02] [-1.36390854e-01 9.90646799e-01 -4.05655684e-03 -4.40331477e+01] [-2.83924468e-02 1.84173938e-04 9.99596836e-01 -1.18811680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.81, Y:-44.04, Z:-11.88 [[ 9.90035825e-01 1.38124494e-01 2.73987237e-02 2.74813062e+02] [-1.38067956e-01 9.90414866e-01 -3.95381297e-03 -4.40362259e+01] [-2.76822217e-02 1.31530696e-04 9.99616765e-01 -1.18823914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03264 meters Centerline goodness [0,1] 0.9999785071034023 Centerline is valid? [True, True] Translation: X:274.84, Y:-44.04, Z:-11.89 [[ 9.89990754e-01 1.38509356e-01 2.70825688e-02 2.74840141e+02] [-1.38454286e-01 9.90361118e-01 -3.90720484e-03 -4.40409639e+01] [-2.73627076e-02 1.18398926e-04 9.99625564e-01 -1.18866644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.87, Y:-44.05, Z:-11.89 [[ 9.89924187e-01 1.38834411e-01 2.78408096e-02 2.74866985e+02] [-1.38776403e-01 9.90315603e-01 -4.01446575e-03 -4.40465527e+01] [-2.81285341e-02 1.10369340e-04 9.99604308e-01 -1.18876224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.89, Y:-44.05, Z:-11.89 [[ 9.89923399e-01 1.38653174e-01 2.87569243e-02 2.74894510e+02] [-1.38591262e-01 9.90340994e-01 -4.14470912e-03 -4.40535315e+01] [-2.90538381e-02 1.17486115e-04 9.99577841e-01 -1.18884522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.93, Y:-44.05, Z:-11.89 [[ 9.90311115e-01 1.37738182e-01 1.76660403e-02 2.74931673e+02] [-1.37269638e-01 9.90206688e-01 -2.54511583e-02 -4.40508430e+01] [-2.09986275e-02 2.27795540e-02 9.99519960e-01 -1.18877068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.95, Y:-44.08, Z:-11.89 [[ 9.90142196e-01 1.36494236e-01 3.14285813e-02 2.74951292e+02] [-1.37010766e-01 9.90457431e-01 1.49039543e-02 -4.40806438e+01] [-2.90943680e-02 -1.90630881e-02 9.99394875e-01 -1.18891182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:274.98, Y:-44.08, Z:-11.89 [[ 9.90112417e-01 1.37275525e-01 2.88588352e-02 2.74981276e+02] [-1.37213121e-01 9.90532892e-01 -4.14113911e-03 -4.40755028e+01] [-2.91541026e-02 1.40382408e-04 9.99574919e-01 -1.18870940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.01, Y:-44.08, Z:-11.89 [[ 9.90097177e-01 1.37407995e-01 2.87510381e-02 2.75008151e+02] [-1.37346148e-01 9.90514525e-01 -4.12442560e-03 -4.40813824e+01] [-2.90450499e-02 1.34737806e-04 9.99578094e-01 -1.18890812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.04, Y:-44.09, Z:-11.89 [[ 9.89857200e-01 1.39194976e-01 2.84162274e-02 2.75036019e+02] [-1.39135346e-01 9.90264991e-01 -4.07471968e-03 -4.40854299e+01] [-2.87067756e-02 7.96889885e-05 9.99587872e-01 -1.18925982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.06, Y:-44.09, Z:-11.89 [[ 9.89705884e-01 1.40296485e-01 2.82694022e-02 2.75064330e+02] [-1.40237981e-01 9.90109536e-01 -4.05150434e-03 -4.40892714e+01] [-2.85582165e-02 4.53538080e-05 9.99592130e-01 -1.18933651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters Centerline goodness [0,1] 0.9999348689780942 Centerline is valid? [True, True] Translation: X:275.09, Y:-44.09, Z:-11.89 [[ 9.89571919e-01 1.41431871e-01 2.72844705e-02 2.75092982e+02] [-1.41377838e-01 9.89947992e-01 -3.90910281e-03 -4.40937267e+01] [-2.75630785e-02 1.09189295e-05 9.99620066e-01 -1.18928576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.12, Y:-44.10, Z:-11.89 [[ 9.89150608e-01 1.43931731e-01 2.94063080e-02 2.75120518e+02] [-1.43870113e-01 9.89587617e-01 -4.21163956e-03 -4.40979827e+01] [-2.97063068e-02 -6.47430150e-05 9.99558668e-01 -1.18945984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.15, Y:-44.10, Z:-11.90 [[ 9.88952686e-01 1.45280585e-01 2.94302056e-02 2.75148724e+02] [-1.45219516e-01 9.89390489e-01 -4.21330771e-03 -4.40999104e+01] [-2.97300774e-02 -1.07078250e-04 9.99557958e-01 -1.18961745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.18, Y:-44.10, Z:-11.90 [[ 9.88731924e-01 1.46737837e-01 2.96173862e-02 2.75176858e+02] [-1.46676706e-01 9.89175406e-01 -4.23796810e-03 -4.41010195e+01] [-2.99186603e-02 -1.53966296e-04 9.99552325e-01 -1.18982144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.21, Y:-44.10, Z:-11.90 [[ 9.88482681e-01 1.48366003e-01 2.98247848e-02 2.75205307e+02] [-1.48304815e-01 9.88932498e-01 -4.26563531e-03 -4.41028679e+01] [-3.01275742e-02 -2.06652542e-04 9.99546040e-01 -1.18992404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45264000000003 meters Centerline goodness [0,1] 0.9998493716646583 Centerline is valid? [True, True] Translation: X:275.23, Y:-44.10, Z:-11.90 [[ 9.88091163e-01 1.51072413e-01 2.92058274e-02 2.75234890e+02] [-1.51014959e-01 9.88522658e-01 -4.17574598e-03 -4.41014760e+01] [-2.95014622e-02 -2.84499136e-04 9.99564697e-01 -1.18978273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.26, Y:-44.10, Z:-11.90 [[ 9.87916067e-01 1.51860416e-01 3.09880558e-02 2.75264061e+02] [-1.51796178e-01 9.88401895e-01 -4.42878823e-03 -4.41038774e+01] [-3.13012107e-02 -3.28597393e-04 9.99509943e-01 -1.19007366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.29, Y:-44.11, Z:-11.90 [[ 9.87908145e-01 1.51846873e-01 3.13053286e-02 2.75292183e+02] [-1.51781337e-01 9.88403974e-01 -4.47316748e-03 -4.41076889e+01] [-3.16215477e-02 -3.32486043e-04 9.99499859e-01 -1.19014673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.32, Y:-44.11, Z:-11.90 [[ 9.87959911e-01 1.51503518e-01 3.13352605e-02 2.75320854e+02] [-1.51437731e-01 9.88456666e-01 -4.47594891e-03 -4.41127753e+01] [-3.16516691e-02 -3.23282646e-04 9.99498908e-01 -1.19022029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.35, Y:-44.12, Z:-11.91 [[ 9.88461245e-01 1.48261274e-01 3.10316261e-02 2.75348155e+02] [-1.48195200e-01 9.88948202e-01 -4.43123391e-03 -4.41193125e+01] [-3.13456512e-02 -2.18635058e-04 9.99508580e-01 -1.19060271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.37, Y:-44.13, Z:-11.91 [[ 9.88818507e-01 1.45905141e-01 3.08164055e-02 2.75374920e+02] [-1.45838891e-01 9.89298574e-01 -4.39876544e-03 -4.41258394e+01] [-3.11284285e-02 -1.44649715e-04 9.99515383e-01 -1.19089133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.40, Y:-44.13, Z:-11.91 [[ 9.89238458e-01 1.43072925e-01 3.06171668e-02 2.75402846e+02] [-1.43006249e-01 9.89712147e-01 -4.36784948e-03 -4.41342251e+01] [-3.09271029e-02 -5.76014857e-05 9.99521641e-01 -1.19086215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.43, Y:-44.14, Z:-11.91 [[ 9.89679408e-01 1.40095034e-01 3.01338653e-02 2.75430307e+02] [-1.40029109e-01 9.90138061e-01 -4.29748448e-03 -4.41427451e+01] [-3.04387432e-02 3.35135871e-05 9.99536634e-01 -1.19112521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.46, Y:-44.16, Z:-11.91 [[ 9.90596658e-01 1.33676466e-01 2.91352688e-02 2.75457630e+02] [-1.33612106e-01 9.91025001e-01 -4.15351070e-03 -4.41580365e+01] [-2.94290065e-02 2.21629181e-04 9.99566848e-01 -1.19130023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72264 meters Centerline goodness [0,1] 0.999807803190467 Centerline is valid? [True, True] Translation: X:275.48, Y:-44.17, Z:-11.92 [[ 9.91029853e-01 1.30848346e-01 2.71761013e-02 2.75484576e+02] [-1.30791304e-01 9.91402355e-01 -3.87368764e-03 -4.41684633e+01] [-2.74493164e-02 2.84542371e-04 9.99623156e-01 -1.19150750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.51, Y:-44.18, Z:-11.92 [[ 9.91324655e-01 1.28237088e-01 2.88214670e-02 2.75512632e+02] [-1.28171870e-01 9.91743468e-01 -4.10665270e-03 -4.41758107e+01] [-2.91101268e-02 3.76924755e-04 9.99576139e-01 -1.19162763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78264 meters Centerline goodness [0,1] 0.9998271839626718 Centerline is valid? [True, True] Translation: X:275.54, Y:-44.18, Z:-11.92 [[ 9.91603312e-01 1.26339022e-01 2.75920741e-02 2.75541818e+02] [-1.26278568e-01 9.91987037e-01 -3.92958441e-03 -4.41834755e+01] [-2.78674397e-02 4.12301299e-04 9.99611542e-01 -1.19153132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81264 meters Centerline goodness [0,1] 0.9998264416192997 Centerline is valid? [True, True] Translation: X:275.57, Y:-44.19, Z:-11.91 [[ 9.92026324e-01 1.22863656e-01 2.80765708e-02 2.75570823e+02] [-1.22799678e-01 9.92423424e-01 -3.99823914e-03 -4.41940258e+01] [-2.83550848e-02 5.18564623e-04 9.99597779e-01 -1.19137067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84264 meters Centerline goodness [0,1] 0.9999785669888762 Centerline is valid? [True, True] Translation: X:275.61, Y:-44.18, Z:-11.91 [[ 9.92298343e-01 1.23177098e-01 1.30919834e-02 2.75607672e+02] [-1.22594194e-01 9.91705749e-01 -3.86053285e-02 -4.41807308e+01] [-1.77386875e-02 3.67030023e-02 9.99168769e-01 -1.19113762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87264 meters Centerline goodness [0,1] 0.9999786830380935 Centerline is valid? [True, True] Translation: X:275.63, Y:-44.24, Z:-11.92 [[ 9.92273993e-01 1.19039117e-01 3.49572790e-02 2.75625556e+02] [-1.20153825e-01 9.92248102e-01 3.17295318e-02 -4.42355481e+01] [-3.09092383e-02 -3.56846400e-02 9.98884991e-01 -1.19236544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.66, Y:-44.22, Z:-11.92 [[ 9.92211935e-01 1.20943326e-01 2.98024876e-02 2.75660017e+02] [-1.20870488e-01 9.92659229e-01 -4.24020116e-03 -4.42213275e+01] [-3.00965385e-02 6.04936979e-04 9.99546814e-01 -1.19222460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.69, Y:-44.23, Z:-11.92 [[ 9.92116009e-01 1.21754341e-01 2.96935343e-02 2.75691714e+02] [-1.21682250e-01 9.92560094e-01 -4.22959211e-03 -4.42265080e+01] [-2.99875884e-02 5.83069979e-04 9.99550101e-01 -1.19233236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.72, Y:-44.23, Z:-11.93 [[ 9.91973924e-01 1.22873333e-01 2.98308273e-02 2.75722671e+02] [-1.22800921e-01 9.92422205e-01 -4.25440658e-03 -4.42330880e+01] [-3.01275285e-02 5.57007327e-04 9.99545908e-01 -1.19250686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99264 meters Centerline goodness [0,1] 0.9999143780636599 Centerline is valid? [True, True] Translation: X:275.75, Y:-44.23, Z:-11.92 [[ 9.91824623e-01 1.24255839e-01 2.90586087e-02 2.75754748e+02] [-1.24187539e-01 9.92250084e-01 -4.15049425e-03 -4.42349585e+01] [-2.93491301e-02 5.07845288e-04 9.99569092e-01 -1.19216973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.78, Y:-44.24, Z:-11.92 [[ 9.91452044e-01 1.26828222e-01 3.06177496e-02 2.75784958e+02] [-1.26753576e-01 9.91924591e-01 -4.37456689e-03 -4.42396035e+01] [-3.09253173e-02 4.56264020e-04 9.99521594e-01 -1.19248641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.81, Y:-44.25, Z:-11.93 [[ 9.91298464e-01 1.28163858e-01 3.00230005e-02 2.75814901e+02] [-1.28092676e-01 9.91752923e-01 -4.29030997e-03 -4.42466542e+01] [-3.03252612e-02 4.07251217e-04 9.99540001e-01 -1.19295600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.85, Y:-44.25, Z:-11.93 [[ 9.91165894e-01 1.29363662e-01 2.92440163e-02 2.75845928e+02] [-1.29296629e-01 9.91597152e-01 -4.17964860e-03 -4.42483113e+01] [-2.95389780e-02 3.61572400e-04 9.99563564e-01 -1.19287096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11264 meters Centerline goodness [0,1] 0.9998494397006001 Centerline is valid? [True, True] Translation: X:275.88, Y:-44.25, Z:-11.93 [[ 9.90936500e-01 1.31513619e-01 2.73682446e-02 2.75875580e+02] [-1.31455709e-01 9.91314325e-01 -3.91237466e-03 -4.42531770e+01] [-2.76450635e-02 2.79202865e-04 9.99617763e-01 -1.19305355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.91, Y:-44.26, Z:-11.93 [[ 9.90769044e-01 1.32514521e-01 2.85762650e-02 2.75906079e+02] [-1.32451786e-01 9.91181029e-01 -4.08556164e-03 -4.42579299e+01] [-2.88656480e-02 2.62870671e-04 9.99583266e-01 -1.19328855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.94, Y:-44.26, Z:-11.93 [[ 9.90629060e-01 1.33428134e-01 2.91718815e-02 2.75936602e+02] [-1.33363145e-01 9.91058462e-01 -4.17094029e-03 -4.42617127e+01] [-2.94675608e-02 2.41400792e-04 9.99565708e-01 -1.19317670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.97, Y:-44.27, Z:-11.93 [[ 9.90372647e-01 1.35353368e-01 2.90083784e-02 2.75965438e+02] [-1.35289926e-01 9.90797372e-01 -4.14776164e-03 -4.42657288e+01] [-2.93028385e-02 1.83288322e-04 9.99570563e-01 -1.19330333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:275.99, Y:-44.27, Z:-11.93 [[ 9.90334663e-01 1.35621502e-01 2.90527846e-02 2.75994929e+02] [-1.35557985e-01 9.90760706e-01 -4.15394415e-03 -4.42700902e+01] [-2.93477215e-02 1.75457930e-04 9.99569247e-01 -1.19338269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.02, Y:-44.27, Z:-11.93 [[ 9.90286339e-01 1.35959844e-01 2.91185119e-02 2.76024568e+02] [-1.35896207e-01 9.90714335e-01 -4.16261343e-03 -4.42748220e+01] [-2.94140754e-02 1.65083893e-04 9.99567299e-01 -1.19347357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.05, Y:-44.28, Z:-11.94 [[ 9.90218313e-01 1.36470518e-01 2.90429193e-02 2.76053674e+02] [-1.36407458e-01 9.90644122e-01 -4.15087458e-03 -4.42800345e+01] [-2.93376693e-02 1.48601233e-04 9.99569547e-01 -1.19382262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.08, Y:-44.28, Z:-11.94 [[ 9.90091252e-01 1.37417886e-01 2.89074088e-02 2.76084237e+02] [-1.37355833e-01 9.90513155e-01 -4.13094635e-03 -4.42838207e+01] [-2.92008346e-02 1.19412616e-04 9.99573558e-01 -1.19385038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.11, Y:-44.29, Z:-11.94 [[ 9.90057629e-01 1.37810333e-01 2.81816242e-02 2.76113769e+02] [-1.37751511e-01 9.90458632e-01 -4.02743460e-03 -4.42880027e+01] [-2.84677550e-02 1.05331036e-04 9.99594706e-01 -1.19422211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.14, Y:-44.29, Z:-11.94 [[ 9.90027358e-01 1.38156996e-01 2.75404161e-02 2.76142855e+02] [-1.38100958e-01 9.90410337e-01 -3.93567286e-03 -4.42914710e+01] [-2.78200535e-02 9.30659447e-05 9.99612943e-01 -1.19447327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.17, Y:-44.30, Z:-11.95 [[ 9.89974453e-01 1.38526768e-01 2.75847382e-02 2.76171291e+02] [-1.38470711e-01 9.90358687e-01 -3.94136870e-03 -4.42954715e+01] [-2.78647702e-02 8.21760153e-05 9.99611699e-01 -1.19476022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.20, Y:-44.30, Z:-11.94 [[ 9.89851877e-01 1.39225686e-01 2.84511983e-02 2.76200636e+02] [-1.39166361e-01 9.90260675e-01 -4.06442625e-03 -4.42979735e+01] [-2.87399753e-02 6.37302162e-05 9.99586920e-01 -1.19443707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.23, Y:-44.30, Z:-11.95 [[ 9.89703602e-01 1.40165580e-01 2.89895005e-02 2.76229392e+02] [-1.40104408e-01 9.90128077e-01 -4.14078283e-03 -4.43001129e+01] [-2.92837136e-02 3.65908674e-05 9.99571139e-01 -1.19456043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.26, Y:-44.30, Z:-11.94 [[ 9.89541304e-01 1.41151574e-01 2.97361751e-02 2.76259032e+02] [-1.41087694e-01 9.89987996e-01 -4.24611435e-03 -4.43018655e+01] [-3.00378021e-02 6.29715331e-06 9.99548763e-01 -1.19433577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.29, Y:-44.30, Z:-11.94 [[ 9.89272862e-01 1.42767224e-01 3.09309613e-02 2.76288167e+02] [-1.42698916e-01 9.89756292e-01 -4.41607509e-03 -4.43030582e+01] [-3.12445843e-02 -4.51113960e-05 9.99511768e-01 -1.19447062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:276.32, Y:-44.31, Z:-11.94 [[ 9.89251021e-01 1.42973369e-01 3.06762790e-02 2.76317595e+02] [-1.42906321e-01 9.89726534e-01 -4.37841358e-03 -4.43064876e+01] [-3.09871238e-02 -5.24840622e-05 9.99519782e-01 -1.19429848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.35, Y:-44.31, Z:-11.95 [[ 9.89278131e-01 1.42784241e-01 3.06829018e-02 2.76345834e+02] [-1.42717091e-01 9.89753837e-01 -4.37876463e-03 -4.43099806e+01] [-3.09937384e-02 -4.71584106e-05 9.99519578e-01 -1.19466668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters Centerline goodness [0,1] 0.9999785167998625 Centerline is valid? [True, True] Translation: X:276.37, Y:-44.31, Z:-11.95 [[ 9.89353912e-01 1.42175686e-01 3.10630340e-02 2.76374473e+02] [-1.42106593e-01 9.89841439e-01 -4.43200593e-03 -4.43143412e+01] [-3.13776018e-02 -2.94395296e-05 9.99507601e-01 -1.19467695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.40, Y:-44.32, Z:-11.95 [[ 9.89483004e-01 1.41288502e-01 3.09990950e-02 2.76402551e+02] [-1.41219317e-01 9.89968464e-01 -4.42101605e-03 -4.43189299e+01] [-3.13127651e-02 -3.15077282e-06 9.99509635e-01 -1.19506005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.43, Y:-44.32, Z:-11.95 [[ 9.89486201e-01 1.41266082e-01 3.09992168e-02 2.76431401e+02] [-1.41196913e-01 9.89971663e-01 -4.42016183e-03 -4.43229973e+01] [-3.13127651e-02 -3.30456849e-06 9.99509635e-01 -1.19519226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71264 meters Centerline goodness [0,1] 0.9999785343236165 Centerline is valid? [True, True] Translation: X:276.46, Y:-44.33, Z:-11.95 [[ 9.89725967e-01 1.39646858e-01 3.06800527e-02 2.76460386e+02] [-1.39578349e-01 9.90201370e-01 -4.37396509e-03 -4.43271359e+01] [-3.09902407e-02 4.67557239e-05 9.99519686e-01 -1.19513848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.49, Y:-44.33, Z:-11.95 [[ 9.89851233e-01 1.38834227e-01 3.03248090e-02 2.76489253e+02] [-1.38766937e-01 9.90315633e-01 -4.32261260e-03 -4.43320508e+01] [-3.06312590e-02 7.06625683e-05 9.99530750e-01 -1.19538757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.52, Y:-44.34, Z:-11.95 [[ 9.89932797e-01 1.38267052e-01 3.02535991e-02 2.76519353e+02] [-1.38199846e-01 9.90394979e-01 -4.31137996e-03 -4.43376151e+01] [-3.05591344e-02 8.69337042e-05 9.99532957e-01 -1.19539310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.55, Y:-44.34, Z:-11.95 [[ 9.89873223e-01 1.38502829e-01 3.11122127e-02 2.76548988e+02] [-1.38431863e-01 9.90362035e-01 -4.43391086e-03 -4.43415431e+01] [-3.14264635e-02 8.20880530e-05 9.99506063e-01 -1.19545246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.58, Y:-44.34, Z:-11.96 [[ 9.89777796e-01 1.39195972e-01 3.10547221e-02 2.76579184e+02] [-1.39125627e-01 9.90264852e-01 -4.42515915e-03 -4.43438248e+01] [-3.13683642e-02 5.94165616e-05 9.99507890e-01 -1.19551523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.61, Y:-44.35, Z:-11.96 [[ 9.89660361e-01 1.40037996e-01 3.10117715e-02 2.76608127e+02] [-1.39968265e-01 9.90146130e-01 -4.41884578e-03 -4.43458265e+01] [-3.13249919e-02 3.24926680e-05 9.99509251e-01 -1.19585026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.64, Y:-44.35, Z:-11.96 [[ 9.89552587e-01 1.40840069e-01 3.08180652e-02 2.76636628e+02] [-1.40771561e-01 9.90032360e-01 -4.39236265e-03 -4.43480072e+01] [-3.11295025e-02 8.16667382e-06 9.99515360e-01 -1.19604568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.67, Y:-44.35, Z:-11.96 [[ 9.89381497e-01 1.41912766e-01 3.13850265e-02 2.76665183e+02] [-1.41842283e-01 9.89879167e-01 -4.47221665e-03 -4.43490868e+01] [-3.17020485e-02 -2.69954067e-05 9.99497363e-01 -1.19595129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.69, Y:-44.35, Z:-11.96 [[ 9.89336433e-01 1.42141049e-01 3.17701755e-02 2.76693201e+02] [-1.42068988e-01 9.89846413e-01 -4.52566929e-03 -4.43516041e+01] [-3.20908776e-02 -3.61471874e-05 9.99484954e-01 -1.19610551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.72, Y:-44.36, Z:-11.96 [[ 9.89331846e-01 1.42180563e-01 3.17361955e-02 2.76721604e+02] [-1.42108744e-01 9.89840738e-01 -4.51873257e-03 -4.43551869e+01] [-3.20562551e-02 -3.94648384e-05 9.99486065e-01 -1.19612557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.75, Y:-44.36, Z:-11.96 [[ 9.89396454e-01 1.42013622e-01 3.04431797e-02 2.76750523e+02] [-1.41947512e-01 9.89864703e-01 -4.33285610e-03 -4.43597990e+01] [-3.07499536e-02 -3.44211545e-05 9.99527108e-01 -1.19646213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.78, Y:-44.36, Z:-11.97 [[ 9.89454067e-01 1.41684379e-01 3.01029191e-02 2.76777737e+02] [-1.41619591e-01 9.89911883e-01 -4.28432400e-03 -4.43640614e+01] [-3.04062591e-02 -2.40212748e-05 9.99537623e-01 -1.19671799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.81, Y:-44.37, Z:-11.97 [[ 9.89573335e-01 1.40983225e-01 2.94676954e-02 2.76806633e+02] [-1.40920908e-01 9.90011985e-01 -4.19136325e-03 -4.43684733e+01] [-2.97642835e-02 -4.95307832e-06 9.99556946e-01 -1.19685967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.83, Y:-44.37, Z:-11.97 [[ 9.89789121e-01 1.39350146e-01 2.99838715e-02 2.76834875e+02] [-1.39284888e-01 9.90243170e-01 -4.26439141e-03 -4.43742871e+01] [-3.02855675e-02 4.45480305e-05 9.99541286e-01 -1.19684108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13264 meters Centerline goodness [0,1] 0.999571771154505 Centerline is valid? [True, True] Translation: X:276.86, Y:-44.38, Z:-11.97 [[ 9.89839302e-01 1.38691337e-01 3.13507506e-02 2.76863302e+02] [-1.38619727e-01 9.90335655e-01 -4.45675749e-03 -4.43791880e+01] [-3.16658798e-02 6.56412453e-05 9.99498508e-01 -1.19669257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16264 meters Centerline goodness [0,1] 0.9999784180425164 Centerline is valid? [True, True] Translation: X:276.89, Y:-44.38, Z:-11.97 [[ 9.89950118e-01 1.37909803e-01 3.12993601e-02 2.76891344e+02] [-1.37838054e-01 9.90444788e-01 -4.44889985e-03 -4.43844341e+01] [-3.16138350e-02 8.99460592e-05 9.99500154e-01 -1.19690867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19264 meters Centerline goodness [0,1] 0.9998706366831246 Centerline is valid? [True, True] Translation: X:276.92, Y:-44.39, Z:-11.97 [[ 9.90048358e-01 1.37177579e-01 3.14095659e-02 2.76920950e+02] [-1.37105007e-01 9.90546465e-01 -4.46293577e-03 -4.43895535e+01] [-3.17248492e-02 1.12113489e-04 9.99496634e-01 -1.19693669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.95, Y:-44.40, Z:-11.97 [[ 9.90324013e-01 1.35026944e-01 3.20323837e-02 2.76949805e+02] [-1.34950344e-01 9.90841910e-01 -4.55128952e-03 -4.43982883e+01] [-3.23535750e-02 1.84470099e-04 9.99476469e-01 -1.19717951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:276.98, Y:-44.41, Z:-11.97 [[ 9.90498291e-01 1.33469029e-01 3.31534865e-02 2.76978334e+02] [-1.33386077e-01 9.91052955e-01 -4.71123223e-03 -4.44057686e+01] [-3.34856644e-02 2.44253959e-04 9.99439168e-01 -1.19717898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.01, Y:-44.41, Z:-11.97 [[ 9.90704764e-01 1.31841200e-01 3.34958038e-02 2.77007699e+02] [-1.31755635e-01 9.91270804e-01 -4.75872850e-03 -4.44136311e+01] [-3.38308088e-02 3.01234115e-04 9.99427529e-01 -1.19723826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.04, Y:-44.42, Z:-11.97 [[ 9.90924866e-01 1.30261167e-01 3.31653152e-02 2.77038962e+02] [-1.30176383e-01 9.91479654e-01 -4.71220357e-03 -4.44212060e+01] [-3.34965524e-02 3.52098917e-04 9.99438771e-01 -1.19737608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.07, Y:-44.43, Z:-11.98 [[ 9.91255303e-01 1.27680852e-01 3.33245429e-02 2.77069817e+02] [-1.27593607e-01 9.91815205e-01 -4.74038734e-03 -4.44335532e+01] [-3.36570451e-02 4.46935455e-04 9.99433341e-01 -1.19753601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.10, Y:-44.44, Z:-11.97 [[ 9.91339435e-01 1.26827182e-01 3.40733043e-02 2.77102735e+02] [-1.26735279e-01 9.91924707e-01 -4.85232038e-03 -4.44403967e+01] [-3.44135585e-02 4.92006799e-04 9.99407557e-01 -1.19748697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.13, Y:-44.45, Z:-11.98 [[ 9.91439206e-01 1.26024111e-01 3.41500146e-02 2.77133376e+02] [-1.25931049e-01 9.92027038e-01 -4.87103934e-03 -4.44486076e+01] [-3.44916063e-02 5.28792217e-04 9.99404848e-01 -1.19769852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.16, Y:-44.46, Z:-11.98 [[ 9.91579629e-01 1.25311907e-01 3.26613837e-02 2.77164652e+02] [-1.25226335e-01 9.92117253e-01 -4.66061654e-03 -4.44550063e+01] [-3.29879530e-02 5.31307058e-04 9.99455608e-01 -1.19793284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46264 meters Centerline goodness [0,1] 0.9999783849213211 Centerline is valid? [True, True] Translation: X:277.20, Y:-44.47, Z:-11.98 [[ 9.91585609e-01 1.25330841e-01 3.24061803e-02 2.77195582e+02] [-1.25246435e-01 9.92114861e-01 -4.62957134e-03 -4.44655420e+01] [-3.27308811e-02 5.31857744e-04 9.99464060e-01 -1.19839468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49264 meters Centerline goodness [0,1] 0.9998705752928234 Centerline is valid? [True, True] Translation: X:277.23, Y:-44.47, Z:-11.98 [[ 9.91551471e-01 1.25448096e-01 3.29917594e-02 2.77227138e+02] [-1.25360461e-01 9.92100035e-01 -4.71968847e-03 -4.44700731e+01] [-3.33232016e-02 5.43951866e-04 9.99444480e-01 -1.19817201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.26, Y:-44.48, Z:-11.99 [[ 9.91530548e-01 1.25751067e-01 3.24629408e-02 2.77258139e+02] [-1.25666213e-01 9.92061686e-01 -4.64919480e-03 -4.44791075e+01] [-3.27898809e-02 5.30323838e-04 9.99462127e-01 -1.19871296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.29, Y:-44.48, Z:-11.99 [[ 9.91537764e-01 1.25720047e-01 3.23625024e-02 2.77290953e+02] [-1.25635521e-01 9.92065614e-01 -4.64032844e-03 -4.44844016e+01] [-3.26891081e-02 5.35181049e-04 9.99465425e-01 -1.19853455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58264 meters Centerline goodness [0,1] 0.9998050640039854 Centerline is valid? [True, True] Translation: X:277.32, Y:-44.49, Z:-11.98 [[ 9.91483815e-01 1.25871148e-01 3.34110521e-02 2.77322395e+02] [-1.25780898e-01 9.92046444e-01 -4.79781209e-03 -4.44910716e+01] [-3.37492215e-02 5.54480890e-04 9.99430179e-01 -1.19833689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61264 meters Centerline goodness [0,1] 0.9999352527301766 Centerline is valid? [True, True] Translation: X:277.35, Y:-44.50, Z:-11.98 [[ 9.91499509e-01 1.25654510e-01 3.37589634e-02 2.77354727e+02] [-1.25562051e-01 9.92073896e-01 -4.85343856e-03 -4.44976677e+01] [-3.41012428e-02 5.73337265e-04 9.99418219e-01 -1.19847351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.39, Y:-44.51, Z:-11.99 [[ 9.91510576e-01 1.25598940e-01 3.36405027e-02 2.77385195e+02] [-1.25506860e-01 9.92080929e-01 -4.84338731e-03 -4.45074875e+01] [-3.39824255e-02 5.80155885e-04 9.99422262e-01 -1.19892211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67264 meters Centerline goodness [0,1] 0.9999570548195229 Centerline is valid? [True, True] Translation: X:277.42, Y:-44.52, Z:-11.99 [[ 9.91573705e-01 1.25152281e-01 3.34438911e-02 2.77416543e+02] [-1.25060797e-01 9.92137364e-01 -4.82167615e-03 -4.45170173e+01] [-3.37843778e-02 5.98527589e-04 9.99428966e-01 -1.19907729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.45, Y:-44.52, Z:-11.99 [[ 9.91630760e-01 1.24650032e-01 3.36274565e-02 2.77448488e+02] [-1.24557064e-01 9.92200574e-01 -4.85370704e-03 -4.45238234e+01] [-3.39701964e-02 6.24547951e-04 9.99422651e-01 -1.19916222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.48, Y:-44.53, Z:-11.99 [[ 9.91735546e-01 1.24047145e-01 3.27553573e-02 2.77479127e+02] [-1.23958423e-01 9.92276123e-01 -4.73344618e-03 -4.45330546e+01] [-3.30895295e-02 6.34024394e-04 9.99452190e-01 -1.19935443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264000000003 meters Centerline goodness [0,1] 0.9999137001078748 Centerline is valid? [True, True] Translation: X:277.51, Y:-44.55, Z:-12.00 [[ 9.91865592e-01 1.23018507e-01 3.26970227e-02 2.77508265e+02] [-1.22929343e-01 9.92404148e-01 -4.73106244e-03 -4.45470178e+01] [-3.30306692e-02 6.73154536e-04 9.99454112e-01 -1.19954118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.54, Y:-44.56, Z:-12.00 [[ 9.91910946e-01 1.22747286e-01 3.23384972e-02 2.77537966e+02] [-1.22659843e-01 9.92437729e-01 -4.68162121e-03 -4.45553560e+01] [-3.26686010e-02 6.77116331e-04 9.99466009e-01 -1.19985803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.57, Y:-44.56, Z:-12.00 [[ 9.91922299e-01 1.22685398e-01 3.22249276e-02 2.77570362e+02] [-1.22598425e-01 9.92445379e-01 -4.66857184e-03 -4.45615341e+01] [-3.25542460e-02 6.80135150e-04 9.99469739e-01 -1.19990666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85264 meters Centerline goodness [0,1] 0.99997843898232 Centerline is valid? [True, True] Translation: X:277.60, Y:-44.57, Z:-12.00 [[ 9.91895428e-01 1.22991518e-01 3.18833345e-02 2.77602125e+02] [-1.22906338e-01 9.92407496e-01 -4.62527808e-03 -4.45693451e+01] [-3.22101301e-02 6.69128296e-04 9.99480895e-01 -1.19998901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters Centerline goodness [0,1] 0.9998482022813029 Centerline is valid? [True, True] Translation: X:277.63, Y:-44.58, Z:-12.00 [[ 9.91754375e-01 1.24476219e-01 3.04783458e-02 2.77631928e+02] [-1.24398865e-01 9.92222410e-01 -4.42856178e-03 -4.45802632e+01] [-3.07925483e-02 6.00573890e-04 9.99525617e-01 -1.20043243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.66, Y:-44.58, Z:-12.01 [[ 9.91611232e-01 1.25758349e-01 2.98663977e-02 2.77663850e+02] [-1.25684600e-01 9.92060751e-01 -4.34137132e-03 -4.45845915e+01] [-3.01752446e-02 5.51206315e-04 9.99544472e-01 -1.20078442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters Centerline goodness [0,1] 0.9999138488046522 Centerline is valid? [True, True] Translation: X:277.70, Y:-44.59, Z:-12.01 [[ 9.91333388e-01 1.27936043e-01 2.98409663e-02 2.77695445e+02] [-1.27863251e-01 9.91782299e-01 -4.34278329e-03 -4.45899419e+01] [-3.01513407e-02 4.89583116e-04 9.99545225e-01 -1.20067180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97264 meters Centerline goodness [0,1] 0.9997643126499829 Centerline is valid? [True, True] Translation: X:277.73, Y:-44.60, Z:-12.01 [[ 9.90669054e-01 1.32999750e-01 2.97639264e-02 2.77725292e+02] [-1.32929394e-01 9.91116012e-01 -4.33897132e-03 -4.45955495e+01] [-3.00765861e-02 3.41983920e-04 9.99547539e-01 -1.20102949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.76, Y:-44.60, Z:-12.01 [[ 9.90297217e-01 1.35814306e-01 2.94261260e-02 2.77757051e+02] [-1.35746827e-01 9.90734279e-01 -4.28815524e-03 -4.45975970e+01] [-2.97358646e-02 2.52044959e-04 9.99557760e-01 -1.20127134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.79, Y:-44.60, Z:-12.01 [[ 9.89810421e-01 1.39341274e-01 2.93145138e-02 2.77789138e+02] [-1.39275702e-01 9.90244408e-01 -4.27694578e-03 -4.45998488e+01] [-2.96244885e-02 1.50566026e-04 9.99561087e-01 -1.20144252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.82, Y:-44.60, Z:-12.02 [[ 9.89285829e-01 1.43039170e-01 2.92120558e-02 2.77821333e+02] [-1.42975518e-01 9.89717027e-01 -4.26700813e-03 -4.46014395e+01] [-2.95220184e-02 4.46818667e-05 9.99564129e-01 -1.20160795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.85, Y:-44.60, Z:-12.02 [[ 9.88199672e-01 1.50232565e-01 2.98594236e-02 2.77853208e+02] [-1.50169183e-01 9.88650670e-01 -4.36675509e-03 -4.46010117e+01] [-3.01765680e-02 -1.68739320e-04 9.99544569e-01 -1.20179286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.88, Y:-44.60, Z:-12.02 [[ 9.87706459e-01 1.53321678e-01 3.04698810e-02 2.77884041e+02] [-1.53256954e-01 9.88176297e-01 -4.46227526e-03 -4.46031497e+01] [-3.07937777e-02 -2.62303037e-04 9.99525725e-01 -1.20186787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.91, Y:-44.60, Z:-12.02 [[ 9.87305543e-01 1.55880042e-01 3.04823996e-02 2.77914912e+02] [-1.55816334e-01 9.87775935e-01 -4.46893395e-03 -4.46049341e+01] [-3.08063984e-02 -3.37452499e-04 9.99525313e-01 -1.20201993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:277.95, Y:-44.61, Z:-12.02 [[ 9.86989211e-01 1.57834134e-01 3.06705621e-02 2.77945887e+02] [-1.57770371e-01 9.87465559e-01 -4.50326185e-03 -4.46075969e+01] [-3.09968921e-02 -3.94235102e-04 9.99519403e-01 -1.20209378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21264 meters Centerline goodness [0,1] 0.9999787582046434 Centerline is valid? [True, True] Translation: X:277.98, Y:-44.61, Z:-12.02 [[ 9.86725897e-01 1.59372135e-01 3.11853737e-02 2.77976400e+02] [-1.59306951e-01 9.87218477e-01 -4.57978499e-03 -4.46108567e+01] [-3.15166672e-02 -4.49054351e-04 9.99503126e-01 -1.20218746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters Centerline goodness [0,1] 0.9999786912143876 Centerline is valid? [True, True] Translation: X:278.01, Y:-44.61, Z:-12.02 [[ 9.86430905e-01 1.61029956e-01 3.19909882e-02 2.78007456e+02] [-1.60962223e-01 9.86949385e-01 -4.69833702e-03 -4.46145528e+01] [-3.23300591e-02 -5.14755742e-04 9.99477114e-01 -1.20218500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27264 meters Centerline goodness [0,1] 0.9999786807657869 Centerline is valid? [True, True] Translation: X:278.04, Y:-44.62, Z:-12.02 [[ 9.86316110e-01 1.61670991e-01 3.22958551e-02 2.78038350e+02] [-1.61602279e-01 9.86844567e-01 -4.74389626e-03 -4.46181599e+01] [-3.26379396e-02 -5.40102496e-04 9.99467095e-01 -1.20232508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters Centerline goodness [0,1] 0.9999783521669481 Centerline is valid? [True, True] Translation: X:278.07, Y:-44.62, Z:-12.02 [[ 9.86244661e-01 1.62096330e-01 3.23457519e-02 2.78069431e+02] [-1.62027609e-01 9.86774783e-01 -4.75198961e-03 -4.46245255e+01] [-3.26882524e-02 -5.54280455e-04 9.99465443e-01 -1.20237133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33264 meters Centerline goodness [0,1] 0.9999784751818848 Centerline is valid? [True, True] Translation: X:278.10, Y:-44.63, Z:-12.02 [[ 9.86139025e-01 1.62713848e-01 3.24657891e-02 2.78100989e+02] [-1.62644986e-01 9.86673132e-01 -4.76854481e-03 -4.46312096e+01] [-3.28090301e-02 -5.77949683e-04 9.99461472e-01 -1.20240855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.13, Y:-44.63, Z:-12.03 [[ 9.86101864e-01 1.62974310e-01 3.22875844e-02 2.78132083e+02] [-1.62906150e-01 9.86630144e-01 -4.74822603e-03 -4.46330421e+01] [-3.26297429e-02 -5.77611533e-04 9.99467341e-01 -1.20272228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.16, Y:-44.64, Z:-12.03 [[ 9.86133127e-01 1.62891905e-01 3.17440194e-02 2.78163924e+02] [-1.62825820e-01 9.86643762e-01 -4.67323410e-03 -4.46385117e+01] [-3.20812707e-02 -5.60315036e-04 9.99485107e-01 -1.20288669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.19, Y:-44.64, Z:-12.03 [[ 9.86232962e-01 1.62361844e-01 3.13556545e-02 2.78193855e+02] [-1.62296859e-01 9.86731145e-01 -4.62360878e-03 -4.46402031e+01] [-3.16902985e-02 -5.28968849e-04 9.99497596e-01 -1.20331510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45264000000003 meters Centerline goodness [0,1] 0.9999788971658894 Centerline is valid? [True, True] Translation: X:278.22, Y:-44.64, Z:-12.04 [[ 9.86493323e-01 1.60605617e-01 3.21987446e-02 2.78222743e+02] [-1.60536145e-01 9.87018541e-01 -4.74822545e-03 -4.46433680e+01] [-3.25433496e-02 -4.84969626e-04 9.99470207e-01 -1.20359946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.25, Y:-44.66, Z:-12.03 [[ 9.86740210e-01 1.59023125e-01 3.24869717e-02 2.78254014e+02] [-1.58951584e-01 9.87274761e-01 -4.78956157e-03 -4.46556547e+01] [-3.28352183e-02 -4.37802629e-04 9.99460683e-01 -1.20329606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.28, Y:-44.66, Z:-12.04 [[ 9.87066587e-01 1.56986542e-01 3.24773470e-02 2.78284375e+02] [-1.56913750e-01 9.87600675e-01 -4.79395082e-03 -4.46619401e+01] [-3.28272355e-02 -3.64193634e-04 9.99460975e-01 -1.20355160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54264 meters Centerline goodness [0,1] 0.9999783769758038 Centerline is valid? [True, True] Translation: X:278.32, Y:-44.67, Z:-12.03 [[ 9.87421444e-01 1.54619103e-01 3.30427823e-02 2.78315239e+02] [-1.54542254e-01 9.87974115e-01 -4.88266081e-03 -4.46713628e+01] [-3.34003663e-02 -2.85262059e-04 9.99442011e-01 -1.20338901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.34, Y:-44.69, Z:-12.04 [[ 9.88321555e-01 1.48655874e-01 3.34952936e-02 2.78344822e+02] [-1.48573276e-01 9.88888985e-01 -4.95549425e-03 -4.46855745e+01] [-3.38597902e-02 -7.88837058e-05 9.99426590e-01 -1.20395774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.38, Y:-44.69, Z:-12.04 [[ 9.88295692e-01 1.48827907e-01 3.34944540e-02 2.78376925e+02] [-1.48745215e-01 9.88863109e-01 -4.96116151e-03 -4.46905480e+01] [-3.38597892e-02 -7.90452209e-05 9.99426590e-01 -1.20410515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.41, Y:-44.70, Z:-12.04 [[ 9.88708908e-01 1.46026783e-01 3.36284735e-02 2.78408426e+02] [-1.45941608e-01 9.89280637e-01 -4.98687692e-03 -4.47008246e+01] [-3.39962153e-02 2.27761422e-05 9.99421961e-01 -1.20400148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.44, Y:-44.71, Z:-12.04 [[ 9.89070794e-01 1.43678961e-01 3.30956289e-02 2.78440073e+02] [-1.43594937e-01 9.89624345e-01 -4.91422591e-03 -4.47092724e+01] [-3.34583109e-02 1.08152587e-04 9.99440108e-01 -1.20402545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.47, Y:-44.72, Z:-12.04 [[ 9.89368488e-01 1.41679976e-01 3.28143275e-02 2.78470878e+02] [-1.41596086e-01 9.89912497e-01 -4.87815683e-03 -4.47180240e+01] [-3.31744500e-02 1.79914318e-04 9.99449560e-01 -1.20423609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.50, Y:-44.73, Z:-12.04 [[ 9.89885522e-01 1.37986912e-01 3.29585470e-02 2.78500786e+02] [-1.37900038e-01 9.90434004e-01 -4.90551379e-03 -4.47312968e+01] [-3.33201624e-02 3.10912209e-04 9.99444681e-01 -1.20446765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.53, Y:-44.74, Z:-12.05 [[ 9.90044149e-01 1.36765448e-01 3.32835627e-02 2.78530704e+02] [-1.36675978e-01 9.90603393e-01 -4.95934231e-03 -4.47397878e+01] [-3.36490768e-02 3.60904369e-04 9.99433644e-01 -1.20459061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.56, Y:-44.75, Z:-12.05 [[ 9.90162131e-01 1.35892496e-01 3.33494255e-02 2.78561346e+02] [-1.35801998e-01 9.90723509e-01 -4.97444364e-03 -4.47470794e+01] [-3.37160495e-02 3.96587087e-04 9.99431374e-01 -1.20471425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.59, Y:-44.75, Z:-12.05 [[ 9.90261525e-01 1.35048878e-01 3.38217653e-02 2.78593710e+02] [-1.34955139e-01 9.90838842e-01 -5.04977280e-03 -4.47538544e+01] [-3.41938849e-02 4.36174684e-04 9.99415123e-01 -1.20469740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.63, Y:-44.76, Z:-12.05 [[ 9.90272440e-01 1.35058030e-01 3.34637715e-02 2.78625044e+02] [-1.34966045e-01 9.90837594e-01 -5.00298296e-03 -4.47616611e+01] [-3.38328559e-02 4.37843251e-04 9.99427409e-01 -1.20504617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.66, Y:-44.77, Z:-12.05 [[ 9.90247536e-01 1.35431366e-01 3.26827505e-02 2.78657421e+02] [-1.35343641e-01 9.90786641e-01 -4.89192286e-03 -4.47662562e+01] [-3.30441524e-02 4.20812106e-04 9.99453804e-01 -1.20518047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.69, Y:-44.77, Z:-12.05 [[ 9.90083816e-01 1.36783447e-01 3.20051004e-02 2.78689655e+02] [-1.36699823e-01 9.90600903e-01 -4.79684528e-03 -4.47695553e+01] [-3.23604104e-02 3.74187326e-04 9.99476195e-01 -1.20542843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93264 meters Centerline goodness [0,1] 0.9998910485487666 Centerline is valid? [True, True] Translation: X:278.72, Y:-44.77, Z:-12.06 [[ 9.89965621e-01 1.37588115e-01 3.22114866e-02 2.78720091e+02] [-1.37503643e-01 9.90489467e-01 -4.83365036e-03 -4.47749792e+01] [-3.25701910e-02 3.55950925e-04 9.99469387e-01 -1.20555694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.75, Y:-44.78, Z:-12.06 [[ 9.89816032e-01 1.38714825e-01 3.19753010e-02 2.78751169e+02] [-1.38632007e-01 9.90332315e-01 -4.80339849e-03 -4.47797797e+01] [-3.23324764e-02 3.21680678e-04 9.99477117e-01 -1.20592016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.78, Y:-44.78, Z:-12.06 [[ 9.89663886e-01 1.39820963e-01 3.18667756e-02 2.78782633e+02] [-1.39739121e-01 9.90176759e-01 -4.79201500e-03 -4.47836319e+01] [-3.22237648e-02 2.89448966e-04 9.99480638e-01 -1.20606525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02264 meters Centerline goodness [0,1] 0.9998910532967272 Centerline is valid? [True, True] Translation: X:278.81, Y:-44.79, Z:-12.06 [[ 9.89381943e-01 1.41528062e-01 3.30632403e-02 2.78814892e+02] [-1.41440717e-01 9.89934213e-01 -4.97772844e-03 -4.47867953e+01] [-3.34349210e-02 2.48386247e-04 9.99440866e-01 -1.20581657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05264 meters Centerline goodness [0,1] 0.9999354727695088 Centerline is valid? [True, True] Translation: X:278.85, Y:-44.79, Z:-12.06 [[ 9.89321087e-01 1.41960499e-01 3.30303497e-02 2.78846376e+02] [-1.41873383e-01 9.89872295e-01 -4.97832474e-03 -4.47933871e+01] [-3.34025535e-02 2.39034206e-04 9.99441950e-01 -1.20614127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.88, Y:-44.80, Z:-12.06 [[ 9.89261534e-01 1.42409719e-01 3.28799111e-02 2.78877532e+02] [-1.42323440e-01 9.89807769e-01 -4.96173705e-03 -4.47993261e+01] [-3.32513910e-02 2.28873551e-04 9.99446993e-01 -1.20641451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.91, Y:-44.81, Z:-12.07 [[ 9.89382610e-01 1.41656960e-01 3.24862631e-02 2.78908836e+02] [-1.41572137e-01 9.89915774e-01 -4.90818387e-03 -4.48084501e+01] [-3.28539427e-02 2.56922064e-04 9.99460130e-01 -1.20674303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.94, Y:-44.82, Z:-12.07 [[ 9.89455303e-01 1.41167786e-01 3.24015360e-02 2.78941521e+02] [-1.41082981e-01 9.89985646e-01 -4.90034094e-03 -4.48151347e+01] [-3.27688258e-02 2.77363049e-04 9.99462919e-01 -1.20691228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:278.97, Y:-44.82, Z:-12.07 [[ 9.89536511e-01 1.40696204e-01 3.19698413e-02 2.78972193e+02] [-1.40613187e-01 9.90052772e-01 -4.84157865e-03 -4.48222839e+01] [-3.23330218e-02 2.95537571e-04 9.99477107e-01 -1.20719051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.00, Y:-44.83, Z:-12.07 [[ 9.89572943e-01 1.40482548e-01 3.17811914e-02 2.79004493e+02] [-1.40400255e-01 9.90083108e-01 -4.81744697e-03 -4.48293612e+01] [-3.21427880e-02 3.05127799e-04 9.99483241e-01 -1.20735528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.04, Y:-44.84, Z:-12.07 [[ 9.89587537e-01 1.40198681e-01 3.25704733e-02 2.79035808e+02] [-1.40111874e-01 9.90123337e-01 -4.94377882e-03 -4.48370136e+01] [-3.29418969e-02 3.28791845e-04 9.99457214e-01 -1.20737100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.07, Y:-44.85, Z:-12.07 [[ 9.89495149e-01 1.40648162e-01 3.34282169e-02 2.79067601e+02] [-1.40556742e-01 9.90059587e-01 -5.08093863e-03 -4.48455539e+01] [-3.38105513e-02 3.29002882e-04 9.99428206e-01 -1.20733184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.10, Y:-44.85, Z:-12.07 [[ 9.89371608e-01 1.41621577e-01 3.29719517e-02 2.79099951e+02] [-1.41533166e-01 9.89920827e-01 -5.01191362e-03 -4.48503673e+01] [-3.33494168e-02 2.92020311e-04 9.99443711e-01 -1.20744351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.13, Y:-44.85, Z:-12.08 [[ 9.88972034e-01 1.44626966e-01 3.18960259e-02 2.79130981e+02] [-1.44545585e-01 9.89486233e-01 -4.85484096e-03 -4.48545075e+01] [-3.22628194e-02 1.90872215e-04 9.99479402e-01 -1.20789228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35264 meters Centerline goodness [0,1] 0.9998496757290727 Centerline is valid? [True, True] Translation: X:279.16, Y:-44.86, Z:-12.08 [[ 9.88662779e-01 1.46675396e-01 3.21284653e-02 2.79163723e+02] [-1.46593710e-01 9.89184670e-01 -4.89622744e-03 -4.48568183e+01] [-3.24991414e-02 1.30886898e-04 9.99471755e-01 -1.20788708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters Centerline goodness [0,1] 0.9999784259578874 Centerline is valid? [True, True] Translation: X:279.20, Y:-44.86, Z:-12.08 [[ 9.88311368e-01 1.48997730e-01 3.22539252e-02 2.79195294e+02] [-1.48916570e-01 9.88837536e-01 -4.91751389e-03 -4.48586333e+01] [-3.26265903e-02 5.68909786e-05 9.99467609e-01 -1.20819840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.23, Y:-44.86, Z:-12.08 [[ 9.87889076e-01 1.51699057e-01 3.25970703e-02 2.79227433e+02] [-1.51617462e-01 9.88426727e-01 -4.97494877e-03 -4.48592816e+01] [-3.29745105e-02 -2.75875075e-05 9.99456193e-01 -1.20834290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.26, Y:-44.86, Z:-12.08 [[ 9.87165722e-01 1.56252631e-01 3.29992828e-02 2.79261151e+02] [-1.56171376e-01 9.87717107e-01 -5.04155225e-03 -4.48593276e+01] [-3.33817119e-02 -1.76695835e-04 9.99442660e-01 -1.20830866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47264 meters Centerline goodness [0,1] 0.999956601931214 Centerline is valid? [True, True] Translation: X:279.29, Y:-44.86, Z:-12.08 [[ 9.86866044e-01 1.58166537e-01 3.28444413e-02 2.79292640e+02] [-1.58086853e-01 9.87412423e-01 -5.02537974e-03 -4.48635508e+01] [-3.32258563e-02 -2.32897742e-04 9.99447842e-01 -1.20824973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters Centerline goodness [0,1] 0.999804937254817 Centerline is valid? [True, True] Translation: X:279.32, Y:-44.87, Z:-12.08 [[ 9.86657787e-01 1.59443033e-01 3.29291859e-02 2.79324026e+02] [-1.59363578e-01 9.87207093e-01 -5.04046049e-03 -4.48676867e+01] [-3.33115921e-02 -2.74503286e-04 9.99444977e-01 -1.20845650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.36, Y:-44.87, Z:-12.09 [[ 9.86474294e-01 1.60518997e-01 3.31981755e-02 2.79356058e+02] [-1.60438634e-01 9.87032703e-01 -5.08796543e-03 -4.48711871e+01] [-3.35844000e-02 -3.07122834e-04 9.99435838e-01 -1.20877110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.39, Y:-44.88, Z:-12.09 [[ 9.86343603e-01 1.61229874e-01 3.36336730e-02 2.79388545e+02] [-1.61147591e-01 9.86916825e-01 -5.16088292e-03 -4.48758986e+01] [-3.40257262e-02 -3.29581513e-04 9.99420903e-01 -1.20858266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.42, Y:-44.88, Z:-12.09 [[ 9.86261520e-01 1.61566703e-01 3.44153176e-02 2.79419958e+02] [-1.61480491e-01 9.86861735e-01 -5.28840977e-03 -4.48796578e+01] [-3.48175910e-02 -3.41647315e-04 9.99393625e-01 -1.20872158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.45, Y:-44.88, Z:-12.09 [[ 9.86200084e-01 1.61914519e-01 3.45410235e-02 2.79451371e+02] [-1.61827698e-01 9.86804725e-01 -5.31318055e-03 -4.48837360e+01] [-3.49455262e-02 -3.49835211e-04 9.99389157e-01 -1.20900306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.48, Y:-44.89, Z:-12.09 [[ 9.86327498e-01 1.61392004e-01 3.33269722e-02 2.79482992e+02] [-1.61310688e-01 9.86890330e-01 -5.13221297e-03 -4.48922366e+01] [-3.37183647e-02 -3.13954029e-04 9.99431325e-01 -1.20924364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.52, Y:-44.90, Z:-12.09 [[ 9.86334669e-01 1.61391031e-01 3.31188218e-02 2.79515054e+02] [-1.61310506e-01 9.86890491e-01 -5.10673699e-03 -4.48979252e+01] [-3.35088318e-02 -3.05462163e-04 9.99438375e-01 -1.20942796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.55, Y:-44.90, Z:-12.10 [[ 9.86326456e-01 1.61430075e-01 3.31730709e-02 2.79546210e+02] [-1.61349079e-01 9.86884107e-01 -5.12192882e-03 -4.49035672e+01] [-3.35648098e-02 -3.00550544e-04 9.99436498e-01 -1.20961878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.58, Y:-44.91, Z:-12.10 [[ 9.86286243e-01 1.61633830e-01 3.33759257e-02 2.79577490e+02] [-1.61551744e-01 9.86850755e-01 -5.15954238e-03 -4.49089715e+01] [-3.37710141e-02 -3.03153337e-04 9.99429551e-01 -1.20983361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.61, Y:-44.92, Z:-12.10 [[ 9.86215704e-01 1.62115481e-01 3.31233437e-02 2.79610417e+02] [-1.62034709e-01 9.86771744e-01 -5.12633239e-03 -4.49152997e+01] [-3.35162374e-02 -3.11461847e-04 9.99438125e-01 -1.20978638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.64, Y:-44.92, Z:-12.10 [[ 9.86135108e-01 1.62672755e-01 3.27890607e-02 2.79642545e+02] [-1.62593689e-01 9.86680025e-01 -5.08135563e-03 -4.49181694e+01] [-3.31789093e-02 -3.20391156e-04 9.99449377e-01 -1.21012108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.67, Y:-44.92, Z:-12.10 [[ 9.86015109e-01 1.63413967e-01 3.27120704e-02 2.79674121e+02] [-1.63335472e-01 9.86557531e-01 -5.07569312e-03 -4.49226838e+01] [-3.31017785e-02 -3.38331327e-04 9.99451929e-01 -1.21039354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.71, Y:-44.93, Z:-12.10 [[ 9.85933896e-01 1.63908802e-01 3.26842088e-02 2.79706567e+02] [-1.63830518e-01 9.86475435e-01 -5.07722763e-03 -4.49289797e+01] [-3.30743714e-02 -3.48860057e-04 9.99452832e-01 -1.21049725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89264000000003 meters Centerline goodness [0,1] 0.9999352233714076 Centerline is valid? [True, True] Translation: X:279.74, Y:-44.94, Z:-12.10 [[ 9.85743140e-01 1.64872665e-01 3.35777676e-02 2.79739527e+02] [-1.64790369e-01 9.86314786e-01 -5.22283539e-03 -4.49352730e+01] [-3.39793514e-02 -3.84918560e-04 9.99422461e-01 -1.21032840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.77, Y:-44.94, Z:-12.11 [[ 9.85653368e-01 1.65306537e-01 3.40762047e-02 2.79770863e+02] [-1.65221791e-01 9.86242156e-01 -5.30751848e-03 -4.49396502e+01] [-3.44847571e-02 -3.98758119e-04 9.99405144e-01 -1.21050190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.80, Y:-44.94, Z:-12.11 [[ 9.85572813e-01 1.65685948e-01 3.45600550e-02 2.79803985e+02] [-1.65598783e-01 9.86178482e-01 -5.38938337e-03 -4.49445403e+01] [-3.49753276e-02 -4.11473337e-04 9.99388091e-01 -1.21061129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.83, Y:-44.95, Z:-12.11 [[ 9.85518954e-01 1.66097880e-01 3.41157774e-02 2.79834912e+02] [-1.66012921e-01 9.86109185e-01 -5.32788047e-03 -4.49474015e+01] [-3.45268310e-02 -4.12932655e-04 9.99403686e-01 -1.21093917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.87, Y:-44.95, Z:-12.11 [[ 9.85498805e-01 1.66342100e-01 3.35024062e-02 2.79867568e+02] [-1.66260244e-01 9.86068018e-01 -5.23404725e-03 -4.49542579e+01] [-3.39062937e-02 -4.11970910e-04 9.99424931e-01 -1.21103155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.90, Y:-44.96, Z:-12.11 [[ 9.85469230e-01 1.66459621e-01 3.37874288e-02 2.79900129e+02] [-1.66376202e-01 9.86048186e-01 -5.28536879e-03 -4.49600150e+01] [-3.41958334e-02 -4.12855793e-04 9.99415066e-01 -1.21117133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.93, Y:-44.97, Z:-12.11 [[ 9.85446058e-01 1.66545324e-01 3.40400113e-02 2.79931306e+02] [-1.66460462e-01 9.86033714e-01 -5.33192390e-03 -4.49656908e+01] [-3.44526057e-02 -4.11992606e-04 9.99406248e-01 -1.21130044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:279.96, Y:-44.97, Z:-12.11 [[ 9.85491140e-01 1.66299060e-01 3.39387187e-02 2.79963271e+02] [-1.66214344e-01 9.86075284e-01 -5.32222232e-03 -4.49725215e+01] [-3.43512122e-02 -3.96098912e-04 9.99409744e-01 -1.21142508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.00, Y:-44.98, Z:-12.12 [[ 9.85510487e-01 1.66163528e-01 3.40405982e-02 2.79995160e+02] [-1.66077980e-01 9.86098136e-01 -5.34519270e-03 -4.49774822e+01] [-3.44555465e-02 -3.85650338e-04 9.99406157e-01 -1.21174240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.03, Y:-44.98, Z:-12.12 [[ 9.85543670e-01 1.65930567e-01 3.42158052e-02 2.80027037e+02] [-1.65843768e-01 9.86137368e-01 -5.37927775e-03 -4.49846710e+01] [-3.46340707e-02 -3.72964941e-04 9.99399991e-01 -1.21178651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19264 meters Centerline goodness [0,1] 0.9999564820053092 Centerline is valid? [True, True] Translation: X:280.06, Y:-44.99, Z:-12.12 [[ 9.85429276e-01 1.66723869e-01 3.36495782e-02 2.80058585e+02] [-1.66640181e-01 9.86003550e-01 -5.29616866e-03 -4.49860321e+01] [-3.40616013e-02 -3.88372141e-04 9.99419660e-01 -1.21190144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.09, Y:-44.99, Z:-12.12 [[ 9.85377263e-01 1.67054160e-01 3.35344086e-02 2.80091593e+02] [-1.66971068e-01 9.85947642e-01 -5.28296345e-03 -4.49908739e+01] [-3.39457121e-02 -3.93563937e-04 9.99423601e-01 -1.21217007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25264 meters Centerline goodness [0,1] 0.9999352541275494 Centerline is valid? [True, True] Translation: X:280.12, Y:-44.99, Z:-12.12 [[ 9.85297174e-01 1.67691645e-01 3.26954378e-02 2.80122260e+02] [-1.67612782e-01 9.85839416e-01 -5.15768045e-03 -4.49947727e+01] [-3.30973513e-02 -3.98325318e-04 9.99452053e-01 -1.21239963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.15, Y:-45.00, Z:-12.13 [[ 9.85323123e-01 1.67559194e-01 3.25923219e-02 2.80153292e+02] [-1.67480589e-01 9.85861941e-01 -5.14647893e-03 -4.49998416e+01] [-3.29938696e-02 -3.87636567e-04 9.99455479e-01 -1.21277130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31264 meters Centerline goodness [0,1] 0.9999786174011589 Centerline is valid? [True, True] Translation: X:280.18, Y:-45.00, Z:-12.13 [[ 9.85305147e-01 1.67837258e-01 3.16926272e-02 2.80184750e+02] [-1.67762894e-01 9.85814643e-01 -5.01012424e-03 -4.50032899e+01] [-3.20839415e-02 -3.80345648e-04 9.99485105e-01 -1.21310254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.22, Y:-45.01, Z:-12.13 [[ 9.85314553e-01 1.67852775e-01 3.13157738e-02 2.80217486e+02] [-1.67780024e-01 9.85812004e-01 -4.95538115e-03 -4.50078996e+01] [-3.17032402e-02 -3.71552115e-04 9.99497257e-01 -1.21329679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.25, Y:-45.01, Z:-12.13 [[ 9.85435167e-01 1.66952092e-01 3.23192072e-02 2.80249532e+02] [-1.66873896e-01 9.85964948e-01 -5.12096778e-03 -4.50138417e+01] [-3.27205617e-02 -3.46850284e-04 9.99464479e-01 -1.21327188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.28, Y:-45.02, Z:-12.13 [[ 9.85542549e-01 1.66188552e-01 3.29734510e-02 2.80281452e+02] [-1.66106534e-01 9.86093941e-01 -5.23051392e-03 -4.50199429e+01] [-3.33841718e-02 -3.22211619e-04 9.99442541e-01 -1.21329443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.31, Y:-45.03, Z:-12.13 [[ 9.85686956e-01 1.65103085e-01 3.40909933e-02 2.80312189e+02] [-1.65014519e-01 9.86276274e-01 -5.41483621e-03 -4.50257177e+01] [-3.45171440e-02 -2.88175426e-04 9.99404064e-01 -1.21330889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.34, Y:-45.03, Z:-12.13 [[ 9.85876834e-01 1.63801378e-01 3.48708489e-02 2.80343303e+02] [-1.63707797e-01 9.86493309e-01 -5.54155406e-03 -4.50329835e+01] [-3.53075733e-02 -2.45340075e-04 9.99376463e-01 -1.21328007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.38, Y:-45.04, Z:-12.13 [[ 9.85844871e-01 1.63993836e-01 3.48699424e-02 2.80375350e+02] [-1.63900174e-01 9.86461333e-01 -5.54725141e-03 -4.50382702e+01] [-3.53075649e-02 -2.46460285e-04 9.99376463e-01 -1.21342747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.41, Y:-45.04, Z:-12.14 [[ 9.86016666e-01 1.62886842e-01 3.51995906e-02 2.80405783e+02] [-1.62790406e-01 9.86644737e-01 -5.60778901e-03 -4.50441631e+01] [-3.56429258e-02 -2.00782229e-04 9.99364569e-01 -1.21375543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.44, Y:-45.05, Z:-12.14 [[ 9.86354572e-01 1.60805024e-01 3.53044296e-02 2.80436839e+02] [-1.60706579e-01 9.86986185e-01 -5.62727270e-03 -4.50540818e+01] [-3.57498780e-02 -1.23167967e-04 9.99360761e-01 -1.21364169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.47, Y:-45.06, Z:-12.14 [[ 9.86463719e-01 1.59993180e-01 3.59376207e-02 2.80467155e+02] [-1.59890374e-01 9.87118116e-01 -5.73531947e-03 -4.50602043e+01] [-3.63922885e-02 -8.83950366e-05 9.99337577e-01 -1.21380237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.50, Y:-45.07, Z:-12.14 [[ 9.86572595e-01 1.59196288e-01 3.64836496e-02 2.80499140e+02] [-1.59089674e-01 9.87246949e-01 -5.82555664e-03 -4.50669952e+01] [-3.69457787e-02 -5.68373787e-05 9.99317270e-01 -1.21385788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.53, Y:-45.08, Z:-12.14 [[ 9.86856483e-01 1.57367605e-01 3.67385311e-02 2.80531006e+02] [-1.57258004e-01 9.87540094e-01 -5.87227738e-03 -4.50754995e+01] [-3.72048787e-02 1.76669302e-05 9.99307659e-01 -1.21391320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.56, Y:-45.08, Z:-12.14 [[ 9.86989545e-01 1.56539738e-01 3.67008007e-02 2.80563495e+02] [-1.56429515e-01 9.87671660e-01 -5.87362804e-03 -4.50823962e+01] [-3.71677969e-02 5.61210264e-05 9.99309037e-01 -1.21403981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.59, Y:-45.09, Z:-12.14 [[ 9.87141015e-01 1.55681011e-01 3.62772613e-02 2.80594783e+02] [-1.55572462e-01 9.87807377e-01 -5.81337897e-03 -4.50899939e+01] [-3.67399791e-02 9.48819651e-05 9.99324855e-01 -1.21424863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.62, Y:-45.10, Z:-12.15 [[ 9.87473009e-01 1.53851207e-01 3.50265846e-02 2.80624069e+02] [-1.53748601e-01 9.88094013e-01 -5.62038271e-03 -4.51020536e+01] [-3.54742612e-02 1.64687837e-04 9.99370577e-01 -1.21473141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.66, Y:-45.11, Z:-12.15 [[ 9.87544437e-01 1.53487252e-01 3.46070665e-02 2.80655700e+02] [-1.53386789e-01 9.88150612e-01 -5.55528630e-03 -4.51101571e+01] [-3.50496596e-02 1.77825272e-04 9.99385556e-01 -1.21490577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.69, Y:-45.12, Z:-12.15 [[ 9.87530907e-01 1.53616282e-01 3.44201359e-02 2.80686649e+02] [-1.53516713e-01 9.88130561e-01 -5.53294538e-03 -4.51168908e+01] [-3.48615387e-02 1.79888450e-04 9.99392136e-01 -1.21512708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264000000004 meters Centerline goodness [0,1] 0.9997843619269419 Centerline is valid? [True, True] Translation: X:280.72, Y:-45.12, Z:-12.15 [[ 9.87414500e-01 1.54550337e-01 3.35678230e-02 2.80719448e+02] [-1.54456068e-01 9.87984905e-01 -5.39916658e-03 -4.51227905e+01] [-3.39989454e-02 1.46461408e-04 9.99421858e-01 -1.21503792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85264 meters Centerline goodness [0,1] 0.9997837931332699 Centerline is valid? [True, True] Translation: X:280.75, Y:-45.13, Z:-12.15 [[ 9.87184961e-01 1.56072499e-01 3.32750382e-02 2.80751935e+02] [-1.55980512e-01 9.87745597e-01 -5.35861932e-03 -4.51271969e+01] [-3.37036056e-02 9.96909172e-05 9.99431867e-01 -1.21512393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters Centerline goodness [0,1] 0.9998486780950734 Centerline is valid? [True, True] Translation: X:280.78, Y:-45.13, Z:-12.15 [[ 9.86427009e-01 1.60687729e-01 3.37818044e-02 2.80783426e+02] [-1.60595366e-01 9.87005294e-01 -5.44769921e-03 -4.51278565e+01] [-3.42181982e-02 -5.14436127e-05 9.99414385e-01 -1.21519079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.82, Y:-45.13, Z:-12.16 [[ 9.85916355e-01 1.63541872e-01 3.49713622e-02 2.80815211e+02] [-1.63444476e-01 9.86536382e-01 -5.64531975e-03 -4.51289544e+01] [-3.54237673e-02 -1.50062902e-04 9.99372370e-01 -1.21566096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters Centerline goodness [0,1] 0.9999353490076073 Centerline is valid? [True, True] Translation: X:280.85, Y:-45.13, Z:-12.16 [[ 9.85397682e-01 1.66814654e-01 3.41215478e-02 2.80847563e+02] [-1.66723676e-01 9.85988238e-01 -5.51447307e-03 -4.51310552e+01] [-3.45633398e-02 -2.54920914e-04 9.99402477e-01 -1.21563036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.88, Y:-45.13, Z:-12.16 [[ 9.84501955e-01 1.71894774e-01 3.47575557e-02 2.80878925e+02] [-1.71803283e-01 9.85115221e-01 -5.62439650e-03 -4.51281583e+01] [-3.52070015e-02 -4.34232821e-04 9.99379947e-01 -1.21598179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:280.91, Y:-45.13, Z:-12.16 [[ 9.84071871e-01 1.74400028e-01 3.44555086e-02 2.80910615e+02] [-1.74311583e-01 9.84674750e-01 -5.57758638e-03 -4.51313268e+01] [-3.49002006e-02 -5.17248381e-04 9.99390669e-01 -1.21605644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03264 meters Centerline goodness [0,1] 0.9999565878011721 Centerline is valid? [True, True] Translation: X:280.94, Y:-45.13, Z:-12.16 [[ 9.83716165e-01 1.76545465e-01 3.36779730e-02 2.80942428e+02] [-1.76462022e-01 9.84292319e-01 -5.45762995e-03 -4.51318817e+01] [-3.41124899e-02 -5.74124406e-04 9.99417835e-01 -1.21624673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters Centerline goodness [0,1] 0.9999568974806577 Centerline is valid? [True, True] Translation: X:280.97, Y:-45.13, Z:-12.17 [[ 9.83123967e-01 1.79869681e-01 3.33790829e-02 2.80974736e+02] [-1.79789401e-01 9.83690215e-01 -5.41584268e-03 -4.51324738e+01] [-3.38088231e-02 -6.76760579e-04 9.99428089e-01 -1.21658032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09264 meters Centerline goodness [0,1] 0.9999140985718887 Centerline is valid? [True, True] Translation: X:281.01, Y:-45.14, Z:-12.17 [[ 9.82915216e-01 1.81120659e-01 3.27564522e-02 2.81006724e+02] [-1.81044038e-01 9.83460629e-01 -5.31489818e-03 -4.51364477e+01] [-3.31773190e-02 -7.06266090e-04 9.99449232e-01 -1.21654653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters Centerline goodness [0,1] 0.9999573960463531 Centerline is valid? [True, True] Translation: X:281.04, Y:-45.14, Z:-12.17 [[ 9.82717790e-01 1.82132944e-01 3.30656429e-02 2.81038369e+02] [-1.82055242e-01 9.83273635e-01 -5.37104509e-03 -4.51373318e+01] [-3.34908191e-02 -7.41552046e-04 9.99438750e-01 -1.21695153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15264 meters Centerline goodness [0,1] 0.9999784964734216 Centerline is valid? [True, True] Translation: X:281.07, Y:-45.14, Z:-12.17 [[ 9.82554214e-01 1.83024402e-01 3.30043249e-02 2.81070524e+02] [-1.82947317e-01 9.83108073e-01 -5.36628062e-03 -4.51414429e+01] [-3.34289786e-02 -7.65391057e-04 9.99440802e-01 -1.21700805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters Centerline goodness [0,1] 0.9999783863228651 Centerline is valid? [True, True] Translation: X:281.10, Y:-45.15, Z:-12.17 [[ 9.82544315e-01 1.83039614e-01 3.32139995e-02 2.81101733e+02] [-1.82961365e-01 9.83105241e-01 -5.40598379e-03 -4.51476811e+01] [-3.36423662e-02 -7.65260069e-04 9.99433642e-01 -1.21695697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21264 meters Centerline goodness [0,1] 0.9998941574936494 Centerline is valid? [True, True] Translation: X:281.13, Y:-45.15, Z:-12.17 [[ 9.82588376e-01 1.82696463e-01 3.37947641e-02 2.81133338e+02] [-1.82615020e-01 9.83169072e-01 -5.50723339e-03 -4.51453355e+01] [-3.42321189e-02 -7.60088003e-04 9.99413620e-01 -1.21736365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters Centerline goodness [0,1] 0.9998704970753923 Centerline is valid? [True, True] Translation: X:281.17, Y:-45.16, Z:-12.17 [[ 9.82667258e-01 1.82397597e-01 3.31085553e-02 2.81165404e+02] [-1.82319193e-01 9.83224583e-01 -5.39737103e-03 -4.51577498e+01] [-3.35376130e-02 -7.32505302e-04 9.99437188e-01 -1.21689228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27264 meters Centerline goodness [0,1] 0.9999570262140095 Centerline is valid? [True, True] Translation: X:281.20, Y:-45.16, Z:-12.17 [[ 9.82766249e-01 1.81767218e-01 3.36330075e-02 2.81196374e+02] [-1.81685694e-01 9.83341328e-01 -5.49015173e-03 -4.51603548e+01] [-3.40706558e-02 -7.15100465e-04 9.99419171e-01 -1.21717300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters Centerline goodness [0,1] 0.9999784603454961 Centerline is valid? [True, True] Translation: X:281.23, Y:-45.17, Z:-12.17 [[ 9.82863707e-01 1.81199876e-01 3.38457950e-02 2.81227648e+02] [-1.81116797e-01 9.83446045e-01 -5.53021783e-03 -4.51680781e+01] [-3.42875880e-02 -6.94591594e-04 9.99411766e-01 -1.21712816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33264 meters Centerline goodness [0,1] 0.9999352485376961 Centerline is valid? [True, True] Translation: X:281.26, Y:-45.17, Z:-12.17 [[ 9.82951311e-01 1.80752785e-01 3.36919994e-02 2.81259821e+02] [-1.80669995e-01 9.83528333e-01 -5.51098515e-03 -4.51735973e+01] [-3.41331619e-02 -6.70103295e-04 9.99417069e-01 -1.21700463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters Centerline goodness [0,1] 0.9999570769395858 Centerline is valid? [True, True] Translation: X:281.29, Y:-45.17, Z:-12.18 [[ 9.83011866e-01 1.80392261e-01 3.38571108e-02 2.81291595e+02] [-1.80308231e-01 9.83594532e-01 -5.54420215e-03 -4.51736392e+01] [-3.43018002e-02 -6.54699265e-04 9.99411306e-01 -1.21753586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39264000000003 meters Centerline goodness [0,1] 0.9999566968345386 Centerline is valid? [True, True] Translation: X:281.32, Y:-45.18, Z:-12.18 [[ 9.83005172e-01 1.80534653e-01 3.32877026e-02 2.81323737e+02] [-1.80453343e-01 9.83568414e-01 -5.45585855e-03 -4.51816932e+01] [-3.37257044e-02 -6.43740056e-04 9.99430919e-01 -1.21754714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters Centerline goodness [0,1] 0.999956960554348 Centerline is valid? [True, True] Translation: X:281.35, Y:-45.18, Z:-12.18 [[ 9.82952690e-01 1.80928886e-01 3.26917118e-02 2.81354676e+02] [-1.80850423e-01 9.83495974e-01 -5.36594789e-03 -4.51826466e+01] [-3.31230220e-02 -6.37836993e-04 9.99451079e-01 -1.21780744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.39, Y:-45.18, Z:-12.18 [[ 9.82738852e-01 1.82126070e-01 3.24721843e-02 2.81386690e+02] [-1.82049237e-01 9.83274958e-01 -5.33214149e-03 -4.51841215e+01] [-3.29002077e-02 -6.71433756e-04 9.99458416e-01 -1.21817144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48264 meters Centerline goodness [0,1] 0.9998730615439948 Centerline is valid? [True, True] Translation: X:281.42, Y:-45.18, Z:-12.18 [[ 9.82611411e-01 1.82763246e-01 3.27476743e-02 2.81417447e+02] [-1.82685208e-01 9.83156711e-01 -5.38488547e-03 -4.51843793e+01] [-3.31802549e-02 -6.91265766e-04 9.99449145e-01 -1.21847097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51264000000003 meters Centerline goodness [0,1] 0.9998281934541706 Centerline is valid? [True, True] Translation: X:281.45, Y:-45.19, Z:-12.18 [[ 9.82565536e-01 1.83073633e-01 3.23884740e-02 2.81448739e+02] [-1.82997458e-01 9.83098959e-01 -5.32605173e-03 -4.51909523e+01] [-3.28161347e-02 -6.93813541e-04 9.99461165e-01 -1.21819557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54264 meters Centerline goodness [0,1] 0.999978494623656 Centerline is valid? [True, True] Translation: X:281.48, Y:-45.19, Z:-12.19 [[ 9.82464890e-01 1.83565846e-01 3.26545465e-02 2.81479205e+02] [-1.83488649e-01 9.83007156e-01 -5.37090829e-03 -4.51931961e+01] [-3.30855682e-02 -7.15009792e-04 9.99452267e-01 -1.21853171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57264000000004 meters Centerline goodness [0,1] 0.9997863247863248 Centerline is valid? [True, True] Translation: X:281.51, Y:-45.19, Z:-12.18 [[ 9.82483868e-01 1.83366196e-01 3.32007064e-02 2.81508754e+02] [-1.83286276e-01 9.83044414e-01 -5.46087896e-03 -4.51936785e+01] [-3.36391095e-02 -7.20008351e-04 9.99433786e-01 -1.21841112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60264 meters Centerline goodness [0,1] 0.9999575236274822 Centerline is valid? [True, True] Translation: X:281.54, Y:-45.20, Z:-12.19 [[ 9.82452210e-01 1.83529423e-01 3.32356265e-02 2.81537708e+02] [-1.83449442e-01 9.83013948e-01 -5.46621530e-03 -4.51965659e+01] [-3.36742958e-02 -7.26761831e-04 9.99432596e-01 -1.21879268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63264 meters Centerline goodness [0,1] 0.9999783765082385 Centerline is valid? [True, True] Translation: X:281.57, Y:-45.20, Z:-12.19 [[ 9.82540232e-01 1.83240288e-01 3.22131770e-02 2.81568615e+02] [-1.83165025e-01 9.83067909e-01 -5.29722330e-03 -4.52039452e+01] [-3.26384053e-02 -6.95592348e-04 9.99466983e-01 -1.21892486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66264 meters Centerline goodness [0,1] 0.9999362624288264 Centerline is valid? [True, True] Translation: X:281.60, Y:-45.21, Z:-12.19 [[ 9.82734347e-01 1.82326833e-01 3.14663256e-02 2.81598576e+02] [-1.82254523e-01 9.83237766e-01 -5.17533834e-03 -4.52072682e+01] [-3.18824827e-02 -6.48897414e-04 9.99491414e-01 -1.21924569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.63, Y:-45.21, Z:-12.19 [[ 9.82824056e-01 1.81700875e-01 3.22748760e-02 2.81628320e+02] [-1.81624439e-01 9.83353638e-01 -5.30904986e-03 -4.52089364e+01] [-3.27022757e-02 -6.44044313e-04 9.99464930e-01 -1.21943954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72264 meters Centerline goodness [0,1] 0.9999784895351589 Centerline is valid? [True, True] Translation: X:281.66, Y:-45.21, Z:-12.19 [[ 9.82926695e-01 1.81069487e-01 3.26948367e-02 2.81658213e+02] [-1.80990718e-01 9.83470102e-01 -5.37757090e-03 -4.52134162e+01] [-3.31281084e-02 -6.31703978e-04 9.99450914e-01 -1.21937002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.69, Y:-45.22, Z:-12.19 [[ 9.83009094e-01 1.80531408e-01 3.31893379e-02 2.81688340e+02] [-1.80449931e-01 9.83569023e-01 -5.45890532e-03 -4.52176707e+01] [-3.36295085e-02 -6.22860164e-04 9.99434174e-01 -1.21939611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.72, Y:-45.22, Z:-12.20 [[ 9.83286857e-01 1.79118822e-01 3.26098961e-02 2.81717998e+02] [-1.79039389e-01 9.83827286e-01 -5.36360007e-03 -4.52215969e+01] [-3.30432273e-02 -5.64498419e-04 9.99453764e-01 -1.21971412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81264 meters Centerline goodness [0,1] 0.9999783989285869 Centerline is valid? [True, True] Translation: X:281.75, Y:-45.23, Z:-12.20 [[ 9.83449578e-01 1.78333732e-01 3.20001128e-02 2.81748079e+02] [-1.78256837e-01 9.83969919e-01 -5.26298645e-03 -4.52290557e+01] [-3.24257164e-02 -5.28357098e-04 9.99474009e-01 -1.21985402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84264 meters Centerline goodness [0,1] 0.9997202375828527 Centerline is valid? [True, True] Translation: X:281.78, Y:-45.23, Z:-12.20 [[ 9.83653316e-01 1.77281628e-01 3.15812934e-02 2.81778210e+02] [-1.77206184e-01 9.84160042e-01 -5.19434355e-03 -4.52336533e+01] [-3.20019087e-02 -4.86967222e-04 9.99487689e-01 -1.21994246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.81, Y:-45.24, Z:-12.20 [[ 9.83937716e-01 1.75797534e-01 3.10128820e-02 2.81807697e+02] [-1.75723954e-01 9.84426251e-01 -5.10373877e-03 -4.52374456e+01] [-3.14271198e-02 -4.27945180e-04 9.99505954e-01 -1.22046273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.84, Y:-45.24, Z:-12.21 [[ 9.84117364e-01 1.74716889e-01 3.14169009e-02 2.81837976e+02] [-1.74640828e-01 9.84618632e-01 -5.17022750e-03 -4.52434270e+01] [-3.18369921e-02 -3.98562938e-04 9.99492995e-01 -1.22054307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.87, Y:-45.25, Z:-12.21 [[ 9.84368040e-01 1.73259377e-01 3.16346333e-02 2.81868226e+02] [-1.73181516e-01 9.84876166e-01 -5.20573754e-03 -4.52507807e+01] [-3.20581392e-02 -3.54172105e-04 9.99485943e-01 -1.22054215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.90, Y:-45.26, Z:-12.21 [[ 9.85000674e-01 1.69595232e-01 3.17982528e-02 2.81898546e+02] [-1.69514685e-01 9.85513775e-01 -5.23170503e-03 -4.52606283e+01] [-3.22248883e-02 -2.37037806e-04 9.99480615e-01 -1.22068838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.93, Y:-45.27, Z:-12.21 [[ 9.85415447e-01 1.67150289e-01 3.18932172e-02 2.81929768e+02] [-1.67067818e-01 9.85931416e-01 -5.25229455e-03 -4.52706119e+01] [-3.23224474e-02 -1.52638034e-04 9.99477482e-01 -1.22083242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02264 meters Centerline goodness [0,1] 0.9998920902125823 Centerline is valid? [True, True] Translation: X:281.96, Y:-45.28, Z:-12.21 [[ 9.85835407e-01 1.64532626e-01 3.25202296e-02 2.81960500e+02] [-1.64445267e-01 9.86371639e-01 -5.36127087e-03 -4.52816770e+01] [-3.29591361e-02 -6.24671882e-05 9.99456698e-01 -1.22073539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:281.99, Y:-45.29, Z:-12.21 [[ 9.86195744e-01 1.62465334e-01 3.19839130e-02 2.81991345e+02] [-1.62379578e-01 9.86714252e-01 -5.27803783e-03 -4.52921922e+01] [-3.24164809e-02 1.16441711e-05 9.99474448e-01 -1.22111401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.02, Y:-45.30, Z:-12.21 [[ 9.86527877e-01 1.60473087e-01 3.17983619e-02 2.82022720e+02] [-1.60387108e-01 9.87040213e-01 -5.25300339e-03 -4.53023024e+01] [-3.22292276e-02 8.21869762e-05 9.99480500e-01 -1.22126422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.05, Y:-45.31, Z:-12.21 [[ 9.86987127e-01 1.57489168e-01 3.24587980e-02 2.82053031e+02] [-1.57397725e-01 9.87520696e-01 -5.36942990e-03 -4.53145393e+01] [-3.28993619e-02 1.90617229e-04 9.99458651e-01 -1.22127915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.08, Y:-45.32, Z:-12.21 [[ 9.87086142e-01 1.56837507e-01 3.26028186e-02 2.82084352e+02] [-1.56744763e-01 9.87624397e-01 -5.39721676e-03 -4.53226131e+01] [-3.30458251e-02 2.17196787e-04 9.99453814e-01 -1.22142712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.12, Y:-45.33, Z:-12.22 [[ 9.87122556e-01 1.56633622e-01 3.24802785e-02 2.82116267e+02] [-1.56541366e-01 9.87656751e-01 -5.37992093e-03 -4.53305509e+01] [-3.29220428e-02 2.26134143e-04 9.99457897e-01 -1.22162225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264000000003 meters Centerline goodness [0,1] 0.9999343243065741 Centerline is valid? [True, True] Translation: X:282.15, Y:-45.34, Z:-12.22 [[ 9.87129158e-01 1.56658984e-01 3.21556886e-02 2.82148177e+02] [-1.56568381e-01 9.87652728e-01 -5.33216003e-03 -4.53382348e+01] [-3.25939843e-02 2.28966539e-04 9.99468649e-01 -1.22172993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.18, Y:-45.35, Z:-12.22 [[ 9.86946507e-01 1.57971442e-01 3.13307464e-02 2.82179936e+02] [-1.57885911e-01 9.87443664e-01 -5.20099914e-03 -4.53458467e+01] [-3.17589564e-02 1.86424498e-04 9.99495540e-01 -1.22203536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264000000003 meters Centerline goodness [0,1] 0.9999137038315499 Centerline is valid? [True, True] Translation: X:282.21, Y:-45.35, Z:-12.22 [[ 9.86822519e-01 1.58721666e-01 3.14443654e-02 2.82212881e+02] [-1.58635701e-01 9.87323353e-01 -5.22591542e-03 -4.53519112e+01] [-3.18752223e-02 1.68852071e-04 9.99491842e-01 -1.22201818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.24, Y:-45.36, Z:-12.23 [[ 9.86630459e-01 1.59997697e-01 3.10012087e-02 2.82244296e+02] [-1.59914574e-01 9.87117379e-01 -5.15842337e-03 -4.53585208e+01] [-3.14271678e-02 1.31912513e-04 9.99506036e-01 -1.22253050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.28, Y:-45.36, Z:-12.22 [[ 9.86210960e-01 1.62546174e-01 3.10915423e-02 2.82275893e+02] [-1.62463645e-01 9.86700937e-01 -5.17936771e-03 -4.53638085e+01] [-3.15199403e-02 5.67039154e-05 9.99503122e-01 -1.22243530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.31, Y:-45.37, Z:-12.23 [[ 9.85888620e-01 1.64428581e-01 3.14145012e-02 2.82307086e+02] [-1.64345078e-01 9.86388991e-01 -5.23960288e-03 -4.53682990e+01] [-3.18484586e-02 2.84621052e-06 9.99492709e-01 -1.22251924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.34, Y:-45.37, Z:-12.23 [[ 9.85857507e-01 1.64615077e-01 3.14142225e-02 2.82339090e+02] [-1.64531616e-01 9.86357885e-01 -5.24127376e-03 -4.53738399e+01] [-3.18484587e-02 -1.48369667e-06 9.99492709e-01 -1.22266664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.37, Y:-45.38, Z:-12.23 [[ 9.85468817e-01 1.66881122e-01 3.16528243e-02 2.82372224e+02] [-1.66797359e-01 9.85977021e-01 -5.28723121e-03 -4.53787042e+01] [-3.20912965e-02 -6.92060135e-05 9.99484939e-01 -1.22266858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.40, Y:-45.38, Z:-12.23 [[ 9.85049961e-01 1.69369305e-01 3.14739893e-02 2.82403722e+02] [-1.69287545e-01 9.85552646e-01 -5.26392752e-03 -4.53827953e+01] [-3.19108212e-02 -1.42922788e-04 9.99490710e-01 -1.22276171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.44, Y:-45.38, Z:-12.23 [[ 9.84037264e-01 1.75078266e-01 3.19102484e-02 2.82435692e+02] [-1.74997029e-01 9.84554465e-01 -5.34281726e-03 -4.53811997e+01] [-3.23527887e-02 -3.26667373e-04 9.99476458e-01 -1.22324940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.47, Y:-45.38, Z:-12.23 [[ 9.83535535e-01 1.77883231e-01 3.18654547e-02 2.82467512e+02] [-1.77803523e-01 9.84051516e-01 -5.34057707e-03 -4.53835611e+01] [-3.23072481e-02 -4.13142786e-04 9.99477899e-01 -1.22340548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:282.50, Y:-45.39, Z:-12.24 [[ 9.83038477e-01 1.80632158e-01 3.17391834e-02 2.82498288e+02] [-1.80554291e-01 9.83550598e-01 -5.32627886e-03 -4.53854198e+01] [-3.21791900e-02 -4.94708684e-04 9.99481993e-01 -1.22358522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters Centerline goodness [0,1] 0.9999786930304903 Centerline is valid? [True, True] Translation: X:282.53, Y:-45.39, Z:-12.24 [[ 9.82552741e-01 1.83245105e-01 3.18016254e-02 2.82529862e+02] [-1.83168350e-01 9.83067084e-01 -5.33514318e-03 -4.53902933e+01] [-3.22407700e-02 -5.82991697e-04 9.99479961e-01 -1.22353846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59264 meters Centerline goodness [0,1] 0.9998070036240431 Centerline is valid? [True, True] Translation: X:282.56, Y:-45.39, Z:-12.24 [[ 9.81741204e-01 1.87608628e-01 3.14199209e-02 2.82560563e+02] [-1.87535706e-01 9.82243604e-01 -5.27835066e-03 -4.53861297e+01] [-3.18522805e-02 -7.10382723e-04 9.99492335e-01 -1.22389094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters Centerline goodness [0,1] 0.9999355199243434 Centerline is valid? [True, True] Translation: X:282.59, Y:-45.40, Z:-12.24 [[ 9.81432540e-01 1.89221442e-01 3.13913281e-02 2.82591204e+02] [-1.89149487e-01 9.81934145e-01 -5.27322260e-03 -4.53952486e+01] [-3.18220237e-02 -7.62341350e-04 9.99493260e-01 -1.22361768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65264 meters Centerline goodness [0,1] 0.9999785628537129 Centerline is valid? [True, True] Translation: X:282.62, Y:-45.40, Z:-12.24 [[ 9.81093884e-01 1.91017282e-01 3.10996527e-02 2.82621831e+02] [-1.90947546e-01 9.81586337e-01 -5.22467144e-03 -4.53963076e+01] [-3.15249967e-02 -8.12509152e-04 9.99502634e-01 -1.22386051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters Centerline goodness [0,1] 0.999871514840036 Centerline is valid? [True, True] Translation: X:282.65, Y:-45.40, Z:-12.24 [[ 9.80757719e-01 1.92692672e-01 3.13660646e-02 2.82651324e+02] [-1.92622519e-01 9.81258770e-01 -5.27169204e-03 -4.53975990e+01] [-3.17940424e-02 -8.71557704e-04 9.99494062e-01 -1.22396992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71264 meters Centerline goodness [0,1] 0.9989828784539753 Centerline is valid? [True, True] Translation: X:282.68, Y:-45.39, Z:-12.25 [[ 9.80085615e-01 1.96093459e-01 3.12976479e-02 2.82682158e+02] [-1.96025349e-01 9.80584721e-01 -5.25997880e-03 -4.53870357e+01] [-3.17214427e-02 -9.79902791e-04 9.99496268e-01 -1.22452200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters Centerline goodness [0,1] 0.999763710179795 Centerline is valid? [True, True] Translation: X:282.71, Y:-45.40, Z:-12.24 [[ 9.79811351e-01 1.97574151e-01 3.05642127e-02 2.82710610e+02] [-1.97509937e-01 9.80287430e-01 -5.13601800e-03 -4.53985820e+01] [-3.09764579e-02 -1.00440700e-03 9.99519610e-01 -1.22430414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77264 meters Centerline goodness [0,1] 0.9998271839626718 Centerline is valid? [True, True] Translation: X:282.74, Y:-45.40, Z:-12.24 [[ 9.79538316e-01 1.98925936e-01 3.05476557e-02 2.82740215e+02] [-1.98862470e-01 9.80013967e-01 -5.13250222e-03 -4.53996059e+01] [-3.09581171e-02 -1.04729969e-03 9.99520134e-01 -1.22445655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters Centerline goodness [0,1] 0.9997840732423562 Centerline is valid? [True, True] Translation: X:282.77, Y:-45.40, Z:-12.24 [[ 9.79115585e-01 2.00917083e-01 3.10644173e-02 2.82769546e+02] [-2.00852470e-01 9.79607600e-01 -5.21875397e-03 -4.54013868e+01] [-3.14794761e-02 -1.12960160e-03 9.99503760e-01 -1.22434175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83264 meters Centerline goodness [0,1] 0.9932747793618466 Centerline is valid? [True, True] Translation: X:282.80, Y:-45.38, Z:-12.25 [[ 9.78966127e-01 2.01529810e-01 3.17971260e-02 2.82800336e+02] [-2.01462466e-01 9.79481674e-01 -5.34092875e-03 -4.53842400e+01] [-3.22210586e-02 -1.17733907e-03 9.99480073e-01 -1.22503055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters Centerline goodness [0,1] 0.9996590448995248 Centerline is valid? [True, True] Translation: X:282.83, Y:-45.40, Z:-12.25 [[ 9.78899727e-01 2.01822403e-01 3.19850174e-02 2.82827743e+02] [-2.01754488e-01 9.79421404e-01 -5.37027604e-03 -4.53967069e+01] [-3.24106526e-02 -1.19615903e-03 9.99473921e-01 -1.22471308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89264000000003 meters Centerline goodness [0,1] 0.9997398543184183 Centerline is valid? [True, True] Translation: X:282.86, Y:-45.40, Z:-12.25 [[ 9.78986430e-01 2.01603676e-01 3.06843361e-02 2.82855966e+02] [-2.01541105e-01 9.79466515e-01 -5.15058956e-03 -4.54030330e+01] [-3.10926575e-02 -1.14179772e-03 9.99515854e-01 -1.22481720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters Centerline goodness [0,1] 0.9996983148730768 Centerline is valid? [True, True] Translation: X:282.89, Y:-45.40, Z:-12.25 [[ 9.79206195e-01 2.00571274e-01 3.04366740e-02 2.82885030e+02] [-2.00509253e-01 9.79678494e-01 -5.10766944e-03 -4.53987086e+01] [-3.08426067e-02 -1.10137321e-03 9.99523647e-01 -1.22529044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95264000000003 meters Centerline goodness [0,1] 0.9995314662975189 Centerline is valid? [True, True] Translation: X:282.91, Y:-45.40, Z:-12.25 [[ 9.79538592e-01 1.98877468e-01 3.08528653e-02 2.82913390e+02] [-1.98812969e-01 9.80023785e-01 -5.17531494e-03 -4.54041285e+01] [-3.12657954e-02 -1.06452903e-03 9.99510539e-01 -1.22535245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98264 meters Centerline goodness [0,1] 0.9999568174457519 Centerline is valid? [True, True] Translation: X:282.94, Y:-45.42, Z:-12.25 [[ 9.79993211e-01 1.96625342e-01 3.08509378e-02 2.82942278e+02] [-1.96559797e-01 9.80478192e-01 -5.17304309e-03 -4.54152606e+01] [-3.12658231e-02 -9.94506951e-04 9.99510610e-01 -1.22528614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01264000000003 meters Centerline goodness [0,1] 0.9999147157903714 Centerline is valid? [True, True] Translation: X:282.97, Y:-45.42, Z:-12.25 [[ 9.81241601e-01 1.90143694e-01 3.17851702e-02 2.82971286e+02] [-1.90070735e-01 9.81755935e-01 -5.32914179e-03 -4.54225959e+01] [-3.22185822e-02 -8.12255035e-04 9.99480517e-01 -1.22549250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04264 meters Centerline goodness [0,1] 0.9999362678450034 Centerline is valid? [True, True] Translation: X:283.00, Y:-45.43, Z:-12.26 [[ 9.81998382e-01 1.86086386e-01 3.24196717e-02 2.83000612e+02] [-1.86008272e-01 9.82533143e-01 -5.43556562e-03 -4.54311664e+01] [-3.28648867e-02 -6.92610475e-04 9.99459564e-01 -1.22555750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07264000000004 meters Centerline goodness [0,1] 0.9999783531041648 Centerline is valid? [True, True] Translation: X:283.03, Y:-45.44, Z:-12.26 [[ 9.82786289e-01 1.81866250e-01 3.24927270e-02 2.83030003e+02] [-1.81785500e-01 9.83323121e-01 -5.44711039e-03 -4.54420469e+01] [-3.29414953e-02 -5.53361237e-04 9.99457128e-01 -1.22556027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.06, Y:-45.45, Z:-12.26 [[ 9.83570517e-01 1.77552561e-01 3.26209498e-02 2.83059542e+02] [-1.77468785e-01 9.84111234e-01 -5.46902107e-03 -4.54502456e+01] [-3.30736818e-02 -4.10032445e-04 9.99452832e-01 -1.22587532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.09, Y:-45.47, Z:-12.26 [[ 9.84948390e-01 1.69717615e-01 3.27505924e-02 2.83088712e+02] [-1.69628827e-01 9.85492724e-01 -5.49101954e-03 -4.54650554e+01] [-3.32073933e-02 -1.47073729e-04 9.99448472e-01 -1.22592009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16264 meters Centerline goodness [0,1] 0.9998712833054447 Centerline is valid? [True, True] Translation: X:283.12, Y:-45.47, Z:-12.26 [[ 9.85476724e-01 1.66559441e-01 3.30693153e-02 2.83119275e+02] [-1.66467168e-01 9.86031415e-01 -5.54355727e-03 -4.54740036e+01] [-3.35307156e-02 -4.19086201e-05 9.99437687e-01 -1.22617566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.15, Y:-45.48, Z:-12.26 [[ 9.85893846e-01 1.64223988e-01 3.23079958e-02 2.83150342e+02] [-1.64134483e-01 9.86423074e-01 -5.42139456e-03 -4.54832705e+01] [-3.27596755e-02 4.20633529e-05 9.99463257e-01 -1.22634806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.18, Y:-45.49, Z:-12.27 [[ 9.86540963e-01 1.60326950e-01 3.21278405e-02 2.83180671e+02] [-1.60236158e-01 9.87063948e-01 -5.39777200e-03 -4.54937147e+01] [-3.25776414e-02 1.77081466e-04 9.99469192e-01 -1.22653360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.21, Y:-45.50, Z:-12.27 [[ 9.86682921e-01 1.59459082e-01 3.20876116e-02 2.83211582e+02] [-1.59367989e-01 9.87204517e-01 -5.39314237e-03 -4.55011492e+01] [-3.25370207e-02 2.07583327e-04 9.99470509e-01 -1.22683410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.24, Y:-45.51, Z:-12.27 [[ 9.86731776e-01 1.59165678e-01 3.20419922e-02 2.83242685e+02] [-1.59074491e-01 9.87251861e-01 -5.39159425e-03 -4.55080607e+01] [-3.24916731e-02 2.22993782e-04 9.99471981e-01 -1.22707030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31264 meters Centerline goodness [0,1] 0.9997826323225736 Centerline is valid? [True, True] Translation: X:283.28, Y:-45.51, Z:-12.27 [[ 9.86666762e-01 1.59423343e-01 3.27551385e-02 2.83275060e+02] [-1.59327988e-01 9.87210285e-01 -5.51770697e-03 -4.55131211e+01] [-3.32158609e-02 2.25327736e-04 9.99448176e-01 -1.22681808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.31, Y:-45.52, Z:-12.27 [[ 9.86311670e-01 1.61646196e-01 3.25545162e-02 2.83305656e+02] [-1.61553020e-01 9.86848764e-01 -5.48984615e-03 -4.55174714e+01] [-3.30137969e-02 1.55418906e-04 9.99454884e-01 -1.22718850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.34, Y:-45.52, Z:-12.27 [[ 9.86031438e-01 1.63313919e-01 3.27195082e-02 2.83337606e+02] [-1.63220537e-01 9.86574150e-01 -5.52298958e-03 -4.55205103e+01] [-3.31822021e-02 1.05345646e-04 9.99449314e-01 -1.22711890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.37, Y:-45.52, Z:-12.27 [[ 9.85729291e-01 1.65145883e-01 3.26282394e-02 2.83369420e+02] [-1.65053838e-01 9.86269149e-01 -5.51321855e-03 -4.55242514e+01] [-3.30907112e-02 4.91248828e-05 9.99452351e-01 -1.22738676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.40, Y:-45.53, Z:-12.28 [[ 9.85430066e-01 1.66965181e-01 3.24069963e-02 2.83401073e+02] [-1.66875163e-01 9.85962793e-01 -5.48194782e-03 -4.55280814e+01] [-3.28673870e-02 -5.84658962e-06 9.99459721e-01 -1.22765858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.43, Y:-45.53, Z:-12.28 [[ 9.84768106e-01 1.70701975e-01 3.30546909e-02 2.83432674e+02] [-1.70610209e-01 9.85322698e-01 -5.59793519e-03 -4.55305221e+01] [-3.35251158e-02 -1.26799690e-04 9.99437867e-01 -1.22779645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.46, Y:-45.53, Z:-12.28 [[ 9.84396356e-01 1.72757104e-01 3.34484402e-02 2.83464734e+02] [-1.72664113e-01 9.84964439e-01 -5.67082995e-03 -4.55338893e+01] [-3.39252003e-02 -1.93000923e-04 9.99424356e-01 -1.22788660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52264 meters Centerline goodness [0,1] 0.9997830802603037 Centerline is valid? [True, True] Translation: X:283.50, Y:-45.54, Z:-12.28 [[ 9.83976374e-01 1.74884109e-01 3.47281542e-02 2.83497546e+02] [-1.74784963e-01 9.84588988e-01 -5.89417826e-03 -4.55379169e+01] [-3.52237564e-02 -2.70227009e-04 9.99379414e-01 -1.22766437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.53, Y:-45.54, Z:-12.28 [[ 9.83529633e-01 1.77440502e-01 3.44140807e-02 2.83529097e+02] [-1.77344453e-01 9.84131467e-01 -5.84811341e-03 -4.55407198e+01] [-3.49056719e-02 -3.51353474e-04 9.99390550e-01 -1.22786918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58264 meters Centerline goodness [0,1] 0.9999566508442248 Centerline is valid? [True, True] Translation: X:283.56, Y:-45.54, Z:-12.28 [[ 9.82723954e-01 1.81763532e-01 3.48661615e-02 2.83561042e+02] [-1.81667455e-01 9.83342139e-01 -5.93070893e-03 -4.55418794e+01] [-3.53633524e-02 -5.05797086e-04 9.99374393e-01 -1.22792878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.59, Y:-45.54, Z:-12.28 [[ 9.82303713e-01 1.83975281e-01 3.51071550e-02 2.83591606e+02] [-1.83879036e-01 9.82930698e-01 -5.97858852e-03 -4.55430264e+01] [-3.56078129e-02 -5.82680129e-04 9.99365671e-01 -1.22808394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264000000003 meters Centerline goodness [0,1] 0.9999575290395192 Centerline is valid? [True, True] Translation: X:283.62, Y:-45.54, Z:-12.28 [[ 9.81864886e-01 1.86248544e-01 3.53952812e-02 2.83621499e+02] [-1.86152096e-01 9.82502434e-01 -6.03023847e-03 -4.55399661e+01] [-3.58990731e-02 -6.68026373e-04 9.99355197e-01 -1.22841554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:283.65, Y:-45.55, Z:-12.28 [[ 9.81428063e-01 1.88506444e-01 3.55566829e-02 2.83650196e+02] [-1.88410623e-01 9.82071663e-01 -6.05693448e-03 -4.55458911e+01] [-3.60609819e-02 -7.54811306e-04 9.99349306e-01 -1.22827008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264000000003 meters Centerline goodness [0,1] 0.9999785637727759 Centerline is valid? [True, True] Translation: X:283.68, Y:-45.54, Z:-12.28 [[ 9.80534236e-01 1.93141552e-01 3.53405330e-02 2.83681454e+02] [-1.93049948e-01 9.81170471e-01 -6.01871609e-03 -4.55442976e+01] [-3.58375516e-02 -9.20930884e-04 9.99357204e-01 -1.22845523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73264 meters Centerline goodness [0,1] 0.9998926278265725 Centerline is valid? [True, True] Translation: X:283.71, Y:-45.55, Z:-12.29 [[ 9.80091300e-01 1.95360741e-01 3.54291346e-02 2.83711443e+02] [-1.95270117e-01 9.80730938e-01 -6.03403212e-03 -4.55467591e+01] [-3.59252614e-02 -1.00434886e-03 9.99353975e-01 -1.22851152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264000000003 meters Centerline goodness [0,1] 0.9998936328631906 Centerline is valid? [True, True] Translation: X:283.74, Y:-45.54, Z:-12.29 [[ 9.79645379e-01 1.97712415e-01 3.47092598e-02 2.83740743e+02] [-1.97626934e-01 9.80259485e-01 -5.91071986e-03 -4.55442506e+01] [-3.51927039e-02 -1.06907522e-03 9.99379973e-01 -1.22885827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79264 meters Centerline goodness [0,1] 0.9999570732544912 Centerline is valid? [True, True] Translation: X:283.77, Y:-45.55, Z:-12.29 [[ 9.79189062e-01 1.99902388e-01 3.50402195e-02 2.83770660e+02] [-1.99816719e-01 9.79815130e-01 -5.96566913e-03 -4.55454725e+01] [-3.55254887e-02 -1.16010374e-03 9.99368097e-01 -1.22892890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264000000004 meters Centerline goodness [0,1] 0.9998068420826716 Centerline is valid? [True, True] Translation: X:283.80, Y:-45.54, Z:-12.29 [[ 9.78383228e-01 2.03552861e-01 3.65033048e-02 2.83800973e+02] [-2.03462462e-01 9.79063030e-01 -6.21368837e-03 -4.55400882e+01] [-3.70038503e-02 -1.34768379e-03 9.99314214e-01 -1.22886131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85264 meters Centerline goodness [0,1] 0.9998506794086904 Centerline is valid? [True, True] Translation: X:283.83, Y:-45.54, Z:-12.29 [[ 9.78085515e-01 2.04978949e-01 3.65014472e-02 2.83830273e+02] [-2.04889550e-01 9.78765379e-01 -6.21337303e-03 -4.55414459e+01] [-3.69999634e-02 -1.40155494e-03 9.99314284e-01 -1.22900288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters Centerline goodness [0,1] 0.9999784543123694 Centerline is valid? [True, True] Translation: X:283.86, Y:-45.55, Z:-12.29 [[ 9.77867736e-01 2.05964118e-01 3.67895680e-02 2.83858871e+02] [-2.05874044e-01 9.78558468e-01 -6.26120547e-03 -4.55472408e+01] [-3.72903270e-02 -1.45138632e-03 9.99303420e-01 -1.22898163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91264 meters Centerline goodness [0,1] 0.9997844827586206 Centerline is valid? [True, True] Translation: X:283.89, Y:-45.54, Z:-12.29 [[ 9.77745802e-01 2.06444815e-01 3.73321010e-02 2.83887882e+02] [-2.06352482e-01 9.78457106e-01 -6.35172985e-03 -4.55430264e+01] [-3.78391412e-02 -1.49319450e-03 9.99282728e-01 -1.22909218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters Centerline goodness [0,1] 0.9997242958941296 Centerline is valid? [True, True] Translation: X:283.92, Y:-45.54, Z:-12.30 [[ 9.77761769e-01 2.06656311e-01 3.57084248e-02 2.83916060e+02] [-2.06572054e-01 9.78412541e-01 -6.07333695e-03 -4.55409147e+01] [-3.61926640e-02 -1.43808599e-03 9.99343796e-01 -1.22963273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97264 meters Centerline goodness [0,1] 0.9997428534693352 Centerline is valid? [True, True] Translation: X:283.94, Y:-45.55, Z:-12.30 [[ 9.77963345e-01 2.05711772e-01 3.56421570e-02 2.83944318e+02] [-2.05627285e-01 9.78611618e-01 -6.05977244e-03 -4.55493354e+01] [-3.61263955e-02 -1.40276464e-03 9.99346244e-01 -1.22965475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters Centerline goodness [0,1] 0.9998279347872844 Centerline is valid? [True, True] Translation: X:283.97, Y:-45.55, Z:-12.30 [[ 9.78229593e-01 2.04340592e-01 3.62185859e-02 2.83972771e+02] [-2.04252457e-01 9.78898887e-01 -6.15651157e-03 -4.55511709e+01] [-3.67123587e-02 -1.37525335e-03 9.99324928e-01 -1.22974381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03264 meters Centerline goodness [0,1] 0.9998717729526415 Centerline is valid? [True, True] Translation: X:284.00, Y:-45.55, Z:-12.30 [[ 9.78525420e-01 2.02862794e-01 3.65333971e-02 2.84000468e+02] [-2.02772155e-01 9.79206265e-01 -6.20830689e-03 -4.55535945e+01] [-3.70331658e-02 -1.33296954e-03 9.99313148e-01 -1.22981645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters Centerline goodness [0,1] 0.9999350579066999 Centerline is valid? [True, True] Translation: X:284.03, Y:-45.56, Z:-12.30 [[ 9.79276412e-01 1.99019012e-01 3.75385373e-02 2.84029899e+02] [-1.98920594e-01 9.79994866e-01 -6.37651444e-03 -4.55613302e+01] [-3.80566215e-02 -1.22281796e-03 9.99274836e-01 -1.22974413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09264 meters Centerline goodness [0,1] 0.9999363476268274 Centerline is valid? [True, True] Translation: X:284.06, Y:-45.56, Z:-12.30 [[ 9.79707087e-01 1.96997961e-01 3.69570951e-02 2.84057955e+02] [-1.96901159e-01 9.80403250e-01 -6.27701224e-03 -4.55619512e+01] [-3.74694148e-02 -1.12726148e-03 9.99297139e-01 -1.23000866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:284.09, Y:-45.57, Z:-12.30 [[ 9.80125401e-01 1.94725886e-01 3.78949548e-02 2.84085600e+02] [-1.94622504e-01 9.80857118e-01 -6.43389982e-03 -4.55705409e+01] [-3.84223830e-02 -1.06918234e-03 9.99261016e-01 -1.22996449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15264 meters Centerline goodness [0,1] 0.9999569596281311 Centerline is valid? [True, True] Translation: X:284.11, Y:-45.58, Z:-12.30 [[ 9.81020463e-01 1.90117455e-01 3.81340302e-02 2.84114427e+02] [-1.90009364e-01 9.81760943e-01 -6.47239531e-03 -4.55761525e+01] [-3.86690168e-02 -8.96270564e-04 9.99251672e-01 -1.23015728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters Centerline goodness [0,1] 0.9999568928355893 Centerline is valid? [True, True] Translation: X:284.14, Y:-45.58, Z:-12.30 [[ 9.81370995e-01 1.88325821e-01 3.80046889e-02 2.84142254e+02] [-1.88217146e-01 9.82106261e-01 -6.44973661e-03 -4.55796626e+01] [-3.85392949e-02 -8.23549639e-04 9.99256746e-01 -1.23035836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21264 meters Centerline goodness [0,1] 0.9999574540503744 Centerline is valid? [True, True] Translation: X:284.17, Y:-45.58, Z:-12.31 [[ 9.81676094e-01 1.86800703e-01 3.76502766e-02 2.84170913e+02] [-1.86693015e-01 9.82397537e-01 -6.38723410e-03 -4.55840696e+01] [-3.81806789e-02 -7.58848631e-04 9.99270564e-01 -1.23050695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.20, Y:-45.59, Z:-12.30 [[ 9.81977694e-01 1.84942815e-01 3.89353645e-02 2.84199479e+02] [-1.84826265e-01 9.82749026e-01 -6.60329845e-03 -4.55853488e+01] [-3.94849242e-02 -7.11986229e-04 9.99219913e-01 -1.23048960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.23, Y:-45.59, Z:-12.31 [[ 9.82070193e-01 1.84492768e-01 3.87369849e-02 2.84228105e+02] [-1.84377125e-01 9.82833628e-01 -6.56782980e-03 -4.55903579e+01] [-3.92837285e-02 -6.92144006e-04 9.99227857e-01 -1.23057563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.26, Y:-45.60, Z:-12.31 [[ 9.82079098e-01 1.84445295e-01 3.87373021e-02 2.84256024e+02] [-1.84329689e-01 9.82842538e-01 -6.56595811e-03 -4.55950011e+01] [-3.92837284e-02 -6.92144628e-04 9.99227857e-01 -1.23070406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33264 meters Centerline goodness [0,1] 0.9999784825924173 Centerline is valid? [True, True] Translation: X:284.28, Y:-45.60, Z:-12.31 [[ 9.82093488e-01 1.84501820e-01 3.80980098e-02 2.84284029e+02] [-1.84390110e-01 9.82831934e-01 -6.45582168e-03 -4.55954268e+01] [-3.86350515e-02 -6.84675795e-04 9.99253153e-01 -1.23101158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters Centerline goodness [0,1] 0.9998910865208678 Centerline is valid? [True, True] Translation: X:284.31, Y:-45.60, Z:-12.31 [[ 9.82155031e-01 1.84446796e-01 3.67542402e-02 2.84312763e+02] [-1.84342875e-01 9.82842278e-01 -6.22586450e-03 -4.56008476e+01] [-3.72719619e-02 -6.60618155e-04 9.99304941e-01 -1.23109212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.34, Y:-45.60, Z:-12.32 [[ 9.82096749e-01 1.85006074e-01 3.54785560e-02 2.84341038e+02] [-1.84909667e-01 9.82737156e-01 -6.00812833e-03 -4.55982812e+01] [-3.59776354e-02 -6.59764667e-04 9.99352378e-01 -1.23171466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters Centerline goodness [0,1] 0.9999784691570675 Centerline is valid? [True, True] Translation: X:284.37, Y:-45.60, Z:-12.32 [[ 9.82063770e-01 1.85260153e-01 3.50631836e-02 2.84368589e+02] [-1.85166230e-01 9.82689288e-01 -5.93561276e-03 -4.55992684e+01] [-3.55558474e-02 -6.63367278e-04 9.99367471e-01 -1.23196980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45264000000003 meters Centerline goodness [0,1] 0.999978308967073 Centerline is valid? [True, True] Translation: X:284.40, Y:-45.60, Z:-12.32 [[ 9.82045524e-01 1.85357094e-01 3.50618911e-02 2.84397193e+02] [-1.85263336e-01 9.82671003e-01 -5.93269856e-03 -4.56017988e+01] [-3.55539714e-02 -6.69502844e-04 9.99367533e-01 -1.23205686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.42, Y:-45.60, Z:-12.32 [[ 9.82062855e-01 1.85237080e-01 3.52104111e-02 2.84424582e+02] [-1.85142501e-01 9.82693633e-01 -5.95636785e-03 -4.56003685e+01] [-3.57043870e-02 -6.69415936e-04 9.99362171e-01 -1.23224138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.45, Y:-45.60, Z:-12.32 [[ 9.82242414e-01 1.84167177e-01 3.58090863e-02 2.84452431e+02] [-1.84068771e-01 9.82894722e-01 -6.05410425e-03 -4.56014471e+01] [-3.63115292e-02 -6.44736547e-04 9.99340311e-01 -1.23227835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54264 meters Centerline goodness [0,1] 0.9999358069071768 Centerline is valid? [True, True] Translation: X:284.48, Y:-45.61, Z:-12.32 [[ 9.82450101e-01 1.83149724e-01 3.53267170e-02 2.84480318e+02] [-1.83053375e-01 9.83084847e-01 -5.97031674e-03 -4.56059299e+01] [-3.58226221e-02 -6.01136493e-04 9.99357983e-01 -1.23244572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.51, Y:-45.61, Z:-12.33 [[ 9.82888080e-01 1.80742772e-01 3.55397478e-02 2.84508733e+02] [-1.80643745e-01 9.83530265e-01 -6.00460421e-03 -4.56117008e+01] [-3.60397064e-02 -5.18179252e-04 9.99350224e-01 -1.23253921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60264 meters Centerline goodness [0,1] 0.9999354838709678 Centerline is valid? [True, True] Translation: X:284.54, Y:-45.62, Z:-12.33 [[ 9.83094124e-01 1.79665722e-01 3.53011613e-02 2.84537149e+02] [-1.79567388e-01 9.83727605e-01 -5.96259205e-03 -4.56164492e+01] [-3.57980003e-02 -4.77148104e-04 9.99358932e-01 -1.23250483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.57, Y:-45.62, Z:-12.33 [[ 9.83306108e-01 1.78417364e-01 3.57259346e-02 2.84565739e+02] [-1.78315892e-01 9.83954802e-01 -6.03249702e-03 -4.56197089e+01] [-3.62290071e-02 -4.38710725e-04 9.99343418e-01 -1.23271271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66264 meters Centerline goodness [0,1] 0.9999782542512938 Centerline is valid? [True, True] Translation: X:284.59, Y:-45.62, Z:-12.33 [[ 9.83431737e-01 1.77693421e-01 3.58757222e-02 2.84594441e+02] [-1.77590681e-01 9.84085807e-01 -6.05596390e-03 -4.56224907e+01] [-3.63808940e-02 -4.15566846e-04 9.99337910e-01 -1.23280816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69264 meters Centerline goodness [0,1] 0.9999136292969425 Centerline is valid? [True, True] Translation: X:284.62, Y:-45.63, Z:-12.33 [[ 9.83544455e-01 1.77110464e-01 3.56677568e-02 2.84622856e+02] [-1.77008593e-01 9.84190901e-01 -6.01907434e-03 -4.56250814e+01] [-3.61699227e-02 -3.93472261e-04 9.99345577e-01 -1.23289335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.65, Y:-45.63, Z:-12.33 [[ 9.83616166e-01 1.76598014e-01 3.62267699e-02 2.84652477e+02] [-1.76492650e-01 9.84282985e-01 -6.11141823e-03 -4.56256169e+01] [-3.67366575e-02 -3.82468850e-04 9.99324908e-01 -1.23304861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.68, Y:-45.63, Z:-12.33 [[ 9.83621306e-01 1.76634367e-01 3.59085867e-02 2.84680706e+02] [-1.76530911e-01 9.84276463e-01 -6.05661396e-03 -4.56266486e+01] [-3.64137828e-02 -3.81560995e-04 9.99336725e-01 -1.23322656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.71, Y:-45.63, Z:-12.33 [[ 9.83628764e-01 1.76618658e-01 3.57813516e-02 2.84708956e+02] [-1.76516001e-01 9.84279282e-01 -6.03302761e-03 -4.56285475e+01] [-3.62843883e-02 -3.81721600e-04 9.99341432e-01 -1.23337252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.74, Y:-45.63, Z:-12.34 [[ 9.83651599e-01 1.76642241e-01 3.50292959e-02 2.84738226e+02] [-1.76543969e-01 9.84275051e-01 -5.90344545e-03 -4.56283443e+01] [-3.55212599e-02 -3.77277367e-04 9.99368850e-01 -1.23359807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.77, Y:-45.63, Z:-12.34 [[ 9.83655476e-01 1.76513715e-01 3.55642201e-02 2.84765762e+02] [-1.76412396e-01 9.84298107e-01 -5.99188574e-03 -4.56300007e+01] [-3.60634446e-02 -3.80018055e-04 9.99349430e-01 -1.23368862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.79, Y:-45.63, Z:-12.34 [[ 9.83669614e-01 1.76321998e-01 3.61198441e-02 2.84794431e+02] [-1.76217447e-01 9.84332468e-01 -6.08308471e-03 -4.56328421e+01] [-3.66265170e-02 -3.81201114e-04 9.99328951e-01 -1.23366524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90264 meters Centerline goodness [0,1] 0.9998923712760461 Centerline is valid? [True, True] Translation: X:284.82, Y:-45.64, Z:-12.34 [[ 9.83800619e-01 1.75648984e-01 3.58298371e-02 2.84822004e+02] [-1.75545718e-01 9.84452797e-01 -6.03259376e-03 -4.56351440e+01] [-3.63324023e-02 -3.54905005e-04 9.99339697e-01 -1.23376206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.85, Y:-45.64, Z:-12.34 [[ 9.84117903e-01 1.73607839e-01 3.70441905e-02 2.84850147e+02] [-1.73496100e-01 9.84814822e-01 -6.23458731e-03 -4.56393584e+01] [-3.75640411e-02 -2.91453613e-04 9.99294180e-01 -1.23377554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.88, Y:-45.64, Z:-12.34 [[ 9.84385382e-01 1.72081181e-01 3.70605827e-02 2.84878694e+02] [-1.71968331e-01 9.85082744e-01 -6.23548718e-03 -4.56444366e+01] [-3.75807505e-02 -2.35124126e-04 9.99293566e-01 -1.23387931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.91, Y:-45.65, Z:-12.34 [[ 9.84681688e-01 1.70467849e-01 3.66426801e-02 2.84905663e+02] [-1.70356477e-01 9.85363224e-01 -6.16346138e-03 -4.56492247e+01] [-3.71570214e-02 -1.73270323e-04 9.99309424e-01 -1.23413420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.93, Y:-45.65, Z:-12.34 [[ 9.85016893e-01 1.68636339e-01 3.61041063e-02 2.84932825e+02] [-1.68527064e-01 9.85678332e-01 -6.07078349e-03 -4.56549858e+01] [-3.66107900e-02 -1.04694747e-04 9.99329595e-01 -1.23430477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.96, Y:-45.66, Z:-12.34 [[ 9.85501574e-01 1.65813875e-01 3.59500541e-02 2.84961443e+02] [-1.65703757e-01 9.86157066e-01 -6.04203508e-03 -4.56612507e+01] [-3.64542531e-02 -2.62393765e-06 9.99335323e-01 -1.23439042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:284.99, Y:-45.67, Z:-12.35 [[ 9.85631215e-01 1.65110691e-01 3.56309985e-02 2.84988509e+02] [-1.65002121e-01 9.86275042e-01 -5.98671687e-03 -4.56661074e+01] [-3.61304355e-02 2.15047043e-05 9.99347082e-01 -1.23471281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.02, Y:-45.67, Z:-12.35 [[ 9.85736278e-01 1.64571517e-01 3.52165514e-02 2.85017276e+02] [-1.64465198e-01 9.86365153e-01 -5.91475296e-03 -4.56710259e+01] [-3.57097790e-02 3.84894599e-05 9.99362202e-01 -1.23483465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264000000003 meters Centerline goodness [0,1] 0.9999783751054213 Centerline is valid? [True, True] Translation: X:285.04, Y:-45.68, Z:-12.35 [[ 9.85785087e-01 1.64449475e-01 3.44112355e-02 2.85044623e+02] [-1.64347945e-01 9.86385507e-01 -5.77793058e-03 -4.56750132e+01] [-3.48929216e-02 4.03819776e-05 9.99391056e-01 -1.23501415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.07, Y:-45.68, Z:-12.35 [[ 9.85714569e-01 1.64872195e-01 3.44085439e-02 2.85071267e+02] [-1.64771006e-01 9.86314939e-01 -5.77554403e-03 -4.56777052e+01] [-3.48898875e-02 2.35075026e-05 9.99391162e-01 -1.23534293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.10, Y:-45.68, Z:-12.35 [[ 9.85407973e-01 1.66774545e-01 3.40202652e-02 2.85100036e+02] [-1.66676870e-01 9.85995055e-01 -5.70719713e-03 -4.56773363e+01] [-3.44956285e-02 -4.64737716e-05 9.99404848e-01 -1.23544250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.13, Y:-45.68, Z:-12.36 [[ 9.85252731e-01 1.67700643e-01 3.39639538e-02 2.85128360e+02] [-1.67603917e-01 9.85837962e-01 -5.69552432e-03 -4.56803557e+01] [-3.44380981e-02 -8.09608158e-05 9.99406829e-01 -1.23557542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.16, Y:-45.68, Z:-12.36 [[ 9.85091364e-01 1.68619659e-01 3.40942038e-02 2.85155413e+02] [-1.68522786e-01 9.85681184e-01 -5.71604336e-03 -4.56828126e+01] [-3.45698524e-02 -1.14825265e-04 9.99402277e-01 -1.23565208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.18, Y:-45.68, Z:-12.36 [[ 9.84866589e-01 1.69812019e-01 3.46652489e-02 2.85183303e+02] [-1.69712721e-01 9.85476459e-01 -5.80866922e-03 -4.56821172e+01] [-3.51481686e-02 -1.62369468e-04 9.99382099e-01 -1.23568077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.21, Y:-45.68, Z:-12.36 [[ 9.84792861e-01 1.70272707e-01 3.44996666e-02 2.85211196e+02] [-1.70174751e-01 9.85396962e-01 -5.77768910e-03 -4.56846481e+01] [-3.49796495e-02 -1.81145220e-04 9.99388008e-01 -1.23594514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.24, Y:-45.69, Z:-12.36 [[ 9.84811846e-01 1.70249037e-01 3.40718873e-02 2.85239517e+02] [-1.70153557e-01 9.85401052e-01 -5.70388606e-03 -4.56894092e+01] [-3.45455547e-02 -1.80198241e-04 9.99403108e-01 -1.23602891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters Centerline goodness [0,1] 0.9999784955485785 Centerline is valid? [True, True] Translation: X:285.27, Y:-45.69, Z:-12.36 [[ 9.84845895e-01 1.70058243e-01 3.40405243e-02 2.85266061e+02] [-1.69962870e-01 9.85433998e-01 -5.69730895e-03 -4.56930886e+01] [-3.45135642e-02 -1.74653875e-04 9.99404214e-01 -1.23620788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.29, Y:-45.70, Z:-12.36 [[ 9.85071426e-01 1.68677180e-01 3.43845184e-02 2.85292974e+02] [-1.68579135e-01 9.85671341e-01 -5.75179659e-03 -4.56981485e+01] [-3.48620311e-02 -1.30581898e-04 9.99392126e-01 -1.23636551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.32, Y:-45.70, Z:-12.37 [[ 9.85239580e-01 1.67658364e-01 3.45491458e-02 2.85320159e+02] [-1.67558871e-01 9.85845152e-01 -5.77592017e-03 -4.57040994e+01] [-3.50284892e-02 -9.83507045e-05 9.99386309e-01 -1.23650685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.35, Y:-45.71, Z:-12.36 [[ 9.85413075e-01 1.66504359e-01 3.51762749e-02 2.85348333e+02] [-1.66400568e-01 9.86040717e-01 -5.87846180e-03 -4.57112285e+01] [-3.56640288e-02 -6.06389889e-05 9.99363834e-01 -1.23648077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.38, Y:-45.72, Z:-12.37 [[ 9.85597064e-01 1.65292894e-01 3.57307453e-02 2.85375185e+02] [-1.65185069e-01 9.86244523e-01 -5.96944968e-03 -4.57176341e+01] [-3.62259594e-02 -1.87135375e-05 9.99343624e-01 -1.23661900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.40, Y:-45.72, Z:-12.37 [[ 9.86057533e-01 1.62672385e-01 3.50462126e-02 2.85401911e+02] [-1.62567071e-01 9.86680135e-01 -5.85300018e-03 -4.57246374e+01] [-3.55315233e-02 7.40347739e-05 9.99368553e-01 -1.23677528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.43, Y:-45.73, Z:-12.37 [[ 9.86281448e-01 1.61432307e-01 3.44748476e-02 2.85430354e+02] [-1.61329714e-01 9.86883781e-01 -5.75552924e-03 -4.57296552e+01] [-3.49517963e-02 1.14754400e-04 9.99388993e-01 -1.23681980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.46, Y:-45.74, Z:-12.37 [[ 9.86474479e-01 1.60242206e-01 3.45041612e-02 2.85458279e+02] [-1.60138770e-01 9.87077713e-01 -5.75873640e-03 -4.57352502e+01] [-3.49810812e-02 1.55392557e-04 9.99387963e-01 -1.23693587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.49, Y:-45.74, Z:-12.37 [[ 9.86815742e-01 1.58161658e-01 3.43450431e-02 2.85485821e+02] [-1.58057971e-01 9.87413206e-01 -5.73054690e-03 -4.57438942e+01] [-3.48191019e-02 2.26486057e-04 9.99393606e-01 -1.23692488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.51, Y:-45.75, Z:-12.37 [[ 9.86955516e-01 1.57264660e-01 3.44475745e-02 2.85512601e+02] [-1.57159861e-01 9.87556459e-01 -5.74610142e-03 -4.57520899e+01] [-3.49225834e-02 2.57370466e-04 9.99389987e-01 -1.23721037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.54, Y:-45.76, Z:-12.37 [[ 9.87062406e-01 1.56455694e-01 3.50631171e-02 2.85541019e+02] [-1.56346698e-01 9.87684936e-01 -5.84613318e-03 -4.57580619e+01] [-3.55459734e-02 2.88495691e-04 9.99368001e-01 -1.23713033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.57, Y:-45.76, Z:-12.37 [[ 9.87104429e-01 1.56003147e-01 3.58868179e-02 2.85568018e+02] [-1.55888732e-01 9.87756509e-01 -5.98174801e-03 -4.57634158e+01] [-3.63806095e-02 3.10259427e-04 9.99337958e-01 -1.23705971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.60, Y:-45.77, Z:-12.37 [[ 9.87128796e-01 1.55917907e-01 3.55857632e-02 2.85596838e+02] [-1.55805431e-01 9.87769969e-01 -5.92928393e-03 -4.57665106e+01] [-3.60750298e-02 3.08511720e-04 9.99349037e-01 -1.23711228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77264 meters Centerline goodness [0,1] 0.9998705138442282 Centerline is valid? [True, True] Translation: X:285.63, Y:-45.77, Z:-12.37 [[ 9.87149102e-01 1.55975440e-01 3.47608050e-02 2.85625484e+02] [-1.55868215e-01 9.87760889e-01 -5.79015990e-03 -4.57694668e+01] [-3.52384864e-02 2.97646515e-04 9.99378887e-01 -1.23730053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.65, Y:-45.77, Z:-12.38 [[ 9.86989268e-01 1.56929084e-01 3.50064053e-02 2.85653708e+02] [-1.56821000e-01 9.87609839e-01 -5.82930307e-03 -4.57728185e+01] [-3.54874575e-02 2.63720070e-04 9.99370087e-01 -1.23751816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.68, Y:-45.78, Z:-12.38 [[ 9.86858222e-01 1.57775796e-01 3.48948194e-02 2.85681659e+02] [-1.57668987e-01 9.87474934e-01 -5.80910691e-03 -4.57766871e+01] [-3.53742959e-02 2.30934090e-04 9.99374107e-01 -1.23775561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.71, Y:-45.78, Z:-12.39 [[ 9.86677635e-01 1.59477527e-01 3.21583915e-02 2.85709448e+02] [-1.59387780e-01 9.87201547e-01 -5.35176691e-03 -4.57788416e+01] [-3.26003003e-02 1.54814114e-04 9.99468457e-01 -1.23853161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.74, Y:-45.78, Z:-12.39 [[ 9.86546275e-01 1.60451446e-01 3.13333688e-02 2.85737919e+02] [-1.60366800e-01 9.87043727e-01 -5.21247012e-03 -4.57805188e+01] [-3.17637535e-02 1.17510899e-04 9.99495398e-01 -1.23861401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.77, Y:-45.78, Z:-12.39 [[ 9.86457746e-01 1.60976638e-01 3.14266937e-02 2.85765938e+02] [-1.60891797e-01 9.86958212e-01 -5.22660921e-03 -4.57832680e+01] [-3.18581954e-02 9.95319105e-05 9.99492394e-01 -1.23879543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.79, Y:-45.79, Z:-12.39 [[ 9.86413453e-01 1.61250337e-01 3.14138326e-02 2.85794112e+02] [-1.61165761e-01 9.86913533e-01 -5.22272282e-03 -4.57856664e+01] [-3.18449023e-02 8.89298237e-05 9.99492819e-01 -1.23885417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98264 meters Centerline goodness [0,1] 0.9999143707319161 Centerline is valid? [True, True] Translation: X:285.82, Y:-45.79, Z:-12.39 [[ 9.86550786e-01 1.60333751e-01 3.17904989e-02 2.85821730e+02] [-1.60246732e-01 9.87062852e-01 -5.28301084e-03 -4.57896270e+01] [-3.22262655e-02 1.17634915e-04 9.99480592e-01 -1.23873031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.85, Y:-45.80, Z:-12.39 [[ 9.86721635e-01 1.59019562e-01 3.30634726e-02 2.85849823e+02] [-1.58924790e-01 9.87275418e-01 -5.49175799e-03 -4.57964996e+01] [-3.35160507e-02 1.64231012e-04 9.99438166e-01 -1.23875879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.88, Y:-45.80, Z:-12.39 [[ 9.86946487e-01 1.57414106e-01 3.40210517e-02 2.85875589e+02] [-1.57312854e-01 9.87532657e-01 -5.64947929e-03 -4.58037653e+01] [-3.44862074e-02 2.23784977e-04 9.99405149e-01 -1.23873948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.90, Y:-45.81, Z:-12.39 [[ 9.87209716e-01 1.55706805e-01 3.42398579e-02 2.85903749e+02] [-1.55603334e-01 9.87803276e-01 -5.68253350e-03 -4.58110170e+01] [-3.47070529e-02 2.82016262e-04 9.99397489e-01 -1.23877055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.93, Y:-45.82, Z:-12.39 [[ 9.87479171e-01 1.53974055e-01 3.43056530e-02 2.85930740e+02] [-1.53869194e-01 9.88074832e-01 -5.69191222e-03 -4.58184066e+01] [-3.47729592e-02 3.42061586e-04 9.99395179e-01 -1.23891598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.96, Y:-45.83, Z:-12.39 [[ 9.87929263e-01 1.50867188e-01 3.51406183e-02 2.85957063e+02] [-1.50755271e-01 9.88553934e-01 -5.82825976e-03 -4.58289657e+01] [-3.56176896e-02 4.60274939e-04 9.99365383e-01 -1.23901629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:285.99, Y:-45.83, Z:-12.39 [[ 9.88122456e-01 1.49707358e-01 3.46658232e-02 2.85985350e+02] [-1.49597806e-01 9.88730228e-01 -5.74740905e-03 -4.58342970e+01] [-3.51355767e-02 4.93212850e-04 9.99382433e-01 -1.23908976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.01, Y:-45.84, Z:-12.39 [[ 9.88129619e-01 1.49660006e-01 3.46660988e-02 2.86013282e+02] [-1.49550484e-01 9.88737396e-01 -5.74574630e-03 -4.58388420e+01] [-3.51355767e-02 4.93210253e-04 9.99382433e-01 -1.23921819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.04, Y:-45.85, Z:-12.40 [[ 9.88281819e-01 1.48832978e-01 3.38790667e-02 2.86040624e+02] [-1.48727948e-01 9.88862218e-01 -5.61354688e-03 -4.58489270e+01] [-3.43372100e-02 5.09002227e-04 9.99410175e-01 -1.23971347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.07, Y:-45.85, Z:-12.40 [[ 9.88544216e-01 1.47449229e-01 3.22344276e-02 2.86069102e+02] [-1.47353452e-01 9.89069485e-01 -5.33993485e-03 -4.58548140e+01] [-3.26694579e-02 5.28907516e-04 9.99466071e-01 -1.23982875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28264 meters Centerline goodness [0,1] 0.9998926531839065 Centerline is valid? [True, True] Translation: X:286.10, Y:-45.86, Z:-12.40 [[ 9.88576863e-01 1.47142477e-01 3.26324564e-02 2.86095815e+02] [-1.47044183e-01 9.89115157e-01 -5.40494728e-03 -4.58621454e+01] [-3.30725546e-02 5.44792920e-04 9.99452805e-01 -1.23981897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.12, Y:-45.87, Z:-12.40 [[ 9.88555057e-01 1.47206006e-01 3.30044069e-02 2.86123981e+02] [-1.47105565e-01 9.89105704e-01 -5.46440729e-03 -4.58663552e+01] [-3.34492407e-02 5.46735538e-04 9.99440268e-01 -1.23972710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.15, Y:-45.87, Z:-12.40 [[ 9.88530979e-01 1.47406858e-01 3.28286862e-02 2.86150957e+02] [-1.47307643e-01 9.89075796e-01 -5.43388454e-03 -4.58725410e+01] [-3.32710508e-02 5.35646805e-04 9.99446222e-01 -1.23990827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.18, Y:-45.88, Z:-12.40 [[ 9.88354558e-01 1.48751381e-01 3.20670363e-02 2.86179280e+02] [-1.48657499e-01 9.88874511e-01 -5.30552822e-03 -4.58770068e+01] [-3.24994795e-02 4.76737584e-04 9.99471639e-01 -1.24000786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.21, Y:-45.88, Z:-12.40 [[ 9.88209644e-01 1.49667847e-01 3.22681579e-02 2.86207452e+02] [-1.49573337e-01 9.88736231e-01 -5.33682832e-03 -4.58843485e+01] [-3.27034484e-02 4.47449185e-04 9.99464999e-01 -1.24032821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43264 meters Centerline goodness [0,1] 0.9999784570973093 Centerline is valid? [True, True] Translation: X:286.23, Y:-45.89, Z:-12.41 [[ 9.88113981e-01 1.50408166e-01 3.17512994e-02 2.86234346e+02] [-1.50317048e-01 9.88623897e-01 -5.25112837e-03 -4.58906389e+01] [-3.21799060e-02 4.15951750e-04 9.99482006e-01 -1.24050056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46264 meters Centerline goodness [0,1] 0.9998496337507787 Centerline is valid? [True, True] Translation: X:286.26, Y:-45.90, Z:-12.40 [[ 9.87950065e-01 1.51431932e-01 3.19849801e-02 2.86263401e+02] [-1.51340083e-01 9.88467614e-01 -5.28733565e-03 -4.58951649e+01] [-3.24167884e-02 3.83014053e-04 9.99474364e-01 -1.24045397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49264 meters Centerline goodness [0,1] 0.9999784886097188 Centerline is valid? [True, True] Translation: X:286.29, Y:-45.90, Z:-12.41 [[ 9.87610575e-01 1.53575491e-01 3.22478028e-02 2.86292091e+02] [-1.53483302e-01 9.88136868e-01 -5.32975676e-03 -4.59001555e+01] [-3.26837628e-02 3.14224891e-04 9.99465694e-01 -1.24054456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.32, Y:-45.91, Z:-12.41 [[ 9.87413566e-01 1.54991880e-01 3.14955032e-02 2.86320678e+02] [-1.54904716e-01 9.87915710e-01 -5.20375756e-03 -4.59058008e+01] [-3.19214426e-02 2.59458819e-04 9.99490347e-01 -1.24087437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55264 meters Centerline goodness [0,1] 0.9998921134966016 Centerline is valid? [True, True] Translation: X:286.35, Y:-45.91, Z:-12.41 [[ 9.87193518e-01 1.56543882e-01 3.07078508e-02 2.86349533e+02] [-1.56461803e-01 9.87670984e-01 -5.07271719e-03 -4.59097928e+01] [-3.11233560e-02 2.03147834e-04 9.99515530e-01 -1.24098829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.38, Y:-45.91, Z:-12.41 [[ 9.86470127e-01 1.60974096e-01 3.10488062e-02 2.86377582e+02] [-1.60892420e-01 9.86958630e-01 -5.12763061e-03 -4.59112388e+01] [-3.14693029e-02 6.27368621e-05 9.99504717e-01 -1.24112027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.41, Y:-45.91, Z:-12.41 [[ 9.86056528e-01 1.63400341e-01 3.15095517e-02 2.86405623e+02] [-1.63317525e-01 9.86559845e-01 -5.20170760e-03 -4.59135620e+01] [-3.19360192e-02 -1.68842532e-05 9.99489915e-01 -1.24133045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.43, Y:-45.92, Z:-12.41 [[ 9.85656669e-01 1.65849649e-01 3.12221974e-02 2.86434646e+02] [-1.65769630e-01 9.86151046e-01 -5.15219974e-03 -4.59162572e+01] [-3.16442931e-02 -9.73920802e-05 9.99499189e-01 -1.24143078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.46, Y:-45.92, Z:-12.42 [[ 9.85262967e-01 1.68204553e-01 3.10501965e-02 2.86463663e+02] [-1.68126630e-01 9.85752098e-01 -5.12230725e-03 -4.59191049e+01] [-3.14693917e-02 -1.73545250e-04 9.99504701e-01 -1.24154795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.49, Y:-45.92, Z:-12.42 [[ 9.84872634e-01 1.70467269e-01 3.10934930e-02 2.86492776e+02] [-1.70390304e-01 9.85363308e-01 -5.12789229e-03 -4.59215506e+01] [-3.15125249e-02 -2.47708931e-04 9.99503326e-01 -1.24162095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.52, Y:-45.92, Z:-12.42 [[ 9.84139467e-01 1.74483574e-01 3.20154850e-02 2.86521808e+02] [-1.74404153e-01 9.84660008e-01 -5.27828031e-03 -4.59208959e+01] [-3.24453409e-02 -3.89069570e-04 9.99473436e-01 -1.24163762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.55, Y:-45.92, Z:-12.42 [[ 9.83856821e-01 1.76117816e-01 3.17532866e-02 2.86549931e+02] [-1.76040587e-01 9.84368996e-01 -5.23364834e-03 -4.59230473e+01] [-3.21786896e-02 -4.40706615e-04 9.99482035e-01 -1.24189474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79264 meters Centerline goodness [0,1] 0.9999569188350853 Centerline is valid? [True, True] Translation: X:286.58, Y:-45.93, Z:-12.42 [[ 9.83657976e-01 1.77337014e-01 3.11218557e-02 2.86578592e+02] [-1.77263501e-01 9.84150070e-01 -5.12753625e-03 -4.59286554e+01] [-3.15378784e-02 -4.73027165e-04 9.99502445e-01 -1.24196967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.61, Y:-45.93, Z:-12.42 [[ 9.83467849e-01 1.78435394e-01 3.08512624e-02 2.86605936e+02] [-1.78363736e-01 9.83951500e-01 -5.08159152e-03 -4.59314411e+01] [-3.12628817e-02 -5.05164542e-04 9.99511069e-01 -1.24214127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.63, Y:-45.93, Z:-12.42 [[ 9.83295213e-01 1.79385271e-01 3.08455612e-02 2.86634064e+02] [-1.79314167e-01 9.83778754e-01 -5.07871515e-03 -4.59345145e+01] [-3.12562544e-02 -5.37169821e-04 9.99511260e-01 -1.24227601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters Centerline goodness [0,1] 0.9999359426045737 Centerline is valid? [True, True] Translation: X:286.66, Y:-45.94, Z:-12.42 [[ 9.82990587e-01 1.80945008e-01 3.14389746e-02 2.86661587e+02] [-1.80871992e-01 9.83493032e-01 -5.17476504e-03 -4.59364079e+01] [-3.18563603e-02 -5.99684616e-04 9.99492277e-01 -1.24229537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.69, Y:-45.94, Z:-12.42 [[ 9.82827254e-01 1.81758913e-01 3.18478699e-02 2.86689484e+02] [-1.81684518e-01 9.83342916e-01 -5.23875255e-03 -4.59388630e+01] [-3.22695673e-02 -6.37476122e-04 9.99478999e-01 -1.24248912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters Centerline goodness [0,1] 0.9999575443661374 Centerline is valid? [True, True] Translation: X:286.72, Y:-45.94, Z:-12.42 [[ 9.82638776e-01 1.82700404e-01 3.22738033e-02 2.86718177e+02] [-1.82624585e-01 9.83168399e-01 -5.30662830e-03 -4.59430119e+01] [-3.27001067e-02 -6.79491198e-04 9.99464978e-01 -1.24249505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97264 meters Centerline goodness [0,1] 0.9999786256278722 Centerline is valid? [True, True] Translation: X:286.75, Y:-45.94, Z:-12.43 [[ 9.82260091e-01 1.84800115e-01 3.18438412e-02 2.86746560e+02] [-1.84727450e-01 9.82775849e-01 -5.23454475e-03 -4.59405269e+01] [-3.22627025e-02 -7.40747167e-04 9.99479149e-01 -1.24263733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters Centerline goodness [0,1] 0.9999785098747126 Centerline is valid? [True, True] Translation: X:286.78, Y:-45.94, Z:-12.43 [[ 9.82048896e-01 1.85931508e-01 3.17716836e-02 2.86775242e+02] [-1.85859831e-01 9.82562399e-01 -5.22059156e-03 -4.59427424e+01] [-3.21883341e-02 -7.78203548e-04 9.99481518e-01 -1.24274646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03264 meters Centerline goodness [0,1] 0.9999142661179699 Centerline is valid? [True, True] Translation: X:286.80, Y:-45.94, Z:-12.43 [[ 9.81839528e-01 1.87056314e-01 3.16397892e-02 2.86804034e+02] [-1.86985864e-01 9.82348856e-01 -5.19738943e-03 -4.59442465e+01] [-3.20535152e-02 -8.13190926e-04 9.99485823e-01 -1.24288074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters Centerline goodness [0,1] 0.9998929565403554 Centerline is valid? [True, True] Translation: X:286.83, Y:-45.95, Z:-12.43 [[ 9.81751387e-01 1.87563805e-01 3.13692994e-02 2.86831622e+02] [-1.87494843e-01 9.82252076e-01 -5.15201120e-03 -4.59458083e+01] [-3.17788902e-02 -8.23587719e-04 9.99494584e-01 -1.24310163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09264 meters Centerline goodness [0,1] 0.9999571183533448 Centerline is valid? [True, True] Translation: X:286.86, Y:-45.95, Z:-12.43 [[ 9.81857371e-01 1.87083575e-01 3.09166335e-02 2.86859683e+02] [-1.87016453e-01 9.82343675e-01 -5.07439750e-03 -4.59510749e+01] [-3.13200958e-02 -7.99584555e-04 9.99509086e-01 -1.24314575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters Centerline goodness [0,1] 0.9998497692885503 Centerline is valid? [True, True] Translation: X:286.89, Y:-45.95, Z:-12.44 [[ 9.82058920e-01 1.86069585e-01 3.06330922e-02 2.86887140e+02] [-1.86003238e-01 9.82536274e-01 -5.02651698e-03 -4.59523430e+01] [-3.10334062e-02 -7.61518498e-04 9.99518058e-01 -1.24354105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15264 meters Centerline goodness [0,1] 0.9998506825938567 Centerline is valid? [True, True] Translation: X:286.92, Y:-45.96, Z:-12.44 [[ 9.82362264e-01 1.84473329e-01 3.05609897e-02 2.86915041e+02] [-1.84406586e-01 9.82837263e-01 -5.01259384e-03 -4.59589085e+01] [-3.09611693e-02 -7.11464749e-04 9.99520335e-01 -1.24373822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters Centerline goodness [0,1] 0.9999785352451275 Centerline is valid? [True, True] Translation: X:286.94, Y:-45.97, Z:-12.44 [[ 9.83130241e-01 1.80289237e-01 3.08337541e-02 2.86943352e+02] [-1.80219297e-01 9.83613464e-01 -5.05551218e-03 -4.59703028e+01] [-3.12399501e-02 -5.86610578e-04 9.99511742e-01 -1.24365194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:286.97, Y:-45.98, Z:-12.44 [[ 9.83554080e-01 1.77935040e-01 3.09918393e-02 2.86972016e+02] [-1.77863231e-01 9.84042101e-01 -5.08083121e-03 -4.59766278e+01] [-3.14013325e-02 -5.15036391e-04 9.99506724e-01 -1.24367366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.00, Y:-45.98, Z:-12.44 [[ 9.84027413e-01 1.75293242e-01 3.10214299e-02 2.86999690e+02] [-1.75220014e-01 9.84516172e-01 -5.08468585e-03 -4.59820171e+01] [-3.14324105e-02 -4.32105125e-04 9.99505786e-01 -1.24387112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.03, Y:-45.99, Z:-12.44 [[ 9.84523582e-01 1.72495867e-01 3.09595291e-02 2.87027883e+02] [-1.72421596e-01 9.85010182e-01 -5.07300665e-03 -4.59893702e+01] [-3.13705241e-02 -3.43596747e-04 9.99507765e-01 -1.24389921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.06, Y:-46.00, Z:-12.44 [[ 9.84977894e-01 1.69856614e-01 3.11011011e-02 2.87055019e+02] [-1.69780390e-01 9.85468752e-01 -5.09480313e-03 -4.59961138e+01] [-3.15145493e-02 -2.62088619e-04 9.99503259e-01 -1.24407707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.08, Y:-46.00, Z:-12.44 [[ 9.85403051e-01 1.67366274e-01 3.11344881e-02 2.87082664e+02] [-1.67288710e-01 9.85894769e-01 -5.09818910e-03 -4.60044082e+01] [-3.15485939e-02 -1.84677250e-04 9.99502202e-01 -1.24408821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.11, Y:-46.02, Z:-12.44 [[ 9.86205654e-01 1.62623994e-01 3.08519774e-02 2.87110250e+02] [-1.62545555e-01 9.86688115e-01 -5.05043784e-03 -4.60158787e+01] [-3.12626018e-02 -3.40814517e-05 9.99511205e-01 -1.24415851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.14, Y:-46.02, Z:-12.44 [[ 9.86534999e-01 1.60624724e-01 3.07960145e-02 2.87137339e+02] [-1.60545639e-01 9.87015551e-01 -5.03986817e-03 -4.60230365e+01] [-3.12056727e-02 2.78404963e-05 9.99512984e-01 -1.24448204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.16, Y:-46.03, Z:-12.45 [[ 9.86771294e-01 1.59178366e-01 3.07353567e-02 2.87164445e+02] [-1.59098954e-01 9.87249838e-01 -5.02791954e-03 -4.60294071e+01] [-3.11438120e-02 7.14435517e-05 9.99514911e-01 -1.24473338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45264000000003 meters Centerline goodness [0,1] 0.9999783615354655 Centerline is valid? [True, True] Translation: X:287.19, Y:-46.03, Z:-12.45 [[ 9.87038443e-01 1.57476085e-01 3.09256382e-02 2.87192855e+02] [-1.57394917e-01 9.87522793e-01 -5.05695921e-03 -4.60347997e+01] [-3.13361227e-02 1.23874887e-04 9.99508895e-01 -1.24463340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.22, Y:-46.04, Z:-12.45 [[ 9.87160092e-01 1.56712862e-01 3.09197508e-02 2.87220764e+02] [-1.56631398e-01 9.87644196e-01 -5.05447783e-03 -4.60398807e+01] [-3.13298141e-02 1.46575024e-04 9.99509090e-01 -1.24475137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.25, Y:-46.05, Z:-12.45 [[ 9.87295487e-01 1.55944769e-01 3.04770580e-02 2.87248024e+02] [-1.55865294e-01 9.87765762e-01 -4.98088553e-03 -4.60464183e+01] [-3.08809375e-02 1.67290192e-04 9.99523056e-01 -1.24514314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54264 meters Centerline goodness [0,1] 0.999978566070089 Centerline is valid? [True, True] Translation: X:287.27, Y:-46.06, Z:-12.45 [[ 9.87521661e-01 1.54543830e-01 3.02848669e-02 2.87274019e+02] [-1.54464759e-01 9.87985912e-01 -4.94741042e-03 -4.60561187e+01] [-3.06856136e-02 2.07730298e-04 9.99529064e-01 -1.24537497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.30, Y:-46.06, Z:-12.45 [[ 9.87617806e-01 1.53896308e-01 3.04466213e-02 2.87301822e+02] [-1.53816159e-01 9.88086978e-01 -4.97131325e-03 -4.60630530e+01] [-3.08489768e-02 2.26575120e-04 9.99524031e-01 -1.24541579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.33, Y:-46.07, Z:-12.45 [[ 9.87711098e-01 1.53239730e-01 3.07306320e-02 2.87330334e+02] [-1.53157809e-01 9.88189012e-01 -5.01617045e-03 -4.60688896e+01] [-3.11363495e-02 2.47890969e-04 9.99515116e-01 -1.24538916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.36, Y:-46.07, Z:-12.46 [[ 9.87695590e-01 1.53271589e-01 3.10683480e-02 2.87357591e+02] [-1.53187915e-01 9.88184071e-01 -5.06995318e-03 -4.60742462e+01] [-3.14783264e-02 2.48274959e-04 9.99504404e-01 -1.24564074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.39, Y:-46.08, Z:-12.45 [[ 9.87684953e-01 1.53312768e-01 3.12030225e-02 2.87386248e+02] [-1.53228459e-01 9.88177684e-01 -5.08964901e-03 -4.60773151e+01] [-3.16144387e-02 2.45778676e-04 9.99500108e-01 -1.24543456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.41, Y:-46.09, Z:-12.46 [[ 9.87567825e-01 1.54064333e-01 3.12085413e-02 2.87412746e+02] [-1.53980414e-01 9.88060794e-01 -5.08911878e-03 -4.60853131e+01] [-3.16199877e-02 2.20345849e-04 9.99499939e-01 -1.24584853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.44, Y:-46.09, Z:-12.46 [[ 9.87483060e-01 1.54651557e-01 3.09855187e-02 2.87441606e+02] [-1.54569191e-01 9.87969057e-01 -5.05061279e-03 -4.60900896e+01] [-3.13938188e-02 1.97988030e-04 9.99507073e-01 -1.24580218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.47, Y:-46.09, Z:-12.46 [[ 9.87333407e-01 1.55575570e-01 3.11285366e-02 2.87469212e+02] [-1.55492945e-01 9.87823979e-01 -5.07251965e-03 -4.60949405e+01] [-3.15386750e-02 1.68000286e-04 9.99502518e-01 -1.24598170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.50, Y:-46.10, Z:-12.46 [[ 9.87190965e-01 1.56466434e-01 3.11809969e-02 2.87496987e+02] [-1.56384036e-01 9.87683267e-01 -5.07911919e-03 -4.60994825e+01] [-3.15916606e-02 1.37850441e-04 9.99500849e-01 -1.24615906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.53, Y:-46.10, Z:-12.46 [[ 9.86760883e-01 1.59110966e-01 3.14111631e-02 2.87526013e+02] [-1.59028752e-01 9.87260704e-01 -5.11452431e-03 -4.61006922e+01] [-3.18247839e-02 5.15344784e-05 9.99493462e-01 -1.24612057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.55, Y:-46.10, Z:-12.46 [[ 9.86528531e-01 1.60535347e-01 3.14620257e-02 2.87554010e+02] [-1.60453635e-01 9.87030092e-01 -5.12138713e-03 -4.61029803e+01] [-3.18761298e-02 4.19812569e-06 9.99491827e-01 -1.24632567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.58, Y:-46.11, Z:-12.46 [[ 9.86307745e-01 1.61864506e-01 3.15739344e-02 2.87582935e+02] [-1.61782960e-01 9.86812991e-01 -5.13746752e-03 -4.61061926e+01] [-3.19891423e-02 -4.10005691e-05 9.99488216e-01 -1.24641656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.61, Y:-46.11, Z:-12.47 [[ 9.86102036e-01 1.63096075e-01 3.16614216e-02 2.87611653e+02] [-1.63014767e-01 9.86610188e-01 -5.14997277e-03 -4.61102005e+01] [-3.20774215e-02 -8.28806556e-05 9.99485384e-01 -1.24652543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.64, Y:-46.11, Z:-12.47 [[ 9.85879069e-01 1.64374173e-01 3.19936273e-02 2.87640371e+02] [-1.64291857e-01 9.86398051e-01 -5.20293805e-03 -4.61145427e+01] [-3.24136803e-02 -1.26824738e-04 9.99474531e-01 -1.24660824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.67, Y:-46.12, Z:-12.47 [[ 9.85544749e-01 1.66246208e-01 3.26151057e-02 2.87667899e+02] [-1.66161738e-01 9.86084256e-01 -5.30245285e-03 -4.61175204e+01] [-3.30427549e-02 -1.93578085e-04 9.99453920e-01 -1.24677318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.70, Y:-46.12, Z:-12.47 [[ 9.85438617e-01 1.66855968e-01 3.27080798e-02 2.87695902e+02] [-1.66771417e-01 9.85981257e-01 -5.31557801e-03 -4.61215805e+01] [-3.31364896e-02 -2.16596980e-04 9.99450812e-01 -1.24692140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02264 meters Centerline goodness [0,1] 0.999978416179232 Centerline is valid? [True, True] Translation: X:287.72, Y:-46.12, Z:-12.47 [[ 9.85284144e-01 1.67728601e-01 3.28979116e-02 2.87724975e+02] [-1.67643633e-01 9.85833178e-01 -5.34399864e-03 -4.61244363e+01] [-3.33281942e-02 -2.49768290e-04 9.99444430e-01 -1.24682633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.75, Y:-46.13, Z:-12.47 [[ 9.85201902e-01 1.68242738e-01 3.27351909e-02 2.87752812e+02] [-1.68158935e-01 9.85745560e-01 -5.31628047e-03 -4.61278252e+01] [-3.31629947e-02 -2.67105210e-04 9.99449921e-01 -1.24709459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.78, Y:-46.13, Z:-12.47 [[ 9.85179439e-01 1.68451782e-01 3.23337356e-02 2.87781149e+02] [-1.68370227e-01 9.85709857e-01 -5.24826919e-03 -4.61335661e+01] [-3.27557622e-02 -2.73551530e-04 9.99463349e-01 -1.24721398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.81, Y:-46.14, Z:-12.47 [[ 9.85191654e-01 1.68380285e-01 3.23339407e-02 2.87808278e+02] [-1.68298733e-01 9.85722073e-01 -5.24700542e-03 -4.61378339e+01] [-3.27557713e-02 -2.72455296e-04 9.99463349e-01 -1.24733861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.84, Y:-46.14, Z:-12.48 [[ 9.85140567e-01 1.68717430e-01 3.21324039e-02 2.87835803e+02] [-1.68637148e-01 9.85664420e-01 -5.21196270e-03 -4.61417898e+01] [-3.25511162e-02 -2.84201045e-04 9.99470032e-01 -1.24776466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.86, Y:-46.15, Z:-12.48 [[ 9.85059361e-01 1.69246269e-01 3.18395430e-02 2.87863821e+02] [-1.69167811e-01 9.85573746e-01 -5.16164383e-03 -4.61469789e+01] [-3.22538066e-02 -3.01700210e-04 9.99479665e-01 -1.24787761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.89, Y:-46.15, Z:-12.48 [[ 9.84885456e-01 1.70237301e-01 3.19358621e-02 2.87892006e+02] [-1.70158936e-01 9.85403038e-01 -5.17576459e-03 -4.61526585e+01] [-3.23508038e-02 -3.36637063e-04 9.99476519e-01 -1.24794282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.92, Y:-46.16, Z:-12.48 [[ 9.84803990e-01 1.70604527e-01 3.24837876e-02 2.87920305e+02] [-1.70523701e-01 9.85339519e-01 -5.26296002e-03 -4.61572254e+01] [-3.29054444e-02 -3.56271655e-04 9.99458406e-01 -1.24792563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.95, Y:-46.16, Z:-12.48 [[ 9.84641806e-01 1.71375962e-01 3.33285778e-02 2.87948274e+02] [-1.71291366e-01 9.85205626e-01 -5.39842880e-03 -4.61604756e+01] [-3.37606633e-02 -3.93378927e-04 9.99429869e-01 -1.24778280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:287.98, Y:-46.16, Z:-12.48 [[ 9.84217760e-01 1.73436506e-01 3.51451267e-02 2.87976818e+02] [-1.73343852e-01 9.84844930e-01 -5.68972693e-03 -4.61565272e+01] [-3.55993062e-02 -4.92261340e-04 9.99366023e-01 -1.24806468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.00, Y:-46.16, Z:-12.48 [[ 9.84058488e-01 1.74356689e-01 3.50519286e-02 2.88004488e+02] [-1.74265188e-01 9.84682420e-01 -5.67241573e-03 -4.61629742e+01] [-3.55040415e-02 -5.26342068e-04 9.99369394e-01 -1.24803933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.03, Y:-46.17, Z:-12.48 [[ 9.83877074e-01 1.75432911e-01 3.47734984e-02 2.88032189e+02] [-1.75343601e-01 9.84491228e-01 -5.62531461e-03 -4.61702102e+01] [-3.52210694e-02 -5.62692354e-04 9.99379387e-01 -1.24802106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters Centerline goodness [0,1] 0.9999571505088377 Centerline is valid? [True, True] Translation: X:288.06, Y:-46.17, Z:-12.48 [[ 9.83668543e-01 1.76672464e-01 3.43953188e-02 2.88060177e+02] [-1.76585898e-01 9.84269515e-01 -5.56258589e-03 -4.61714533e+01] [-3.48370195e-02 -6.01987501e-04 9.99392826e-01 -1.24823931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41264 meters Centerline goodness [0,1] 0.9999785702040117 Centerline is valid? [True, True] Translation: X:288.09, Y:-46.17, Z:-12.48 [[ 9.83223636e-01 1.79026001e-01 3.49424089e-02 2.88088979e+02] [-1.78938226e-01 9.83844095e-01 -5.64874509e-03 -4.61734491e+01] [-3.53891549e-02 -6.98552999e-04 9.99373364e-01 -1.24823200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters Centerline goodness [0,1] 0.9998482647996012 Centerline is valid? [True, True] Translation: X:288.12, Y:-46.18, Z:-12.48 [[ 9.83057407e-01 1.79915721e-01 3.50495104e-02 2.88117163e+02] [-1.79828033e-01 9.83681754e-01 -5.66434804e-03 -4.61782525e+01] [-3.54966692e-02 -7.34505206e-04 9.99369525e-01 -1.24820278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47264 meters Centerline goodness [0,1] 0.9999362881474717 Centerline is valid? [True, True] Translation: X:288.15, Y:-46.18, Z:-12.49 [[ 9.82800856e-01 1.81462345e-01 3.42621408e-02 2.88145116e+02] [-1.81379536e-01 9.83397589e-01 -5.53584706e-03 -4.61771168e+01] [-3.46978544e-02 -7.73815955e-04 9.99397549e-01 -1.24865827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters Centerline goodness [0,1] 0.9999785761724189 Centerline is valid? [True, True] Translation: X:288.17, Y:-46.18, Z:-12.49 [[ 9.82564448e-01 1.82849451e-01 3.36628087e-02 2.88173181e+02] [-1.82770443e-01 9.83140590e-01 -5.43559517e-03 -4.61807490e+01] [-3.40891692e-02 -8.11743895e-04 9.99418466e-01 -1.24880757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53264 meters Centerline goodness [0,1] 0.9999571780323306 Centerline is valid? [True, True] Translation: X:288.20, Y:-46.18, Z:-12.49 [[ 9.82068800e-01 1.85560664e-01 3.32883254e-02 2.88202570e+02] [-1.85485037e-01 9.82632400e-01 -5.37282493e-03 -4.61797904e+01] [-3.37071720e-02 -8.98002541e-04 9.99431348e-01 -1.24909327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters Centerline goodness [0,1] 0.9998933105729222 Centerline is valid? [True, True] Translation: X:288.23, Y:-46.18, Z:-12.49 [[ 9.81855647e-01 1.86751678e-01 3.29134951e-02 2.88230625e+02] [-1.86678445e-01 9.82406712e-01 -5.31140436e-03 -4.61787068e+01] [-3.33263522e-02 -9.29207723e-04 9.99444091e-01 -1.24943905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59264 meters Centerline goodness [0,1] 0.999935572545314 Centerline is valid? [True, True] Translation: X:288.26, Y:-46.19, Z:-12.49 [[ 9.81672529e-01 1.87748832e-01 3.27020162e-02 2.88258367e+02] [-1.87677158e-01 9.82216604e-01 -5.27520480e-03 -4.61859022e+01] [-3.31108768e-02 -9.58897823e-04 9.99451225e-01 -1.24942460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters Centerline goodness [0,1] 0.9999785329412018 Centerline is valid? [True, True] Translation: X:288.29, Y:-46.19, Z:-12.50 [[ 9.81476736e-01 1.88849380e-01 3.22386141e-02 2.88286626e+02] [-1.88780365e-01 9.82005573e-01 -5.19893329e-03 -4.61890927e+01] [-3.26403140e-02 -9.83385270e-04 9.99466679e-01 -1.24962231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65264 meters Centerline goodness [0,1] 0.9999353406470246 Centerline is valid? [True, True] Translation: X:288.32, Y:-46.19, Z:-12.50 [[ 9.81414890e-01 1.89212154e-01 3.19933614e-02 2.88315389e+02] [-1.89144429e-01 9.81935732e-01 -5.15782447e-03 -4.61932705e+01] [-3.23913478e-02 -9.89400331e-04 9.99474773e-01 -1.24974576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters Centerline goodness [0,1] 0.99989350145903 Centerline is valid? [True, True] Translation: X:288.34, Y:-46.19, Z:-12.50 [[ 9.81442926e-01 1.89053084e-01 3.20735927e-02 2.88343601e+02] [-1.88984981e-01 9.81966372e-01 -5.16929852e-03 -4.61933439e+01] [-3.24724613e-02 -9.88055865e-04 9.99472142e-01 -1.25003142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71264 meters Centerline goodness [0,1] 0.9998718687936446 Centerline is valid? [True, True] Translation: X:288.37, Y:-46.20, Z:-12.50 [[ 9.81565252e-01 1.88394178e-01 3.22069777e-02 2.88372218e+02] [-1.88325225e-01 9.82093014e-01 -5.18860982e-03 -4.61990251e+01] [-3.26077517e-02 -9.72427208e-04 9.99467753e-01 -1.25008394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters Centerline goodness [0,1] 0.9998926531839065 Centerline is valid? [True, True] Translation: X:288.40, Y:-46.21, Z:-12.50 [[ 9.82058163e-01 1.85706967e-01 3.27824218e-02 2.88400778e+02] [-1.85634096e-01 9.82604758e-01 -5.27935734e-03 -4.62050861e+01] [-3.31925771e-02 -9.00899247e-04 9.99448569e-01 -1.25039481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.43, Y:-46.22, Z:-12.50 [[ 9.82523059e-01 1.83253873e-01 3.26566383e-02 2.88428416e+02] [-1.83180209e-01 9.83065285e-01 -5.25900763e-03 -4.62181870e+01] [-3.30673409e-02 -8.14953543e-04 9.99452794e-01 -1.25033010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters Centerline goodness [0,1] 0.9999143413923807 Centerline is valid? [True, True] Translation: X:288.46, Y:-46.23, Z:-12.50 [[ 9.83054241e-01 1.80338821e-01 3.28978594e-02 2.88455691e+02] [-1.80262538e-01 9.83604282e-01 -5.29469027e-03 -4.62271493e+01] [-3.33133135e-02 -7.25283888e-04 9.99444694e-01 -1.25040074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83264 meters Centerline goodness [0,1] 0.9999786023023922 Centerline is valid? [True, True] Translation: X:288.48, Y:-46.24, Z:-12.51 [[ 9.84069223e-01 1.74619782e-01 3.34020449e-02 2.88482115e+02] [-1.74537915e-01 9.84635790e-01 -5.37382239e-03 -4.62418361e+01] [-3.38272246e-02 -5.41710054e-04 9.99427549e-01 -1.25054738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters Centerline goodness [0,1] 0.9999785384697929 Centerline is valid? [True, True] Translation: X:288.51, Y:-46.25, Z:-12.51 [[ 9.84518038e-01 1.72028207e-01 3.36233488e-02 2.88509603e+02] [-1.71943754e-01 9.85091919e-01 -5.40902929e-03 -4.62508551e+01] [-3.40525948e-02 -4.56037900e-04 9.99419938e-01 -1.25061641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.54, Y:-46.26, Z:-12.51 [[ 9.84878304e-01 1.69956422e-01 3.36086368e-02 2.88537653e+02] [-1.69870892e-01 9.85451503e-01 -5.40502489e-03 -4.62593502e+01] [-3.40383004e-02 -3.85837383e-04 9.99420455e-01 -1.25063632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.56, Y:-46.27, Z:-12.51 [[ 9.85313793e-01 1.67420526e-01 3.35722650e-02 2.88564999e+02] [-1.67333766e-01 9.85885530e-01 -5.39751243e-03 -4.62706634e+01] [-3.40020647e-02 -2.99530089e-04 9.99421718e-01 -1.25080968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.59, Y:-46.28, Z:-12.51 [[ 9.85397760e-01 1.66973177e-01 3.33348516e-02 2.88591634e+02] [-1.66887433e-01 9.85961398e-01 -5.35787369e-03 -4.62769662e+01] [-3.37614980e-02 -2.83531080e-04 9.99429878e-01 -1.25106111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.62, Y:-46.28, Z:-12.51 [[ 9.85365892e-01 1.67262901e-01 3.28204249e-02 2.88619334e+02] [-1.67180024e-01 9.85912287e-01 -5.27279675e-03 -4.62830394e+01] [-3.32400035e-02 -2.91285367e-04 9.99447356e-01 -1.25123470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.65, Y:-46.29, Z:-12.51 [[ 9.85195414e-01 1.68392303e-01 3.21563184e-02 2.88647419e+02] [-1.68313393e-01 9.85720005e-01 -5.16471122e-03 -4.62865500e+01] [-3.25668240e-02 -3.24089265e-04 9.99469508e-01 -1.25144946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:288.68, Y:-46.28, Z:-12.52 [[ 9.84616137e-01 1.72025699e-01 3.06304120e-02 2.88676216e+02] [-1.71955920e-01 9.85092370e-01 -4.91767379e-03 -4.62848036e+01] [-3.10197514e-02 -4.25059694e-04 9.99518681e-01 -1.25191795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07264000000004 meters Centerline goodness [0,1] 0.9999784519910361 Centerline is valid? [True, True] Translation: X:288.71, Y:-46.29, Z:-12.52 [[ 9.84300169e-01 1.73861053e-01 3.04222186e-02 2.88705074e+02] [-1.73793142e-01 9.84770076e-01 -4.88275199e-03 -4.62866745e+01] [-3.08078109e-02 -4.81079334e-04 9.99525211e-01 -1.25204132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10264 meters Centerline goodness [0,1] 0.9999785798436328 Centerline is valid? [True, True] Translation: X:288.73, Y:-46.29, Z:-12.52 [[ 9.84010924e-01 1.75483141e-01 3.04658602e-02 2.88732545e+02] [-1.75415849e-01 9.84482292e-01 -4.88851109e-03 -4.62876877e+01] [-3.08509511e-02 -5.33846421e-04 9.99523854e-01 -1.25223238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13264 meters Centerline goodness [0,1] 0.999957211013885 Centerline is valid? [True, True] Translation: X:288.76, Y:-46.29, Z:-12.52 [[ 9.83791868e-01 1.76643497e-01 3.08323697e-02 2.88759930e+02] [-1.76575216e-01 9.84274728e-01 -4.94506406e-03 -4.62894065e+01] [-3.12210357e-02 -5.79318526e-04 9.99512337e-01 -1.25244866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16264 meters Centerline goodness [0,1] 0.9999142422228415 Centerline is valid? [True, True] Translation: X:288.79, Y:-46.29, Z:-12.53 [[ 9.83529071e-01 1.78088470e-01 3.09041039e-02 2.88787359e+02] [-1.78020643e-01 9.84014279e-01 -4.95466263e-03 -4.62917100e+01] [-3.12924479e-02 -6.28513736e-04 9.99510074e-01 -1.25265710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19264 meters Centerline goodness [0,1] 0.9999356388912727 Centerline is valid? [True, True] Translation: X:288.82, Y:-46.30, Z:-12.53 [[ 9.83489659e-01 1.78380900e-01 3.04687638e-02 2.88815553e+02] [-1.78315171e-01 9.83961308e-01 -4.88296705e-03 -4.62993153e+01] [-3.08511128e-02 -6.30695226e-04 9.99523792e-01 -1.25273988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22264 meters Centerline goodness [0,1] 0.9999570999570999 Centerline is valid? [True, True] Translation: X:288.84, Y:-46.30, Z:-12.53 [[ 9.83468012e-01 1.78595790e-01 2.99033827e-02 2.88842821e+02] [-1.78532615e-01 9.83922330e-01 -4.79111077e-03 -4.63016076e+01] [-3.02782782e-02 -6.26824908e-04 9.99541311e-01 -1.25298513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25264 meters Centerline goodness [0,1] 0.9999139544388754 Centerline is valid? [True, True] Translation: X:288.87, Y:-46.30, Z:-12.53 [[ 9.83470679e-01 1.78603455e-01 2.97696213e-02 2.88870079e+02] [-1.78540889e-01 9.83920939e-01 -4.76827058e-03 -4.63048100e+01] [-3.01425834e-02 -6.25640363e-04 9.99545413e-01 -1.25320119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28264 meters Centerline goodness [0,1] 0.9999569947963703 Centerline is valid? [True, True] Translation: X:288.90, Y:-46.31, Z:-12.53 [[ 9.83443420e-01 1.78550381e-01 3.09645007e-02 2.88897868e+02] [-1.78482771e-01 9.83930554e-01 -4.95627281e-03 -4.63121319e+01] [-3.13518628e-02 -6.52416002e-04 9.99508197e-01 -1.25297987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31264 meters Centerline goodness [0,1] 0.9999358796246821 Centerline is valid? [True, True] Translation: X:288.93, Y:-46.31, Z:-12.53 [[ 9.83498245e-01 1.78085359e-01 3.18874109e-02 2.88925777e+02] [-1.78013462e-01 9.84014823e-01 -5.10249458e-03 -4.63146960e+01] [-3.22863645e-02 -6.58093940e-04 9.99478443e-01 -1.25306224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34264 meters Centerline goodness [0,1] 0.9999785596363714 Centerline is valid? [True, True] Translation: X:288.95, Y:-46.32, Z:-12.53 [[ 9.83611756e-01 1.77301881e-01 3.27407466e-02 2.88953892e+02] [-1.77225726e-01 9.84156298e-01 -5.23677730e-03 -4.63205972e+01] [-3.31505024e-02 -6.51546865e-04 9.99450159e-01 -1.25300630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37264 meters Centerline goodness [0,1] 0.999936096792059 Centerline is valid? [True, True] Translation: X:288.98, Y:-46.33, Z:-12.53 [[ 9.83728854e-01 1.76560046e-01 3.32278853e-02 2.88981324e+02] [-1.76481234e-01 9.84289665e-01 -5.31319471e-03 -4.63253471e+01] [-3.36439620e-02 -6.37355271e-04 9.99433678e-01 -1.25304120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.01, Y:-46.34, Z:-12.53 [[ 9.84115242e-01 1.74334430e-01 3.35365129e-02 2.89009031e+02] [-1.74252928e-01 9.84686337e-01 -5.36038505e-03 -4.63363783e+01] [-3.39574457e-02 -5.68598943e-04 9.99423118e-01 -1.25295767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.04, Y:-46.34, Z:-12.53 [[ 9.84363594e-01 1.72766540e-01 3.43516602e-02 2.89036785e+02] [-1.72680130e-01 9.84962661e-01 -5.48903673e-03 -4.63400110e+01] [-3.47834246e-02 -5.28641225e-04 9.99394734e-01 -1.25309002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46264 meters Centerline goodness [0,1] 0.9999146630256224 Centerline is valid? [True, True] Translation: X:289.06, Y:-46.35, Z:-12.53 [[ 9.84534257e-01 1.71645175e-01 3.50746337e-02 2.89064915e+02] [-1.71554461e-01 9.85158709e-01 -5.60220337e-03 -4.63461370e+01] [-3.55156720e-02 -5.01648731e-04 9.99368994e-01 -1.25291988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49264 meters Centerline goodness [0,1] 0.9999571146753581 Centerline is valid? [True, True] Translation: X:289.09, Y:-46.35, Z:-12.53 [[ 9.84702801e-01 1.70638038e-01 3.52569693e-02 2.89093587e+02] [-1.70545795e-01 9.85333669e-01 -5.62960546e-03 -4.63518388e+01] [-3.57005038e-02 -4.69439589e-04 9.99362424e-01 -1.25295824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.12, Y:-46.36, Z:-12.53 [[ 9.84788829e-01 1.70102027e-01 3.54438032e-02 2.89121818e+02] [-1.70008519e-01 9.85426351e-01 -5.65767219e-03 -4.63576520e+01] [-3.58896392e-02 -4.54136131e-04 9.99355656e-01 -1.25303493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55264 meters Centerline goodness [0,1] 0.999978596348537 Centerline is valid? [True, True] Translation: X:289.15, Y:-46.36, Z:-12.53 [[ 9.84728980e-01 1.70386945e-01 3.57368771e-02 2.89149777e+02] [-1.70292133e-01 9.85377120e-01 -5.70276082e-03 -4.63608975e+01] [-3.61859770e-02 -4.70035189e-04 9.99344963e-01 -1.25312658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.18, Y:-46.37, Z:-12.53 [[ 9.84718940e-01 1.70456923e-01 3.56797829e-02 2.89178350e+02] [-1.70362544e-01 9.85365015e-01 -5.69132435e-03 -4.63653777e+01] [-3.61277354e-02 -4.74143709e-04 9.99347068e-01 -1.25327630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61264 meters Centerline goodness [0,1] 0.9999786388687145 Centerline is valid? [True, True] Translation: X:289.21, Y:-46.37, Z:-12.53 [[ 9.84595846e-01 1.71302875e-01 3.50191954e-02 2.89206334e+02] [-1.71212549e-01 9.85218289e-01 -5.58439032e-03 -4.63658127e+01] [-3.54581739e-02 -4.97358202e-04 9.99371037e-01 -1.25348330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264000000003 meters Centerline goodness [0,1] 0.999978501096444 Centerline is valid? [True, True] Translation: X:289.23, Y:-46.37, Z:-12.54 [[ 9.84528726e-01 1.71674044e-01 3.50886036e-02 2.89234943e+02] [-1.71583676e-01 9.85153673e-01 -5.59318880e-03 -4.63685951e+01] [-3.55278721e-02 -5.13976544e-04 9.99368554e-01 -1.25355043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.26, Y:-46.37, Z:-12.54 [[ 9.84491194e-01 1.71847654e-01 3.52912573e-02 2.89262629e+02] [-1.71756409e-01 9.85123398e-01 -5.62385767e-03 -4.63707171e+01] [-3.57326901e-02 -5.24861260e-04 9.99361246e-01 -1.25371093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264000000003 meters Centerline goodness [0,1] 0.9999575434648779 Centerline is valid? [True, True] Translation: X:289.29, Y:-46.37, Z:-12.54 [[ 9.84432279e-01 1.72185896e-01 3.52860570e-02 2.89290406e+02] [-1.72094972e-01 9.85064326e-01 -5.62086253e-03 -4.63723407e+01] [-3.57268692e-02 -5.39194478e-04 9.99361446e-01 -1.25381329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73264 meters Centerline goodness [0,1] 0.9999572713483026 Centerline is valid? [True, True] Translation: X:289.32, Y:-46.37, Z:-12.54 [[ 9.84227902e-01 1.73362917e-01 3.52240711e-02 2.89319943e+02] [-1.73273145e-01 9.84857837e-01 -5.60875820e-03 -4.63722156e+01] [-3.56630531e-02 -5.83089268e-04 9.99363701e-01 -1.25382980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.35, Y:-46.37, Z:-12.54 [[ 9.84146731e-01 1.73814856e-01 3.52648187e-02 2.89348282e+02] [-1.73725224e-01 9.84778165e-01 -5.61362252e-03 -4.63725083e+01] [-3.57037545e-02 -6.01760268e-04 9.99362237e-01 -1.25398641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.38, Y:-46.37, Z:-12.54 [[ 9.83952673e-01 1.74853574e-01 3.55438339e-02 2.89377563e+02] [-1.74763279e-01 9.84594236e-01 -5.65572568e-03 -4.63732414e+01] [-3.59851778e-02 -6.46790549e-04 9.99352114e-01 -1.25406493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264000000004 meters Centerline goodness [0,1] 0.9998931007205012 Centerline is valid? [True, True] Translation: X:289.41, Y:-46.37, Z:-12.54 [[ 9.83697669e-01 1.76292625e-01 3.54937631e-02 2.89406101e+02] [-1.76203576e-01 9.84337554e-01 -5.64620225e-03 -4.63747626e+01] [-3.59332278e-02 -6.99971979e-04 9.99353948e-01 -1.25401309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85264 meters Centerline goodness [0,1] 0.9999574332233692 Centerline is valid? [True, True] Translation: X:289.44, Y:-46.37, Z:-12.54 [[ 9.83195982e-01 1.79149126e-01 3.50891806e-02 2.89436167e+02] [-1.79063997e-01 9.83821607e-01 -5.57946810e-03 -4.63684437e+01] [-3.55210508e-02 -7.97498305e-04 9.99368610e-01 -1.25427353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters Centerline goodness [0,1] 0.9999786693969839 Centerline is valid? [True, True] Translation: X:289.47, Y:-46.37, Z:-12.54 [[ 9.82889861e-01 1.80812977e-01 3.51310230e-02 2.89465259e+02] [-1.80728748e-01 9.83517121e-01 -5.58493286e-03 -4.63667858e+01] [-3.55617910e-02 -8.59811937e-04 9.99367110e-01 -1.25438907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91264 meters Centerline goodness [0,1] 0.9998502353444587 Centerline is valid? [True, True] Translation: X:289.49, Y:-46.36, Z:-12.55 [[ 9.82614766e-01 1.82289934e-01 3.51937718e-02 2.89493637e+02] [-1.82206407e-01 9.83244395e-01 -5.59329884e-03 -4.63637895e+01] [-3.56236809e-02 -9.16472689e-04 9.99364855e-01 -1.25457616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters Centerline goodness [0,1] 0.9999365280863218 Centerline is valid? [True, True] Translation: X:289.52, Y:-46.36, Z:-12.55 [[ 9.82343235e-01 1.83824888e-01 3.47876239e-02 2.89523219e+02] [-1.83744317e-01 9.82958536e-01 -5.52655982e-03 -4.63623143e+01] [-3.52107111e-02 -9.63049537e-04 9.99379447e-01 -1.25477359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97264 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:289.55, Y:-46.36, Z:-12.55 [[ 9.82318117e-01 1.84016128e-01 3.44845130e-02 2.89551488e+02] [-1.83937127e-01 9.82922752e-01 -5.47687315e-03 -4.63579864e+01] [-3.49034455e-02 -9.62950518e-04 9.99390225e-01 -1.25515237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters Centerline goodness [0,1] 0.9998722371278906 Centerline is valid? [True, True] Translation: X:289.58, Y:-46.36, Z:-12.55 [[ 9.82350923e-01 1.83840894e-01 3.44846388e-02 2.89578623e+02] [-1.83761812e-01 9.82955548e-01 -5.47608231e-03 -4.63620779e+01] [-3.49035948e-02 -9.57525205e-04 9.99390225e-01 -1.25527693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03264 meters Centerline goodness [0,1] 0.9999361403210013 Centerline is valid? [True, True] Translation: X:289.61, Y:-46.37, Z:-12.55 [[ 9.82420581e-01 1.83501784e-01 3.43059311e-02 2.89606504e+02] [-1.83423579e-01 9.83018920e-01 -5.44006240e-03 -4.63681888e+01] [-3.47216405e-02 -9.48087407e-04 9.99396572e-01 -1.25525702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters Centerline goodness [0,1] 0.9999784510623626 Centerline is valid? [True, True] Translation: X:289.64, Y:-46.37, Z:-12.56 [[ 9.82753776e-01 1.81853774e-01 3.35293898e-02 2.89635061e+02] [-1.81778165e-01 9.83325198e-01 -5.31534860e-03 -4.63704708e+01] [-3.39369101e-02 -8.71232021e-04 9.99423597e-01 -1.25553943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09264 meters Centerline goodness [0,1] 0.9999572695224869 Centerline is valid? [True, True] Translation: X:289.66, Y:-46.37, Z:-12.56 [[ 9.82926897e-01 1.80976694e-01 3.31986715e-02 2.89663428e+02] [-1.80902124e-01 9.83487031e-01 -5.26129820e-03 -4.63713412e+01] [-3.36026352e-02 -8.34238667e-04 9.99434924e-01 -1.25585568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters Centerline goodness [0,1] 0.9999785536587458 Centerline is valid? [True, True] Translation: X:289.69, Y:-46.38, Z:-12.56 [[ 9.83112106e-01 1.79947885e-01 3.33068444e-02 2.89691732e+02] [-1.79872294e-01 9.83675817e-01 -5.27680837e-03 -4.63767002e+01] [-3.37126879e-02 -8.03284301e-04 9.99431243e-01 -1.25589965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15264 meters Centerline goodness [0,1] 0.9999574440921761 Centerline is valid? [True, True] Translation: X:289.72, Y:-46.38, Z:-12.56 [[ 9.83280463e-01 1.78956000e-01 3.36790827e-02 2.89719524e+02] [-1.78878180e-01 9.83856769e-01 -5.33423722e-03 -4.63776157e+01] [-3.40899873e-02 -7.79401785e-04 9.99418464e-01 -1.25605191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters Centerline goodness [0,1] 0.999978583054913 Centerline is valid? [True, True] Translation: X:289.75, Y:-46.38, Z:-12.56 [[ 9.83478838e-01 1.77825314e-01 3.38752446e-02 2.89748405e+02] [-1.77745991e-01 9.84061787e-01 -5.36307449e-03 -4.63816975e+01] [-3.42890241e-02 -7.46718656e-04 9.99411680e-01 -1.25605376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.78, Y:-46.38, Z:-12.56 [[ 9.83913657e-01 1.75528742e-01 3.32201095e-02 2.89777620e+02] [-1.75451158e-01 9.84474089e-01 -5.25910796e-03 -4.63838923e+01] [-3.36274616e-02 -6.53998538e-04 9.99434223e-01 -1.25612459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.81, Y:-46.38, Z:-12.56 [[ 9.84142584e-01 1.74302462e-01 3.28941741e-02 2.89805456e+02] [-1.74225924e-01 9.84691970e-01 -5.20103789e-03 -4.63843265e+01] [-3.32971828e-02 -6.12455015e-04 9.99445307e-01 -1.25643973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.83, Y:-46.39, Z:-12.57 [[ 9.84386034e-01 1.72915457e-01 3.29299470e-02 2.89834195e+02] [-1.72838050e-01 9.84936506e-01 -5.20448762e-03 -4.63890225e+01] [-3.33338433e-02 -5.68322892e-04 9.99444111e-01 -1.25653138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.86, Y:-46.40, Z:-12.56 [[ 9.84882218e-01 1.69955579e-01 3.34980362e-02 2.89862691e+02] [-1.69873821e-01 9.85451609e-01 -5.29261688e-03 -4.63952754e+01] [-3.39102035e-02 -4.77835175e-04 9.99424769e-01 -1.25647341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.89, Y:-46.40, Z:-12.57 [[ 9.85217259e-01 1.67951165e-01 3.37543801e-02 2.89890839e+02] [-1.67867034e-01 9.85795230e-01 -5.33140498e-03 -4.64012756e+01] [-3.41703226e-02 -4.13655470e-04 9.99415938e-01 -1.25651533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.92, Y:-46.41, Z:-12.57 [[ 9.85601525e-01 1.65612433e-01 3.40904066e-02 2.89918432e+02] [-1.65525266e-01 9.86190858e-01 -5.38313801e-03 -4.64063989e+01] [-3.45111619e-02 -3.37194572e-04 9.99404256e-01 -1.25664816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.95, Y:-46.41, Z:-12.57 [[ 9.85953672e-01 1.63418586e-01 3.44923426e-02 2.89946753e+02] [-1.63328134e-01 9.86556787e-01 -5.44300076e-03 -4.64125054e+01] [-3.49181422e-02 -2.67023355e-04 9.99390140e-01 -1.25677294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:289.97, Y:-46.42, Z:-12.57 [[ 9.86696885e-01 1.59046191e-01 3.36684652e-02 2.89973180e+02] [-1.58957503e-01 9.87271136e-01 -5.31181788e-03 -4.64200621e+01] [-3.40847283e-02 -1.10701001e-04 9.99418941e-01 -1.25705288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.00, Y:-46.43, Z:-12.57 [[ 9.87057033e-01 1.56826390e-01 3.35245653e-02 2.90001492e+02] [-1.56737292e-01 9.87626185e-01 -5.28575888e-03 -4.64264427e+01] [-3.39386850e-02 -3.72041038e-05 9.99423916e-01 -1.25712393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.03, Y:-46.43, Z:-12.57 [[ 9.87402127e-01 1.54587138e-01 3.37617509e-02 2.90027764e+02] [-1.54495509e-01 9.87979157e-01 -5.32186436e-03 -4.64324695e+01] [-3.41785980e-02 3.87812860e-05 9.99415740e-01 -1.25737102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51264000000003 meters Centerline goodness [0,1] 0.9998712750209178 Centerline is valid? [True, True] Translation: X:290.06, Y:-46.44, Z:-12.57 [[ 9.87767747e-01 1.52256326e-01 3.36584281e-02 2.90055992e+02] [-1.52164017e-01 9.88341033e-01 -5.30226774e-03 -4.64392484e+01] [-3.40733094e-02 1.15807432e-04 9.99419329e-01 -1.25740761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.08, Y:-46.45, Z:-12.57 [[ 9.88538383e-01 1.47009913e-01 3.43504072e-02 2.90081825e+02] [-1.46910654e-01 9.89134973e-01 -5.40971842e-03 -4.64513985e+01] [-3.47724713e-02 3.01273507e-04 9.99395209e-01 -1.25749893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57264000000004 meters Centerline goodness [0,1] 0.9998711423233039 Centerline is valid? [True, True] Translation: X:290.11, Y:-46.46, Z:-12.58 [[ 9.88858920e-01 1.44894090e-01 3.41136084e-02 2.90108276e+02] [-1.44795013e-01 9.89447101e-01 -5.37018650e-03 -4.64593798e+01] [-3.45317193e-02 3.70876444e-04 9.99403534e-01 -1.25767364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60264 meters Centerline goodness [0,1] 0.9998713164328915 Centerline is valid? [True, True] Translation: X:290.14, Y:-46.47, Z:-12.58 [[ 9.89237307e-01 1.42230545e-01 3.43514692e-02 2.90136287e+02] [-1.42128551e-01 9.89833449e-01 -5.40545964e-03 -4.64668303e+01] [-3.47710547e-02 4.64957783e-04 9.99395196e-01 -1.25766936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.16, Y:-46.47, Z:-12.58 [[ 9.89291614e-01 1.41672314e-01 3.50864300e-02 2.90164926e+02] [-1.41565618e-01 9.89913487e-01 -5.51938664e-03 -4.64721857e+01] [-3.55144746e-02 4.93250750e-04 9.99369040e-01 -1.25770226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66264 meters Centerline goodness [0,1] 0.9998927015601193 Centerline is valid? [True, True] Translation: X:290.19, Y:-46.48, Z:-12.58 [[ 9.89266123e-01 1.41907260e-01 3.48549392e-02 2.90193743e+02] [-1.41802171e-01 9.89879841e-01 -5.48132864e-03 -4.64768591e+01] [-3.52800420e-02 4.79986666e-04 9.99377350e-01 -1.25787667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.22, Y:-46.48, Z:-12.58 [[ 9.89222434e-01 1.42347053e-01 3.42971348e-02 2.90222727e+02] [-1.42245621e-01 9.89816705e-01 -5.39201851e-03 -4.64805876e+01] [-3.47154149e-02 4.55288415e-04 9.99397135e-01 -1.25803112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.25, Y:-46.48, Z:-12.58 [[ 9.88930530e-01 1.44546768e-01 3.35057858e-02 2.90250143e+02] [-1.44451277e-01 9.89497901e-01 -5.26613647e-03 -4.64826805e+01] [-3.39151077e-02 3.67889594e-04 9.99424650e-01 -1.25831885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.28, Y:-46.48, Z:-12.58 [[ 9.88735695e-01 1.45925702e-01 3.32778414e-02 2.90278803e+02] [-1.45832358e-01 9.89295502e-01 -5.22816696e-03 -4.64833972e+01] [-3.36845428e-02 3.16289199e-04 9.99432465e-01 -1.25839463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.31, Y:-46.49, Z:-12.59 [[ 9.88477230e-01 1.47706355e-01 3.30998357e-02 2.90306855e+02] [-1.47615055e-01 9.89031227e-01 -5.19872757e-03 -4.64858886e+01] [-3.35046562e-02 2.52789751e-04 9.99438529e-01 -1.25868364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.33, Y:-46.49, Z:-12.59 [[ 9.88209283e-01 1.49522137e-01 3.29475987e-02 2.90334542e+02] [-1.49432760e-01 9.88758360e-01 -5.17254595e-03 -4.64879223e+01] [-3.33506238e-02 1.88107320e-04 9.99443696e-01 -1.25891311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.36, Y:-46.49, Z:-12.59 [[ 9.87699957e-01 1.52827397e-01 3.30542314e-02 2.90363791e+02] [-1.52739361e-01 9.88252893e-01 -5.18715130e-03 -4.64863031e+01] [-3.34586787e-02 7.46669339e-05 9.99440099e-01 -1.25897687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.39, Y:-46.49, Z:-12.59 [[ 9.87519311e-01 1.54046367e-01 3.27921813e-02 2.90391844e+02] [-1.53960435e-01 9.88063619e-01 -5.14475482e-03 -4.64888676e+01] [-3.31932921e-02 3.18462270e-05 9.99448950e-01 -1.25914566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.42, Y:-46.49, Z:-12.59 [[ 9.87344457e-01 1.55197764e-01 3.26278751e-02 2.90420029e+02] [-1.55113397e-01 9.87883421e-01 -5.11663220e-03 -4.64919165e+01] [-3.30266268e-02 -9.14212541e-06 9.99454472e-01 -1.25931811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93264 meters Centerline goodness [0,1] 0.9998501295309055 Centerline is valid? [True, True] Translation: X:290.45, Y:-46.49, Z:-12.59 [[ 9.87153186e-01 1.56345890e-01 3.29325186e-02 2.90449164e+02] [-1.56260669e-01 9.87702364e-01 -5.16169853e-03 -4.64949101e+01] [-3.33345369e-02 -5.06702638e-05 9.99444249e-01 -1.25943384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.48, Y:-46.49, Z:-12.60 [[ 9.86818421e-01 1.58251354e-01 3.38513482e-02 2.90477840e+02] [-1.58162484e-01 9.87398853e-01 -5.30414475e-03 -4.64944634e+01] [-3.42641705e-02 -1.19785583e-04 9.99412804e-01 -1.25957328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.51, Y:-46.50, Z:-12.60 [[ 9.86669006e-01 1.59173615e-01 3.38826440e-02 2.90506324e+02] [-1.59085204e-01 9.87250595e-01 -5.30674837e-03 -4.64969279e+01] [-3.42953547e-02 -1.54223175e-04 9.99411729e-01 -1.25957309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02264 meters Centerline goodness [0,1] 0.9998288440555401 Centerline is valid? [True, True] Translation: X:290.53, Y:-46.50, Z:-12.60 [[ 9.86513566e-01 1.60110976e-01 3.39920388e-02 2.90534721e+02] [-1.60022586e-01 9.87099002e-01 -5.32280005e-03 -4.64995793e+01] [-3.44057463e-02 -1.88479479e-04 9.99407929e-01 -1.25962486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.56, Y:-46.50, Z:-12.60 [[ 9.86427346e-01 1.60671187e-01 3.38505512e-02 2.90563229e+02] [-1.60583918e-01 9.87007967e-01 -5.29899666e-03 -4.65027855e+01] [-3.42621598e-02 -2.08778926e-04 9.99412858e-01 -1.25979427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.59, Y:-46.51, Z:-12.60 [[ 9.86314300e-01 1.61523018e-01 3.30819565e-02 2.90590976e+02] [-1.61440194e-01 9.86868917e-01 -5.17724551e-03 -4.65051202e+01] [-3.34837989e-02 -2.34366203e-04 9.99439233e-01 -1.26011009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.62, Y:-46.51, Z:-12.60 [[ 9.86292050e-01 1.61722610e-01 3.27687260e-02 2.90619170e+02] [-1.61641529e-01 9.86836227e-01 -5.12610819e-03 -4.65093546e+01] [-3.31663735e-02 -2.40947204e-04 9.99449815e-01 -1.26035785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.65, Y:-46.51, Z:-12.61 [[ 9.86287080e-01 1.61803666e-01 3.25172247e-02 2.90647051e+02] [-1.61723915e-01 9.86822940e-01 -5.08535240e-03 -4.65134023e+01] [-3.29115720e-02 -2.43195528e-04 9.99458238e-01 -1.26068179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.68, Y:-46.52, Z:-12.61 [[ 9.86331140e-01 1.61596461e-01 3.22097349e-02 2.90675806e+02] [-1.61518168e-01 9.86856893e-01 -5.03519860e-03 -4.65190543e+01] [-3.26000692e-02 -2.36084212e-04 9.99468449e-01 -1.26077860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.70, Y:-46.52, Z:-12.61 [[ 9.86406253e-01 1.61168831e-01 3.20517201e-02 2.90703043e+02] [-1.61091119e-01 9.86926825e-01 -5.00927021e-03 -4.65240510e+01] [-3.24400406e-02 -2.22072005e-04 9.99473659e-01 -1.26090389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.73, Y:-46.53, Z:-12.61 [[ 9.86591231e-01 1.60004762e-01 3.21903622e-02 2.90730464e+02] [-1.59925838e-01 9.87116225e-01 -5.02843999e-03 -4.65292163e+01] [-3.25802031e-02 -1.87055853e-04 9.99469107e-01 -1.26123292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.76, Y:-46.54, Z:-12.61 [[ 9.86679185e-01 1.59387680e-01 3.25538683e-02 2.90759068e+02] [-1.59306697e-01 9.87216055e-01 -5.08310188e-03 -4.65361830e+01] [-3.29478853e-02 -1.70658411e-04 9.99457056e-01 -1.26107354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.79, Y:-46.54, Z:-12.61 [[ 9.86729174e-01 1.59015518e-01 3.28573016e-02 2.90787161e+02] [-1.58932866e-01 9.87276070e-01 -5.12886440e-03 -4.65421249e+01] [-3.32547967e-02 -1.61304973e-04 9.99446893e-01 -1.26115591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264000000004 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.81, Y:-46.55, Z:-12.61 [[ 9.86578256e-01 1.59836575e-01 3.34008162e-02 2.90814373e+02] [-1.59751682e-01 9.87143471e-01 -5.21233025e-03 -4.65467869e+01] [-3.38045187e-02 -1.93464877e-04 9.99428445e-01 -1.26110755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35264 meters Centerline goodness [0,1] 0.9998921716627129 Centerline is valid? [True, True] Translation: X:290.84, Y:-46.55, Z:-12.61 [[ 9.86345032e-01 1.61339166e-01 3.30628258e-02 2.90842966e+02] [-1.61256916e-01 9.86898988e-01 -5.15691291e-03 -4.65492056e+01] [-3.34616814e-02 -2.45113889e-04 9.99439971e-01 -1.26120871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.87, Y:-46.55, Z:-12.61 [[ 9.86015036e-01 1.63345288e-01 3.30555037e-02 2.90870408e+02] [-1.63264245e-01 9.86568912e-01 -5.15443999e-03 -4.65498472e+01] [-3.34534858e-02 -3.14426517e-04 9.99440226e-01 -1.26142151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.90, Y:-46.55, Z:-12.61 [[ 9.85600520e-01 1.65785047e-01 3.32706203e-02 2.90899106e+02] [-1.65704427e-01 9.86161831e-01 -5.18523911e-03 -4.65505738e+01] [-3.36698509e-02 -4.02514705e-04 9.99432929e-01 -1.26146993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters Centerline goodness [0,1] 0.9999786397812713 Centerline is valid? [True, True] Translation: X:290.93, Y:-46.55, Z:-12.62 [[ 9.84690884e-01 1.71161461e-01 3.29790563e-02 2.90928289e+02] [-1.71085312e-01 9.85242820e-01 -5.13820925e-03 -4.65453956e+01] [-3.33718418e-02 -5.82684337e-04 9.99442835e-01 -1.26179390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47264 meters Centerline goodness [0,1] 0.9999572009415792 Centerline is valid? [True, True] Translation: X:290.96, Y:-46.55, Z:-12.62 [[ 9.84306788e-01 1.73423433e-01 3.26260683e-02 2.90957361e+02] [-1.73350150e-01 9.84847139e-01 -5.08311380e-03 -4.65466209e+01] [-3.30132211e-02 -6.52390432e-04 9.99454702e-01 -1.26194364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:290.99, Y:-46.55, Z:-12.62 [[ 9.83947039e-01 1.75434935e-01 3.27232136e-02 2.90986447e+02] [-1.75362509e-01 9.84490759e-01 -5.09271475e-03 -4.65471738e+01] [-3.31091414e-02 -7.27463252e-04 9.99451477e-01 -1.26206791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53264 meters Centerline goodness [0,1] 0.9999150779160121 Centerline is valid? [True, True] Translation: X:291.01, Y:-46.55, Z:-12.62 [[ 9.83569233e-01 1.77493838e-01 3.29772727e-02 2.91014875e+02] [-1.77421672e-01 9.84121579e-01 -5.12529335e-03 -4.65469439e+01] [-3.33633537e-02 -8.09802016e-04 9.99442960e-01 -1.26222313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters Centerline goodness [0,1] 0.9998720136518772 Centerline is valid? [True, True] Translation: X:291.04, Y:-46.55, Z:-12.62 [[ 9.83095715e-01 1.80109856e-01 3.29128300e-02 2.91044705e+02] [-1.80039511e-01 9.83646091e-01 -5.11301836e-03 -4.65458825e+01] [-3.32954816e-02 -8.99023386e-04 9.99445147e-01 -1.26239375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59264 meters Centerline goodness [0,1] 0.9998300981183367 Centerline is valid? [True, True] Translation: X:291.07, Y:-46.55, Z:-12.63 [[ 9.82999307e-01 1.80605473e-01 3.30760693e-02 2.91072132e+02] [-1.80534735e-01 9.83555191e-01 -5.13759191e-03 -4.65471630e+01] [-3.34600169e-02 -9.21130115e-04 9.99439632e-01 -1.26251923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters Centerline goodness [0,1] 0.9998302135065156 Centerline is valid? [True, True] Translation: X:291.10, Y:-46.55, Z:-12.63 [[ 9.82943856e-01 1.80887455e-01 3.31829007e-02 2.91100266e+02] [-1.80816505e-01 9.83503356e-01 -5.15164659e-03 -4.65471080e+01] [-3.35673624e-02 -9.36236753e-04 9.99436019e-01 -1.26275385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65264 meters Centerline goodness [0,1] 0.9999355254674404 Centerline is valid? [True, True] Translation: X:291.13, Y:-46.55, Z:-12.63 [[ 9.82921066e-01 1.81128780e-01 3.25352615e-02 2.91129112e+02] [-1.81060721e-01 9.83458950e-01 -5.05058564e-03 -4.65507324e+01] [-3.29119006e-02 -9.26530906e-04 9.99457827e-01 -1.26295759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters Centerline goodness [0,1] 0.9998086368565414 Centerline is valid? [True, True] Translation: X:291.16, Y:-46.55, Z:-12.63 [[ 9.82983393e-01 1.80809374e-01 3.24286951e-02 2.91156243e+02] [-1.80741785e-01 9.83517730e-01 -5.02803275e-03 -4.65501531e+01] [-3.28033121e-02 -9.18747547e-04 9.99461404e-01 -1.26325614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71264 meters Centerline goodness [0,1] 0.9998928303504447 Centerline is valid? [True, True] Translation: X:291.18, Y:-46.56, Z:-12.63 [[ 9.83076779e-01 1.80285499e-01 3.25143935e-02 2.91184781e+02] [-1.80217425e-01 9.83613905e-01 -5.03647773e-03 -4.65577302e+01] [-3.28896135e-02 -9.08415969e-04 9.99458577e-01 -1.26316998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters Centerline goodness [0,1] 0.9997433484472581 Centerline is valid? [True, True] Translation: X:291.21, Y:-46.56, Z:-12.63 [[ 9.83219025e-01 1.79530174e-01 3.23923715e-02 2.91212741e+02] [-1.79462314e-01 9.83752071e-01 -5.01413177e-03 -4.65586520e+01] [-3.27662505e-02 -8.83220179e-04 9.99462652e-01 -1.26333443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77264 meters Centerline goodness [0,1] 0.9998507685420086 Centerline is valid? [True, True] Translation: X:291.24, Y:-46.56, Z:-12.64 [[ 9.83396535e-01 1.78392622e-01 3.32765392e-02 2.91241250e+02] [-1.78320385e-01 9.83959002e-01 -5.15010362e-03 -4.65595029e+01] [-3.36614907e-02 -8.69291233e-04 9.99432913e-01 -1.26350642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters Centerline goodness [0,1] 0.9999575100913533 Centerline is valid? [True, True] Translation: X:291.27, Y:-46.57, Z:-12.63 [[ 9.83866903e-01 1.75613066e-01 3.41462882e-02 2.91269965e+02] [-1.75535588e-01 9.84458942e-01 -5.27724423e-03 -4.65667221e+01] [-3.45423718e-02 -8.01782841e-04 9.99402913e-01 -1.26327981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83264 meters Centerline goodness [0,1] 0.9998508861622358 Centerline is valid? [True, True] Translation: X:291.30, Y:-46.57, Z:-12.63 [[ 9.84190334e-01 1.73811108e-01 3.40453387e-02 2.91297413e+02] [-1.73733024e-01 9.84778735e-01 -5.26120356e-03 -4.65696321e+01] [-3.44415812e-02 -7.36773975e-04 9.99406441e-01 -1.26346415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters Centerline goodness [0,1] 0.9999575010624734 Centerline is valid? [True, True] Translation: X:291.33, Y:-46.58, Z:-12.64 [[ 9.84533729e-01 1.71896957e-01 3.38344898e-02 2.91325300e+02] [-1.71818735e-01 9.85114710e-01 -5.22782395e-03 -4.65770197e+01] [-3.42295007e-02 -6.66430240e-04 9.99413777e-01 -1.26357677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89264000000003 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:291.35, Y:-46.58, Z:-12.64 [[ 9.84946153e-01 1.69580195e-01 3.35206383e-02 2.91353324e+02] [-1.69502269e-01 9.85516217e-01 -5.17365756e-03 -4.65810809e+01] [-3.39124825e-02 -5.86050132e-04 9.99424635e-01 -1.26371879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters Centerline goodness [0,1] 0.9999138636461519 Centerline is valid? [True, True] Translation: X:291.38, Y:-46.59, Z:-12.64 [[ 9.84978364e-01 1.69392843e-01 3.35214551e-02 2.91380456e+02] [-1.69314989e-01 9.85548438e-01 -5.16835859e-03 -4.65850714e+01] [-3.39125007e-02 -5.84963411e-04 9.99424635e-01 -1.26384337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95264000000003 meters Centerline goodness [0,1] 0.9999360572926658 Centerline is valid? [True, True] Translation: X:291.41, Y:-46.59, Z:-12.64 [[ 9.85791059e-01 1.64623395e-01 3.33935108e-02 2.91407723e+02] [-1.64543672e-01 9.86356404e-01 -5.14049608e-03 -4.65921442e+01] [-3.37841491e-02 -4.27235809e-04 9.99429061e-01 -1.26405607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.44, Y:-46.60, Z:-12.64 [[ 9.86242845e-01 1.61890427e-01 3.34146887e-02 2.91435580e+02] [-1.61809089e-01 9.86808683e-01 -5.14214003e-03 -4.65991412e+01] [-3.38063682e-02 -3.35401505e-04 9.99428345e-01 -1.26421657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.46, Y:-46.61, Z:-12.64 [[ 9.86719737e-01 1.58930118e-01 3.35466634e-02 2.91463359e+02] [-1.58846480e-01 9.87289806e-01 -5.16082041e-03 -4.66062432e+01] [-3.39404886e-02 -2.36486053e-04 9.99423828e-01 -1.26433877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.49, Y:-46.61, Z:-12.64 [[ 9.87161536e-01 1.56068736e-01 3.39801771e-02 2.91490153e+02] [-1.55981279e-01 9.87746187e-01 -5.22597057e-03 -4.66134665e+01] [-3.43794010e-02 -1.41394359e-04 9.99408844e-01 -1.26439882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07264000000004 meters Centerline goodness [0,1] 0.9999571615224795 Centerline is valid? [True, True] Translation: X:291.52, Y:-46.62, Z:-12.64 [[ 9.88001381e-01 1.50678192e-01 3.39021299e-02 2.91517684e+02] [-1.50588036e-01 9.88582865e-01 -5.21181136e-03 -4.66229315e+01] [-3.43003710e-02 4.40216777e-05 9.99411568e-01 -1.26436868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.54, Y:-46.63, Z:-12.65 [[ 9.88338810e-01 1.48384558e-01 3.41821435e-02 2.91544077e+02] [-1.48291564e-01 9.88929728e-01 -5.25399444e-03 -4.66299955e+01] [-3.45833496e-02 1.23803105e-04 9.99401809e-01 -1.26463946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.57, Y:-46.64, Z:-12.65 [[ 9.88640089e-01 1.46341704e-01 3.42765340e-02 2.91572309e+02] [-1.46247144e-01 9.89234082e-01 -5.26341638e-03 -4.66374626e+01] [-3.46777730e-02 1.90779239e-04 9.99398527e-01 -1.26471229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.60, Y:-46.64, Z:-12.65 [[ 9.88869764e-01 1.44767215e-01 3.43372032e-02 2.91599664e+02] [-1.44671424e-01 9.89465711e-01 -5.27119058e-03 -4.66449392e+01] [-3.47385807e-02 2.44908894e-04 9.99396403e-01 -1.26489780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.63, Y:-46.65, Z:-12.65 [[ 9.89187381e-01 1.42586889e-01 3.43118823e-02 2.91626522e+02] [-1.42490000e-01 9.89782237e-01 -5.26522825e-03 -4.66517664e+01] [-3.47120442e-02 3.19197238e-04 9.99397304e-01 -1.26506927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.66, Y:-46.66, Z:-12.65 [[ 9.89319930e-01 1.41694381e-01 3.41874039e-02 2.91655277e+02] [-1.41597735e-01 9.89910391e-01 -5.24398671e-03 -4.66565459e+01] [-3.45855098e-02 3.47121598e-04 9.99401682e-01 -1.26519318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25264 meters Centerline goodness [0,1] 0.9999572567374068 Centerline is valid? [True, True] Translation: X:291.68, Y:-46.66, Z:-12.65 [[ 9.89449999e-01 1.40823390e-01 3.40216511e-02 2.91682315e+02] [-1.40727210e-01 9.90034662e-01 -5.21725964e-03 -4.66618290e+01] [-3.44173261e-02 3.74445504e-04 9.99407478e-01 -1.26545456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.71, Y:-46.67, Z:-12.66 [[ 9.89531146e-01 1.40524269e-01 3.28792031e-02 2.91710558e+02] [-1.40434365e-01 9.90077165e-01 -5.03939045e-03 -4.66662315e+01] [-3.32611049e-02 3.69263778e-04 9.99446628e-01 -1.26570063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.74, Y:-46.67, Z:-12.66 [[ 9.89642863e-01 1.39978983e-01 3.18259007e-02 2.91737734e+02] [-1.39894510e-01 9.90154404e-01 -4.87664002e-03 -4.66716653e+01] [-3.21951828e-02 3.73863214e-04 9.99481531e-01 -1.26603547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.76, Y:-46.68, Z:-12.66 [[ 9.89731489e-01 1.39526166e-01 3.10488131e-02 2.91764305e+02] [-1.39445602e-01 9.90218313e-01 -4.75577596e-03 -4.66781617e+01] [-3.14086585e-02 3.77320805e-04 9.99506555e-01 -1.26644328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37264 meters Centerline goodness [0,1] 0.9999785163383247 Centerline is valid? [True, True] Translation: X:291.79, Y:-46.68, Z:-12.67 [[ 9.89865067e-01 1.38655252e-01 3.06899100e-02 2.91792271e+02] [-1.38576182e-01 9.90340630e-01 -4.69884923e-03 -4.66833578e+01] [-3.10449850e-02 3.98336140e-04 9.99517909e-01 -1.26652205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.82, Y:-46.69, Z:-12.67 [[ 9.89806315e-01 1.39067147e-01 3.07211213e-02 2.91820981e+02] [-1.38988161e-01 9.90282879e-01 -4.70216029e-03 -4.66884728e+01] [-3.10765165e-02 3.84355797e-04 9.99516935e-01 -1.26656453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43264 meters Centerline goodness [0,1] 0.9999353267079139 Centerline is valid? [True, True] Translation: X:291.85, Y:-46.69, Z:-12.67 [[ 9.89567666e-01 1.40475233e-01 3.19772428e-02 2.91848800e+02] [-1.40390436e-01 9.90084130e-01 -4.89291771e-03 -4.66931081e+01] [-3.23474943e-02 3.52574091e-04 9.99476621e-01 -1.26651108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.88, Y:-46.70, Z:-12.67 [[ 9.89371199e-01 1.41962087e-01 3.14864527e-02 2.91876417e+02] [-1.41880687e-01 9.89872051e-01 -4.81593035e-03 -4.66968233e+01] [-3.18512390e-02 2.97423243e-04 9.99492576e-01 -1.26670459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49264 meters Centerline goodness [0,1] 0.9998928165662715 Centerline is valid? [True, True] Translation: X:291.90, Y:-46.70, Z:-12.67 [[ 9.89190169e-01 1.43182911e-01 3.16459121e-02 2.91904767e+02] [-1.43101376e-01 9.89696210e-01 -4.83824340e-03 -4.66985875e+01] [-3.20125930e-02 2.57369260e-04 9.99487432e-01 -1.26686786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.93, Y:-46.70, Z:-12.67 [[ 9.88941846e-01 1.45171809e-01 3.03178516e-02 2.91933212e+02] [-1.45097950e-01 9.89406444e-01 -4.63386051e-03 -4.67005762e+01] [-3.06693836e-02 1.83560455e-04 9.99529567e-01 -1.26709992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.96, Y:-46.70, Z:-12.67 [[ 9.88777344e-01 1.46389366e-01 2.98247943e-02 2.91960093e+02] [-1.46318471e-01 9.89227038e-01 -4.55762179e-03 -4.67038665e+01] [-3.01706803e-02 1.42554877e-04 9.99544751e-01 -1.26741682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:291.99, Y:-46.71, Z:-12.68 [[ 9.88403995e-01 1.48874588e-01 2.98981703e-02 2.91988842e+02] [-1.48804575e-01 9.88856083e-01 -4.56570106e-03 -4.67058753e+01] [-3.02447044e-02 6.37726584e-05 9.99542522e-01 -1.26759600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.02, Y:-46.71, Z:-12.68 [[ 9.88229746e-01 1.49911110e-01 3.04734178e-02 2.92017801e+02] [-1.49838914e-01 9.88699478e-01 -4.65205360e-03 -4.67085598e+01] [-3.08264468e-02 3.11939187e-05 9.99524752e-01 -1.26754171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.05, Y:-46.71, Z:-12.68 [[ 9.88130552e-01 1.50473538e-01 3.09148304e-02 2.92046540e+02] [-1.50399559e-01 9.88614037e-01 -4.71790271e-03 -4.67124880e+01] [-3.12727548e-02 1.23269434e-05 9.99510888e-01 -1.26753025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.07, Y:-46.72, Z:-12.68 [[ 9.88102514e-01 1.50565701e-01 3.13590721e-02 2.92073613e+02] [-1.50489658e-01 9.88600005e-01 -4.78468095e-03 -4.67179629e+01] [-3.17219877e-02 8.53922460e-06 9.99496731e-01 -1.26764826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.10, Y:-46.73, Z:-12.68 [[ 9.88203026e-01 1.49616726e-01 3.27049759e-02 2.92102048e+02] [-1.49533618e-01 9.88744069e-01 -4.98631439e-03 -4.67265700e+01] [-3.30828870e-02 3.69976031e-05 9.99452611e-01 -1.26755482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73264 meters Centerline goodness [0,1] 0.9999784802771741 Centerline is valid? [True, True] Translation: X:292.13, Y:-46.73, Z:-12.68 [[ 9.88351974e-01 1.48582122e-01 3.29200267e-02 2.92129593e+02] [-1.48497369e-01 9.88900070e-01 -5.01833161e-03 -4.67329366e+01] [-3.33002511e-02 7.13406036e-05 9.99445390e-01 -1.26760602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264000000003 meters Centerline goodness [0,1] 0.9998944969615124 Centerline is valid? [True, True] Translation: X:292.16, Y:-46.74, Z:-12.68 [[ 9.88567961e-01 1.47051604e-01 3.33048366e-02 2.92155701e+02] [-1.46964066e-01 9.89128814e-01 -5.07469130e-03 -4.67399481e+01] [-3.36890150e-02 1.22063034e-04 9.99432357e-01 -1.26783481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79264 meters Centerline goodness [0,1] 0.9997863567415131 Centerline is valid? [True, True] Translation: X:292.18, Y:-46.75, Z:-12.68 [[ 9.88820039e-01 1.45442276e-01 3.28857686e-02 2.92184133e+02] [-1.45356142e-01 9.89366724e-01 -5.00771389e-03 -4.67473406e+01] [-3.32644185e-02 1.71579395e-04 9.99446571e-01 -1.26784417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264000000004 meters Centerline goodness [0,1] 0.9995981047465945 Centerline is valid? [True, True] Translation: X:292.21, Y:-46.76, Z:-12.68 [[ 9.89082209e-01 1.43688850e-01 3.27093019e-02 2.92210880e+02] [-1.43602725e-01 9.89622889e-01 -4.97943246e-03 -4.67578326e+01] [-3.30853627e-02 2.27923173e-04 9.99452504e-01 -1.26831079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85264 meters Centerline goodness [0,1] 0.9996572628151575 Centerline is valid? [True, True] Translation: X:292.24, Y:-46.77, Z:-12.69 [[ 9.89561284e-01 1.40844386e-01 3.05175978e-02 2.92237544e+02] [-1.40768117e-01 9.90031701e-01 -4.64415417e-03 -4.67699010e+01] [-3.08674923e-02 2.99770376e-04 9.99523440e-01 -1.26854629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters Centerline goodness [0,1] 0.9994888070033441 Centerline is valid? [True, True] Translation: X:292.27, Y:-46.78, Z:-12.69 [[ 9.89662621e-01 1.39912858e-01 3.15006278e-02 2.92265689e+02] [-1.39831189e-01 9.90163763e-01 -4.79167229e-03 -4.67757667e+01] [-3.18611967e-02 3.37368696e-04 9.99492246e-01 -1.26863111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91264 meters Centerline goodness [0,1] 0.9997867167171437 Centerline is valid? [True, True] Translation: X:292.30, Y:-46.76, Z:-12.68 [[ 9.90064694e-01 1.38710276e-01 2.30512511e-02 2.92302840e+02] [-1.37833367e-01 9.89798678e-01 -3.60630109e-02 -4.67635145e+01] [-2.78184081e-02 3.25274823e-02 9.99083630e-01 -1.26809190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters Centerline goodness [0,1] 0.9995736516734172 Centerline is valid? [True, True] Translation: X:292.32, Y:-46.81, Z:-12.69 [[ 9.89988793e-01 1.37066710e-01 3.36883891e-02 2.92319404e+02] [-1.38003821e-01 9.90056385e-01 2.72635270e-02 -4.68086740e+01] [-2.96164827e-02 -3.16397126e-02 9.99060455e-01 -1.26945842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97264 meters Centerline goodness [0,1] 0.9995324421397148 Centerline is valid? [True, True] Translation: X:292.36, Y:-46.79, Z:-12.68 [[ 9.89987237e-01 1.37639335e-01 3.13158826e-02 2.92357342e+02] [-1.37155346e-01 9.90401569e-01 -1.71214099e-02 -4.67893397e+01] [-3.33718787e-02 1.26548366e-02 9.99362883e-01 -1.26845293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters Centerline goodness [0,1] 0.9995881562405168 Centerline is valid? [True, True] Translation: X:292.38, Y:-46.81, Z:-12.69 [[ 9.89899678e-01 1.38240121e-01 3.14371957e-02 2.92379801e+02] [-1.38531680e-01 9.90331223e-01 7.28299785e-03 -4.68090668e+01] [-3.01264340e-02 -1.15644848e-02 9.99479195e-01 -1.26890722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03264 meters Centerline goodness [0,1] 0.9997219429769213 Centerline is valid? [True, True] Translation: X:292.42, Y:-46.79, Z:-12.68 [[ 9.89866208e-01 1.39297040e-01 2.75903093e-02 2.92419137e+02] [-1.38487531e-01 9.89928898e-01 -2.93595028e-02 -4.67937509e+01] [-3.14021364e-02 2.52410658e-02 9.99188068e-01 -1.26844491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters Centerline goodness [0,1] 0.9996365968362548 Centerline is valid? [True, True] Translation: X:292.44, Y:-46.83, Z:-12.70 [[ 9.89654205e-01 1.40066574e-01 3.10790725e-02 2.92437006e+02] [-1.40726583e-01 9.89843112e-01 2.01653776e-02 -4.68297228e+01] [-2.79389105e-02 -2.43304024e-02 9.99313489e-01 -1.26993232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09264 meters Centerline goodness [0,1] 0.9994445512615096 Centerline is valid? [True, True] Translation: X:292.47, Y:-46.82, Z:-12.70 [[ 9.89291950e-01 1.42869346e-01 2.98293262e-02 2.92466768e+02] [-1.42797727e-01 9.89741533e-01 -4.52853683e-03 -4.68181074e+01] [-3.01703121e-02 2.20485056e-04 9.99544748e-01 -1.26978631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters Centerline goodness [0,1] 0.9997228735877212 Centerline is valid? [True, True] Translation: X:292.49, Y:-46.82, Z:-12.70 [[ 9.89272499e-01 1.43559150e-01 2.70313459e-02 2.92493935e+02] [-1.43500634e-01 9.89641722e-01 -4.10243390e-03 -4.68213830e+01] [-2.73402896e-02 1.79409779e-04 9.99626168e-01 -1.26995037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15264 meters Centerline goodness [0,1] 0.99965656392204 Centerline is valid? [True, True] Translation: X:292.52, Y:-46.82, Z:-12.70 [[ 9.89099763e-01 1.44817581e-01 2.66369451e-02 2.92521363e+02] [-1.44761254e-01 9.89458361e-01 -4.04117549e-03 -4.68248905e+01] [-2.69413814e-02 1.41128134e-04 9.99637005e-01 -1.27010576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters Centerline goodness [0,1] 0.9997879199185612 Centerline is valid? [True, True] Translation: X:292.55, Y:-46.83, Z:-12.70 [[ 9.88900840e-01 1.46107218e-01 2.69779360e-02 2.92550011e+02] [-1.46049988e-01 9.89268755e-01 -4.09035943e-03 -4.68292972e+01] [-2.72860602e-02 1.04832650e-04 9.99627661e-01 -1.27021902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21264 meters Centerline goodness [0,1] 0.9998080450454293 Centerline is valid? [True, True] Translation: X:292.58, Y:-46.83, Z:-12.70 [[ 9.88728249e-01 1.47384011e-01 2.63515227e-02 2.92578510e+02] [-1.47329879e-01 9.89079344e-01 -3.99471819e-03 -4.68325752e+01] [-2.66525044e-02 6.73240537e-05 9.99644757e-01 -1.27034666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters Centerline goodness [0,1] 0.9999143322196522 Centerline is valid? [True, True] Translation: X:292.62, Y:-46.82, Z:-12.70 [[ 9.88319870e-01 1.49814698e-01 2.79175700e-02 2.92621217e+02] [-1.48981358e-01 9.88388732e-01 -2.98708912e-02 -4.68190265e+01] [-3.20685101e-02 2.53627978e-02 9.99163820e-01 -1.26997915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27264 meters Centerline goodness [0,1] 0.999829613222014 Centerline is valid? [True, True] Translation: X:292.64, Y:-46.84, Z:-12.71 [[ 9.87949381e-01 1.50325559e-01 3.68543992e-02 2.92642592e+02] [-1.50631838e-01 9.88573705e-01 5.66381360e-03 -4.68442001e+01] [-3.55818740e-02 -1.11470070e-02 9.99304595e-01 -1.27067990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters Centerline goodness [0,1] 0.9997639788868387 Centerline is valid? [True, True] Translation: X:292.66, Y:-46.85, Z:-12.71 [[ 9.87821674e-01 1.52476775e-01 3.09705310e-02 2.92662052e+02] [-1.52848133e-01 9.88199237e-01 9.98580250e-03 -4.68477038e+01] [-2.90824521e-02 -1.45979800e-02 9.99470415e-01 -1.27059202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33264 meters Centerline goodness [0,1] 0.9998073506432348 Centerline is valid? [True, True] Translation: X:292.70, Y:-46.84, Z:-12.70 [[ 9.87201219e-01 1.54761809e-01 3.85037084e-02 2.92696861e+02] [-1.54702976e-01 9.87950683e-01 -4.52081384e-03 -4.68427291e+01] [-3.87394144e-02 -1.49368535e-03 9.99248231e-01 -1.27017656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters Centerline goodness [0,1] 0.999828909942471 Centerline is valid? [True, True] Translation: X:292.73, Y:-46.84, Z:-12.70 [[ 9.87189915e-01 1.55687574e-01 3.48919927e-02 2.92729480e+02] [-1.55185898e-01 9.87744645e-01 -1.66689541e-02 -4.68385886e+01] [-3.70595279e-02 1.10406781e-02 9.99252068e-01 -1.27010027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39264000000003 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:292.75, Y:-46.85, Z:-12.71 [[ 9.87586934e-01 1.54682941e-01 2.72989959e-02 2.92750571e+02] [-1.54851009e-01 9.87929156e-01 4.14101517e-03 -4.68511200e+01] [-2.63289296e-02 -8.31688954e-03 9.99618736e-01 -1.27063567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters Centerline goodness [0,1] 0.9999358082807318 Centerline is valid? [True, True] Translation: X:292.78, Y:-46.86, Z:-12.71 [[ 9.86848728e-01 1.55926313e-01 4.26212634e-02 2.92781161e+02] [-1.56497930e-01 9.87623524e-01 1.04006321e-02 -4.68627633e+01] [-4.04720301e-02 -1.69339901e-02 9.99037164e-01 -1.27067887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45264000000003 meters Centerline goodness [0,1] 0.9998498369658486 Centerline is valid? [True, True] Translation: X:292.81, Y:-46.86, Z:-12.71 [[ 9.86980037e-01 1.55522961e-01 4.10245774e-02 2.92811241e+02] [-1.55560201e-01 9.87823730e-01 -2.30249572e-03 -4.68580628e+01] [-4.08831420e-02 -4.10927421e-03 9.99155485e-01 -1.27055891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48264 meters Centerline goodness [0,1] 0.999893244512768 Centerline is valid? [True, True] Translation: X:292.84, Y:-46.85, Z:-12.70 [[ 9.87281297e-01 1.55332403e-01 3.38745539e-02 2.92842035e+02] [-1.54476632e-01 9.87638811e-01 -2.65810099e-02 -4.68477600e+01] [-3.75847163e-02 2.10101069e-02 9.99072552e-01 -1.27038991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51264000000003 meters Centerline goodness [0,1] 0.9997865528281751 Centerline is valid? [True, True] Translation: X:292.86, Y:-46.88, Z:-12.72 [[ 9.87530888e-01 1.50380627e-01 4.65662197e-02 2.92863158e+02] [-1.51489696e-01 9.88230137e-01 2.12619115e-02 -4.68845214e+01] [-4.28207621e-02 -2.80510968e-02 9.98688900e-01 -1.27165293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54264 meters Centerline goodness [0,1] 0.9997440273037542 Centerline is valid? [True, True] Translation: X:292.89, Y:-46.87, Z:-12.71 [[ 9.87831187e-01 1.50165625e-01 4.04948176e-02 2.92893318e+02] [-1.49820163e-01 9.88646937e-01 -1.14522176e-02 -4.68747063e+01] [-4.17548068e-02 5.24591752e-03 9.99114116e-01 -1.27128339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57264000000004 meters Centerline goodness [0,1] 0.9996162046908316 Centerline is valid? [True, True] Translation: X:292.92, Y:-46.89, Z:-12.71 [[ 9.88641793e-01 1.44631974e-01 4.08533746e-02 2.92919584e+02] [-1.44330189e-01 9.89476413e-01 -1.02578890e-02 -4.68889445e+01] [-4.19070693e-02 4.24500244e-03 9.99112495e-01 -1.27147684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60264 meters Centerline goodness [0,1] 0.9995471893395433 Centerline is valid? [True, True] Translation: X:292.95, Y:-46.91, Z:-12.72 [[ 9.88922192e-01 1.40703815e-01 4.72793290e-02 2.92945529e+02] [-1.41206300e-01 9.89952198e-01 7.44496418e-03 -4.69081417e+01] [-4.57567408e-02 -1.40386294e-02 9.98853962e-01 -1.27206171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63264000000004 meters Centerline goodness [0,1] 0.9995943464708142 Centerline is valid? [True, True] Translation: X:292.98, Y:-46.90, Z:-12.72 [[ 9.89438164e-01 1.39558333e-01 3.91866141e-02 2.92979338e+02] [-1.38824054e-01 9.90096797e-01 -2.08857336e-02 -4.68974956e+01] [-4.17133193e-02 1.52250973e-02 9.99013611e-01 -1.27151166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66264 meters Centerline goodness [0,1] 0.999743534943364 Centerline is valid? [True, True] Translation: X:293.01, Y:-46.90, Z:-12.72 [[ 9.89782951e-01 1.38699400e-01 3.30482546e-02 2.93009049e+02] [-1.37631699e-01 9.89944960e-01 -3.26571714e-02 -4.69003032e+01] [-3.72454832e-02 2.77750240e-02 9.98920078e-01 -1.27159779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69264 meters Centerline goodness [0,1] 0.9995969025140554 Centerline is valid? [True, True] Translation: X:293.03, Y:-46.95, Z:-12.73 [[ 9.89670501e-01 1.33687675e-01 5.17677977e-02 2.93027397e+02] [-1.35550738e-01 9.90176108e-01 3.43114067e-02 -4.69477672e+01] [-4.66722243e-02 -4.09741503e-02 9.98069548e-01 -1.27280853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72264 meters Centerline goodness [0,1] 0.9995514162430043 Centerline is valid? [True, True] Translation: X:293.06, Y:-46.93, Z:-12.72 [[ 9.89950504e-01 1.34708155e-01 4.30315310e-02 2.93061238e+02] [-1.34281469e-01 9.90862228e-01 -1.26701330e-02 -4.69285781e+01] [-4.43450890e-02 6.76446732e-03 9.98993371e-01 -1.27199661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75264 meters Centerline goodness [0,1] 0.9996128532713898 Centerline is valid? [True, True] Translation: X:293.09, Y:-46.94, Z:-12.72 [[ 9.90093437e-01 1.32403959e-01 4.67351958e-02 2.93091982e+02] [-1.32593533e-01 9.91170027e-01 9.66099085e-04 -4.69437894e+01] [-4.61946099e-02 -7.15331307e-03 9.98906847e-01 -1.27241669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78264 meters Centerline goodness [0,1] 0.9994607652819119 Centerline is valid? [True, True] Translation: X:293.12, Y:-46.94, Z:-12.72 [[ 9.90046443e-01 1.33669903e-01 4.40499445e-02 2.93121367e+02] [-1.33216191e-01 9.91000520e-01 -1.30925612e-02 -4.69430314e+01] [-4.54035993e-02 7.09407778e-03 9.98943536e-01 -1.27247035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81264 meters Centerline goodness [0,1] 0.9994607652819119 Centerline is valid? [True, True] Translation: X:293.15, Y:-46.95, Z:-12.73 [[ 9.90000653e-01 1.33587188e-01 4.53119309e-02 2.93151838e+02] [-1.33392425e-01 9.91036348e-01 -7.30870332e-03 -4.69514051e+01] [-4.58821197e-02 1.19135274e-03 9.98946151e-01 -1.27274598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84264 meters Centerline goodness [0,1] 0.9995060349641338 Centerline is valid? [True, True] Translation: X:293.18, Y:-46.96, Z:-12.73 [[ 9.89869682e-01 1.33525161e-01 4.82601767e-02 2.93181553e+02] [-1.33729613e-01 9.91017333e-01 1.01824675e-03 -4.69611613e+01] [-4.76907100e-02 -7.46174636e-03 9.98834280e-01 -1.27296296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87264 meters Centerline goodness [0,1] 0.9995493949017251 Centerline is valid? [True, True] Translation: X:293.22, Y:-46.96, Z:-12.73 [[ 9.89792863e-01 1.35948481e-01 4.27562618e-02 2.93215666e+02] [-1.35183289e-01 9.90612238e-01 -2.03192374e-02 -4.69567945e+01] [-4.51172457e-02 1.43319041e-02 9.98878887e-01 -1.27324911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90264 meters Centerline goodness [0,1] 0.999526270456503 Centerline is valid? [True, True] Translation: X:293.24, Y:-46.98, Z:-12.73 [[ 9.89445450e-01 1.36214363e-01 4.94302413e-02 2.93241936e+02] [-1.36860412e-01 9.90540734e-01 9.91369064e-03 -4.69754138e+01] [-4.76122805e-02 -1.65740993e-02 9.98728376e-01 -1.27326572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93264 meters Centerline goodness [0,1] 0.9998075977510315 Centerline is valid? [True, True] Translation: X:293.28, Y:-46.95, Z:-12.73 [[ 9.90486205e-01 1.36324102e-01 1.87834181e-02 2.93279509e+02] [-1.35364810e-01 9.89759273e-01 -4.53094887e-02 -4.69479753e+01] [-2.47678376e-02 4.23358097e-02 9.98796392e-01 -1.27323263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96264 meters Centerline goodness [0,1] 0.9998505327440053 Centerline is valid? [True, True] Translation: X:293.30, Y:-46.98, Z:-12.74 [[ 9.90332387e-01 1.36467755e-01 2.48659318e-02 2.93303910e+02] [-1.36415656e-01 9.90644448e-01 -3.78754274e-03 -4.69769717e+01] [-2.51501747e-02 3.58823842e-04 9.99683620e-01 -1.27380321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99264 meters Centerline goodness [0,1] 0.9996383132632654 Centerline is valid? [True, True] Translation: X:293.33, Y:-47.01, Z:-12.75 [[ 9.88577023e-01 1.38772997e-01 5.88007214e-02 2.93327815e+02] [-1.40886861e-01 9.89460306e-01 3.34543769e-02 -4.70084278e+01] [-5.35384157e-02 -4.13564774e-02 9.97709016e-01 -1.27499796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02264 meters Centerline goodness [0,1] 0.9998933970108522 Centerline is valid? [True, True] Translation: X:293.37, Y:-46.96, Z:-12.73 [[ 9.89899572e-01 1.40437023e-01 1.93979114e-02 2.93368565e+02] [-1.39450816e-01 9.89195491e-01 -4.52299640e-02 -4.69626403e+01] [-2.55402880e-02 4.20680674e-02 9.98788252e-01 -1.27346959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05264 meters Centerline goodness [0,1] 0.999597107657075 Centerline is valid? [True, True] Translation: X:293.38, Y:-47.03, Z:-12.75 [[ 9.87996724e-01 1.39125082e-01 6.71318483e-02 2.93379499e+02] [-1.43464495e-01 9.87529598e-01 6.48323355e-02 -4.70337216e+01] [-5.72748832e-02 -7.36851718e-02 9.95635517e-01 -1.27473194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08264 meters Centerline goodness [0,1] 0.999700425823294 Centerline is valid? [True, True] Translation: X:293.42, Y:-46.99, Z:-12.74 [[ 9.88002463e-01 1.45614736e-01 5.14536818e-02 2.93422008e+02] [-1.44572028e-01 9.89216209e-01 -2.34567591e-02 -4.69877952e+01] [-5.43144658e-02 1.57365726e-02 9.98399869e-01 -1.27390913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11264 meters Centerline goodness [0,1] 0.9997862654156069 Centerline is valid? [True, True] Translation: X:293.46, Y:-46.97, Z:-12.74 [[ 9.89613877e-01 1.42404299e-01 1.96313686e-02 2.93460420e+02] [-1.41032380e-01 9.88235714e-01 -5.91611496e-02 -4.69728852e+01] [-2.78252216e-02 5.57780360e-02 9.98055393e-01 -1.27396101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264000000003 meters Centerline goodness [0,1] 0.9996783600651857 Centerline is valid? [True, True] Translation: X:293.47, Y:-47.05, Z:-12.75 [[ 9.87887712e-01 1.41070162e-01 6.46303239e-02 2.93469351e+02] [-1.44746302e-01 9.87869796e-01 5.62296613e-02 -4.70482725e+01] [-5.59140175e-02 -6.49035918e-02 9.96323816e-01 -1.27506635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17264 meters Centerline goodness [0,1] 0.9997857295907435 Centerline is valid? [True, True] Translation: X:293.52, Y:-46.98, Z:-12.75 [[ 9.89685580e-01 1.42188193e-01 1.74633915e-02 2.93522377e+02] [-1.40714155e-01 9.87735617e-01 -6.76600082e-02 -4.69839332e+01] [-2.68696681e-02 6.45047881e-02 9.97555589e-01 -1.27452346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264000000003 meters Centerline goodness [0,1] 0.9998713440260742 Centerline is valid? [True, True] Translation: X:293.54, Y:-47.03, Z:-12.75 [[ 9.89993711e-01 1.38564204e-01 2.66910725e-02 2.93544732e+02] [-1.38504475e-01 9.90353393e-01 -4.08262883e-03 -4.70280200e+01] [-2.69993004e-02 3.44943879e-04 9.99635393e-01 -1.27483146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23264 meters Centerline goodness [0,1] 0.9994637839692856 Centerline is valid? [True, True] Translation: X:293.56, Y:-47.07, Z:-12.76 [[ 9.87968951e-01 1.41193619e-01 6.31008181e-02 2.93563452e+02] [-1.44135959e-01 9.88544116e-01 4.47812060e-02 -4.70666055e+01] [-5.60551219e-02 -5.33375381e-02 9.97001971e-01 -1.27602700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264000000003 meters Centerline goodness [0,1] 0.999698859969886 Centerline is valid? [True, True] Translation: X:293.60, Y:-47.04, Z:-12.76 [[ 9.87765997e-01 1.45563055e-01 5.59440059e-02 2.93597910e+02] [-1.45528105e-01 9.89342859e-01 -4.71998489e-03 -4.70426239e+01] [-5.60348582e-02 -3.47918459e-03 9.98422751e-01 -1.27581169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29264 meters Centerline goodness [0,1] 0.999526433614603 Centerline is valid? [True, True] Translation: X:293.63, Y:-47.04, Z:-12.76 [[ 9.87561336e-01 1.48438504e-01 5.18518851e-02 2.93633498e+02] [-1.47443020e-01 9.88813579e-01 -2.25446421e-02 -4.70395385e+01] [-5.46183411e-02 1.46190183e-02 9.98400281e-01 -1.27638701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264000000004 meters Centerline goodness [0,1] 0.9995933045078984 Centerline is valid? [True, True] Translation: X:293.66, Y:-47.05, Z:-12.77 [[ 9.87393483e-01 1.48634529e-01 5.44232206e-02 2.93662833e+02] [-1.48614783e-01 9.88885231e-01 -4.43233342e-03 -4.70541618e+01] [-5.44771169e-02 -3.71163801e-03 9.98508121e-01 -1.27679133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35264 meters Centerline goodness [0,1] 0.9997469048573177 Centerline is valid? [True, True] Translation: X:293.69, Y:-47.06, Z:-12.77 [[ 9.87164723e-01 1.49766961e-01 5.54586878e-02 2.93691266e+02] [-1.50143939e-01 9.88660541e-01 2.67072736e-03 -4.70615562e+01] [-5.44298296e-02 -1.09632337e-02 9.98457411e-01 -1.27671068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264000000004 meters Centerline goodness [0,1] 0.9998929015122306 Centerline is valid? [True, True] Translation: X:293.72, Y:-47.07, Z:-12.77 [[ 9.86461471e-01 1.52538122e-01 6.02153440e-02 2.93718852e+02] [-1.52938622e-01 9.88233517e-01 2.07211190e-03 -4.70664845e+01] [-5.91907452e-02 -1.12533103e-02 9.98183259e-01 -1.27699840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41264 meters Centerline goodness [0,1] 0.9999145207821348 Centerline is valid? [True, True] Translation: X:293.75, Y:-47.06, Z:-12.77 [[ 9.86290722e-01 1.54808326e-01 5.71401281e-02 2.93751198e+02] [-1.54375492e-01 9.87940105e-01 -1.19397349e-02 -4.70634143e+01] [-5.82993945e-02 2.95501431e-03 9.98294770e-01 -1.27701792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters Centerline goodness [0,1] 0.9999785094128771 Centerline is valid? [True, True] Translation: X:293.80, Y:-47.04, Z:-12.77 [[ 9.88101797e-01 1.52390463e-01 2.07842431e-02 2.93795933e+02] [-1.50793174e-01 9.86485769e-01 -6.40877984e-02 -4.70355553e+01] [-3.02697293e-02 6.01911468e-02 9.97727803e-01 -1.27685184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47264 meters Centerline goodness [0,1] 0.9999569984949473 Centerline is valid? [True, True] Translation: X:293.82, Y:-47.07, Z:-12.78 [[ 9.88140039e-01 1.50576690e-01 3.00985843e-02 2.93817202e+02] [-1.50504447e-01 9.88598328e-01 -4.66444855e-03 -4.70747612e+01] [-3.04577673e-02 7.91575675e-05 9.99536051e-01 -1.27765050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters Centerline goodness [0,1] 0.9999147866470676 Centerline is valid? [True, True] Translation: X:293.85, Y:-47.08, Z:-12.78 [[ 9.88032750e-01 1.51173523e-01 3.06243578e-02 2.93845448e+02] [-1.51099092e-01 9.88507239e-01 -4.74364350e-03 -4.70792043e+01] [-3.09895127e-02 5.95624762e-05 9.99519708e-01 -1.27767787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53264 meters Centerline goodness [0,1] 0.999935809654228 Centerline is valid? [True, True] Translation: X:293.87, Y:-47.08, Z:-12.78 [[ 9.88015142e-01 1.51370793e-01 3.02152771e-02 2.93872671e+02] [-1.51298462e-01 9.88477051e-01 -4.67921689e-03 -4.70837849e+01] [-3.05754048e-02 5.16121858e-05 9.99532462e-01 -1.27795281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters Centerline goodness [0,1] 0.9999785894745857 Centerline is valid? [True, True] Translation: X:293.90, Y:-47.09, Z:-12.78 [[ 9.87910827e-01 1.51940736e-01 3.07605329e-02 2.93900291e+02] [-1.51866108e-01 9.88389605e-01 -4.76169976e-03 -4.70883272e+01] [-3.11268871e-02 3.26523532e-05 9.99515441e-01 -1.27807196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59264 meters Centerline goodness [0,1] 0.9999572713483026 Centerline is valid? [True, True] Translation: X:293.93, Y:-47.09, Z:-12.78 [[ 9.87878564e-01 1.52035694e-01 3.13223786e-02 2.93929168e+02] [-1.51958432e-01 9.88375003e-01 -4.84646037e-03 -4.70930894e+01] [-3.16950910e-02 2.80147741e-05 9.99497584e-01 -1.27782382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters Centerline goodness [0,1] 0.9998712639732229 Centerline is valid? [True, True] Translation: X:293.94, Y:-47.14, Z:-12.79 [[ 9.85136679e-01 1.54982819e-01 7.40678702e-02 2.93939894e+02] [-1.59430856e-01 9.85477358e-01 5.84480847e-02 -4.71401173e+01] [-6.39337601e-02 -6.93880560e-02 9.95538935e-01 -1.27887788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65264 meters Centerline goodness [0,1] 0.9998717016636017 Centerline is valid? [True, True] Translation: X:294.00, Y:-47.07, Z:-12.77 [[ 9.87661346e-01 1.55231225e-01 2.06962124e-02 2.93997498e+02] [-1.53406463e-01 9.85576899e-01 -7.14467174e-02 -4.70663649e+01] [-3.14884703e-02 6.73902283e-02 9.97229679e-01 -1.27747443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters Centerline goodness [0,1] 0.9998285653059038 Centerline is valid? [True, True] Translation: X:294.00, Y:-47.15, Z:-12.79 [[ 9.85853452e-01 1.52098884e-01 7.04194663e-02 2.94002324e+02] [-1.56310120e-01 9.85960743e-01 5.87244294e-02 -4.71549720e+01] [-6.04989092e-02 -6.89009567e-02 9.95787397e-01 -1.27898654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.06, Y:-47.08, Z:-12.78 [[ 9.87998174e-01 1.53096839e-01 2.05174363e-02 2.94058815e+02] [-1.51292757e-01 9.85913087e-01 -7.13154050e-02 -4.70841426e+01] [-3.11465720e-02 6.73553505e-02 9.97242773e-01 -1.27797628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters Centerline goodness [0,1] 0.9999358878464728 Centerline is valid? [True, True] Translation: X:294.08, Y:-47.13, Z:-12.79 [[ 9.88415529e-01 1.48739531e-01 3.01876362e-02 2.94080139e+02] [-1.48666111e-01 9.88876400e-01 -4.67472274e-03 -4.71302557e+01] [-3.05471571e-02 1.32690068e-04 9.99533318e-01 -1.27891537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77264 meters Centerline goodness [0,1] 0.9997860459145468 Centerline is valid? [True, True] Translation: X:294.11, Y:-47.14, Z:-12.79 [[ 9.88488081e-01 1.48328506e-01 2.98323473e-02 2.94109492e+02] [-1.48256650e-01 9.88938135e-01 -4.61862735e-03 -4.71372894e+01] [-3.01874200e-02 1.42614214e-04 9.99544246e-01 -1.27904064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters Centerline goodness [0,1] 0.9998927613941019 Centerline is valid? [True, True] Translation: X:294.14, Y:-47.14, Z:-12.79 [[ 9.88508913e-01 1.48275083e-01 2.94045531e-02 2.94138628e+02] [-1.48205271e-01 9.88946146e-01 -4.55170176e-03 -4.71448037e+01] [-2.97544235e-02 1.41487994e-04 9.99557229e-01 -1.27899865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.17, Y:-47.15, Z:-12.79 [[ 9.88469908e-01 1.48584945e-01 2.91505466e-02 2.94166723e+02] [-1.48516479e-01 9.88899639e-01 -4.51205806e-03 -4.71506127e+01] [-2.94973889e-02 1.30697080e-04 9.99564849e-01 -1.27933070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters Centerline goodness [0,1] 0.9998519207987815 Centerline is valid? [True, True] Translation: X:294.19, Y:-47.16, Z:-12.80 [[ 9.88321659e-01 1.49397619e-01 3.00108444e-02 2.94194598e+02] [-1.49325462e-01 9.88777194e-01 -4.64400133e-03 -4.71555923e+01] [-3.03678412e-02 1.08383898e-04 9.99538785e-01 -1.27952060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89264000000003 meters Centerline goodness [0,1] 0.9998926808327967 Centerline is valid? [True, True] Translation: X:294.22, Y:-47.16, Z:-12.80 [[ 9.88254939e-01 1.50014210e-01 2.91189464e-02 2.94224012e+02] [-1.49946587e-01 9.88683837e-01 -4.50461413e-03 -4.71603446e+01] [-2.94651878e-02 8.54205277e-05 9.99565803e-01 -1.27957264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters Centerline goodness [0,1] 0.9999573588043409 Centerline is valid? [True, True] Translation: X:294.25, Y:-47.16, Z:-12.80 [[ 9.87987038e-01 1.51705664e-01 2.94449377e-02 2.94253667e+02] [-1.51637291e-01 9.88425713e-01 -4.55429693e-03 -4.71639956e+01] [-2.97950462e-02 3.46357522e-05 9.99556028e-01 -1.27964983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95264000000003 meters Centerline goodness [0,1] 0.99995757858567 Centerline is valid? [True, True] Translation: X:294.28, Y:-47.17, Z:-12.80 [[ 9.87460031e-01 1.55109040e-01 2.93917129e-02 2.94281718e+02] [-1.55042407e-01 9.87897354e-01 -4.54650308e-03 -4.71656688e+01] [-2.97411991e-02 -6.74718514e-05 9.99557630e-01 -1.28005454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98264 meters Centerline goodness [0,1] 0.9999140708915145 Centerline is valid? [True, True] Translation: X:294.31, Y:-47.17, Z:-12.80 [[ 9.87238111e-01 1.56676867e-01 2.85179322e-02 2.94310598e+02] [-1.56614850e-01 9.87649911e-01 -4.40931797e-03 -4.71689516e+01] [-2.88565713e-02 -1.13284930e-04 9.99583556e-01 -1.28006066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01264000000003 meters Centerline goodness [0,1] 0.999957184449392 Centerline is valid? [True, True] Translation: X:294.34, Y:-47.17, Z:-12.80 [[ 9.86881205e-01 1.58896222e-01 2.85915652e-02 2.94338192e+02] [-1.58834840e-01 9.87295274e-01 -4.41986642e-03 -4.71702182e+01] [-2.89306173e-02 -1.79453591e-04 9.99581406e-01 -1.28040340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04264 meters Centerline goodness [0,1] 0.9999570815450644 Centerline is valid? [True, True] Translation: X:294.37, Y:-47.17, Z:-12.81 [[ 9.86250079e-01 1.62857992e-01 2.80723476e-02 2.94366244e+02] [-1.62800482e-01 9.86649476e-01 -4.33752299e-03 -4.71692291e+01] [-2.84039673e-02 -2.92309324e-04 9.99596483e-01 -1.28061260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07264000000004 meters Centerline goodness [0,1] 0.9999358110276655 Centerline is valid? [True, True] Translation: X:294.40, Y:-47.17, Z:-12.81 [[ 9.85892422e-01 1.65027740e-01 2.79638500e-02 2.94395301e+02] [-1.64971604e-01 9.86288862e-01 -4.31870669e-03 -4.71711714e+01] [-2.82931402e-02 -3.55460989e-04 9.99599606e-01 -1.28059673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.42, Y:-47.17, Z:-12.81 [[ 9.85564814e-01 1.67051496e-01 2.74917211e-02 2.94423645e+02] [-1.66998051e-01 9.85948088e-01 -4.24489966e-03 -4.71721865e+01] [-2.78145267e-02 -4.07440100e-04 9.99613018e-01 -1.28083566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13264000000004 meters Centerline goodness [0,1] 0.9999359412367612 Centerline is valid? [True, True] Translation: X:294.45, Y:-47.17, Z:-12.81 [[ 9.85254151e-01 1.68893095e-01 2.73748203e-02 2.94452289e+02] [-1.68840872e-01 9.85634268e-01 -4.22477773e-03 -4.71742357e+01] [-2.76950968e-02 -4.59508732e-04 9.99616312e-01 -1.28098313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16264 meters Centerline goodness [0,1] 0.999871407445509 Centerline is valid? [True, True] Translation: X:294.48, Y:-47.18, Z:-12.81 [[ 9.85066221e-01 1.70070290e-01 2.68446756e-02 2.94480707e+02] [-1.70020540e-01 9.85431815e-01 -4.14172050e-03 -4.71779949e+01] [-2.71579810e-02 -4.84277278e-04 9.99631037e-01 -1.28099957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19264 meters Centerline goodness [0,1] 0.9997637203307915 Centerline is valid? [True, True] Translation: X:294.51, Y:-47.18, Z:-12.81 [[ 9.84903040e-01 1.70810656e-01 2.81019710e-02 2.94508236e+02] [-1.70756460e-01 9.85303730e-01 -4.33492982e-03 -4.71808332e+01] [-2.84294290e-02 -5.29107515e-04 9.99595662e-01 -1.28112434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22264 meters Centerline goodness [0,1] 0.9999355379359247 Centerline is valid? [True, True] Translation: X:294.54, Y:-47.19, Z:-12.81 [[ 9.84937596e-01 1.70525366e-01 2.86187189e-02 2.94536678e+02] [-1.70469123e-01 9.85353142e-01 -4.41168422e-03 -4.71873556e+01] [-2.89518487e-02 -5.33374260e-04 9.99580665e-01 -1.28088266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25264 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:294.56, Y:-47.19, Z:-12.81 [[ 9.85022551e-01 1.69994417e-01 2.88525958e-02 2.94564705e+02] [-1.69937067e-01 9.85444886e-01 -4.44625459e-03 -4.71924776e+01] [-2.91884814e-02 -5.23464446e-04 9.99573788e-01 -1.28092880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28264 meters Centerline goodness [0,1] 0.9999359398688903 Centerline is valid? [True, True] Translation: X:294.59, Y:-47.20, Z:-12.81 [[ 9.85407970e-01 1.67704839e-01 2.90898621e-02 2.94591716e+02] [-1.67645577e-01 9.85837144e-01 -4.48168821e-03 -4.71979722e+01] [-2.94294674e-02 -4.60495438e-04 9.99566753e-01 -1.28138301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31264 meters Centerline goodness [0,1] 0.9999146083726491 Centerline is valid? [True, True] Translation: X:294.62, Y:-47.20, Z:-12.82 [[ 9.85684750e-01 1.66059795e-01 2.91499174e-02 2.94618445e+02] [-1.65999626e-01 9.86115598e-01 -4.48901814e-03 -4.72040059e+01] [-2.94906336e-02 -4.14118659e-04 9.99564971e-01 -1.28169235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34264 meters Centerline goodness [0,1] 0.9997648919571676 Centerline is valid? [True, True] Translation: X:294.65, Y:-47.21, Z:-12.82 [[ 9.86027969e-01 1.64066487e-01 2.88276223e-02 2.94646417e+02] [-1.64006850e-01 9.86449220e-01 -4.43727610e-03 -4.72124025e+01] [-2.91649938e-02 -3.52649195e-04 9.99574549e-01 -1.28184695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37264 meters Centerline goodness [0,1] 0.9998718988855203 Centerline is valid? [True, True] Translation: X:294.67, Y:-47.22, Z:-12.82 [[ 9.86356168e-01 1.62230598e-01 2.79775345e-02 2.94673868e+02] [-1.62173725e-01 9.86752831e-01 -4.30513992e-03 -4.72199979e+01] [-2.83053367e-02 -2.90819677e-04 9.99599281e-01 -1.28212323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40264 meters Centerline goodness [0,1] 0.9999786780383795 Centerline is valid? [True, True] Translation: X:294.70, Y:-47.23, Z:-12.82 [[ 9.86993581e-01 1.58344148e-01 2.77633214e-02 2.94701355e+02] [-1.58286641e-01 9.87383967e-01 -4.27090944e-03 -4.72318581e+01] [-2.80893319e-02 -1.79202672e-04 9.99605401e-01 -1.28199859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43264 meters Centerline goodness [0,1] 0.999957400583612 Centerline is valid? [True, True] Translation: X:294.73, Y:-47.24, Z:-12.82 [[ 9.87211280e-01 1.56955754e-01 2.79066411e-02 2.94729500e+02] [-1.56897137e-01 9.87605625e-01 -4.29153255e-03 -4.72378371e+01] [-2.82343365e-02 -1.41822744e-04 9.99601322e-01 -1.28203093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.76, Y:-47.24, Z:-12.82 [[ 9.87413343e-01 1.55679675e-01 2.79057238e-02 2.94756241e+02] [-1.55620580e-01 9.87807586e-01 -4.29038152e-03 -4.72427820e+01] [-2.82334108e-02 -1.06324974e-04 9.99601352e-01 -1.28247863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49264 meters Centerline goodness [0,1] 0.9999571100769874 Centerline is valid? [True, True] Translation: X:294.78, Y:-47.25, Z:-12.82 [[ 9.87618611e-01 1.54319769e-01 2.81937590e-02 2.94784130e+02] [-1.54258957e-01 9.88020953e-01 -4.33247390e-03 -4.72496888e+01] [-2.85246110e-02 -7.03079909e-05 9.99593088e-01 -1.28226382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52264 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:294.81, Y:-47.26, Z:-12.83 [[ 9.87815352e-01 1.52925201e-01 2.88913857e-02 2.94812229e+02] [-1.52860802e-01 9.88237766e-01 -4.43773438e-03 -4.72569360e+01] [-2.92301999e-02 -3.26982407e-05 9.99572706e-01 -1.28267708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55264 meters Centerline goodness [0,1] 0.9999152165158227 Centerline is valid? [True, True] Translation: X:294.84, Y:-47.27, Z:-12.83 [[ 9.88264261e-01 1.49708089e-01 3.03519207e-02 2.94840981e+02] [-1.49635546e-01 9.88730238e-01 -4.66042555e-03 -4.72684193e+01] [-3.07075652e-02 6.40058012e-05 9.99528409e-01 -1.28253247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58264 meters Centerline goodness [0,1] 0.9998939756992302 Centerline is valid? [True, True] Translation: X:294.87, Y:-47.28, Z:-12.83 [[ 9.88537752e-01 1.47802352e-01 3.07827379e-02 2.94869523e+02] [-1.47726845e-01 9.89016911e-01 -4.72543497e-03 -4.72770161e+01] [-3.11430787e-02 1.23834101e-04 9.99514929e-01 -1.28280424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61264 meters Centerline goodness [0,1] 0.9999145445223039 Centerline is valid? [True, True] Translation: X:294.90, Y:-47.29, Z:-12.83 [[ 9.88839885e-01 1.45678550e-01 3.12000291e-02 2.94900085e+02] [-1.45599971e-01 9.89331958e-01 -4.78801487e-03 -4.72860474e+01] [-3.15646969e-02 1.91856738e-04 9.99501692e-01 -1.28258106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264000000003 meters Centerline goodness [0,1] 0.9998719234956347 Centerline is valid? [True, True] Translation: X:294.93, Y:-47.30, Z:-12.83 [[ 9.89065882e-01 1.43882746e-01 3.23486834e-02 2.94929979e+02] [-1.43797411e-01 9.89594710e-01 -4.96129075e-03 -4.72954851e+01] [-3.27259301e-02 2.55386498e-04 9.99464331e-01 -1.28275526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67264 meters Centerline goodness [0,1] 0.9996603260869565 Centerline is valid? [True, True] Translation: X:294.96, Y:-47.31, Z:-12.83 [[ 9.89429318e-01 1.41273323e-01 3.27333602e-02 2.94959637e+02] [-1.41184338e-01 9.89970568e-01 -5.02572162e-03 -4.73077460e+01] [-3.31150635e-02 3.51158532e-04 9.99451484e-01 -1.28286873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264000000003 meters Centerline goodness [0,1] 0.9997020071943977 Centerline is valid? [True, True] Translation: X:294.99, Y:-47.32, Z:-12.83 [[ 9.89550921e-01 1.40602625e-01 3.19355083e-02 2.94990463e+02] [-1.40517427e-01 9.90066041e-01 -4.90784871e-03 -4.73153202e+01] [-3.23083186e-02 3.69070760e-04 9.99477882e-01 -1.28302579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73264 meters Centerline goodness [0,1] 0.9997020071943977 Centerline is valid? [True, True] Translation: X:295.02, Y:-47.32, Z:-12.83 [[ 9.89524445e-01 1.40788972e-01 3.19349110e-02 2.95022532e+02] [-1.40703747e-01 9.90039560e-01 -4.91173077e-03 -4.73204480e+01] [-3.23083428e-02 3.66916041e-04 9.99477882e-01 -1.28322673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264000000003 meters Centerline goodness [0,1] 0.9999357271402862 Centerline is valid? [True, True] Translation: X:295.05, Y:-47.33, Z:-12.83 [[ 9.89518199e-01 1.40726054e-01 3.24023468e-02 2.95053637e+02] [-1.40638047e-01 9.90048500e-01 -4.99072956e-03 -4.73276640e+01] [-3.27822205e-02 3.81414954e-04 9.99462446e-01 -1.28336469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79264 meters Centerline goodness [0,1] 0.999871731834021 Centerline is valid? [True, True] Translation: X:295.09, Y:-47.33, Z:-12.84 [[ 9.89216232e-01 1.42805136e-01 3.25259879e-02 2.95085311e+02] [-1.42717397e-01 9.89750772e-01 -5.01531952e-03 -4.73345489e+01] [-3.29088350e-02 3.19211170e-04 9.99458307e-01 -1.28357146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264000000004 meters Centerline goodness [0,1] 0.9999359562794868 Centerline is valid? [True, True] Translation: X:295.12, Y:-47.34, Z:-12.84 [[ 9.88939418e-01 1.44675272e-01 3.26786337e-02 2.95115871e+02] [-1.44587476e-01 9.89479153e-01 -5.04644808e-03 -4.73387748e+01] [-3.30649231e-02 2.65710254e-04 9.99453171e-01 -1.28393159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85264 meters Centerline goodness [0,1] 0.9999150490591683 Centerline is valid? [True, True] Translation: X:295.15, Y:-47.34, Z:-12.84 [[ 9.88572055e-01 1.47158306e-01 3.27066413e-02 2.95148244e+02] [-1.47071678e-01 9.89112935e-01 -5.05197898e-03 -4.73419348e+01] [-3.30940027e-02 1.84024641e-04 9.99452227e-01 -1.28413878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264000000004 meters Centerline goodness [0,1] 0.9999143248800548 Centerline is valid? [True, True] Translation: X:295.18, Y:-47.34, Z:-12.84 [[ 9.88165990e-01 1.49826788e-01 3.28619818e-02 2.95179291e+02] [-1.49740495e-01 9.88712255e-01 -5.08543855e-03 -4.73439771e+01] [-3.32529790e-02 1.04488010e-04 9.99446961e-01 -1.28419891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91264 meters Centerline goodness [0,1] 0.9998926024572558 Centerline is valid? [True, True] Translation: X:295.21, Y:-47.34, Z:-12.85 [[ 9.87107173e-01 1.56544416e-01 3.33657723e-02 2.95209267e+02] [-1.56459251e-01 9.87670912e-01 -5.16449368e-03 -4.73402084e+01] [-3.37628755e-02 -1.22475004e-04 9.99429864e-01 -1.28457991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters Centerline goodness [0,1] 0.9997630025423364 Centerline is valid? [True, True] Translation: X:295.24, Y:-47.34, Z:-12.84 [[ 9.86527064e-01 1.60144979e-01 3.34355882e-02 2.95240236e+02] [-1.60061505e-01 9.87093473e-01 -5.17583657e-03 -4.73413109e+01] [-3.38329352e-02 -2.45647716e-04 9.99427472e-01 -1.28433063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97264 meters Centerline goodness [0,1] 0.9997199301979878 Centerline is valid? [True, True] Translation: X:295.27, Y:-47.34, Z:-12.84 [[ 9.85891536e-01 1.63967789e-01 3.36517971e-02 2.95270551e+02] [-1.63885406e-01 9.86465621e-01 -5.21076636e-03 -4.73417380e+01] [-3.40507388e-02 -3.77787995e-04 9.99420034e-01 -1.28447420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters Centerline goodness [0,1] 0.9996767798655404 Centerline is valid? [True, True] Translation: X:295.30, Y:-47.34, Z:-12.85 [[ 9.85286818e-01 1.67433953e-01 3.42893238e-02 2.95299251e+02] [-1.67350535e-01 9.85883164e-01 -5.30892010e-03 -4.73398753e+01] [-3.46941605e-02 -5.07527697e-04 9.99397848e-01 -1.28493726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03264 meters Centerline goodness [0,1] 0.9991003341615972 Centerline is valid? [True, True] Translation: X:295.33, Y:-47.34, Z:-12.85 [[ 9.84064377e-01 1.74283634e-01 3.52493636e-02 2.95330289e+02] [-1.74199926e-01 9.84695191e-01 -5.45584717e-03 -4.73358894e+01] [-3.56607437e-02 -7.71531689e-04 9.99363656e-01 -1.28460924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters Centerline goodness [0,1] 0.9985200120114968 Centerline is valid? [True, True] Translation: X:295.36, Y:-47.33, Z:-12.85 [[ 9.83624382e-01 1.76774551e-01 3.51259595e-02 2.95358760e+02] [-1.76693022e-01 9.84250995e-01 -5.43651058e-03 -4.73349437e+01] [-3.55337973e-02 -8.59027571e-04 9.99368106e-01 -1.28485750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09264 meters Centerline goodness [0,1] 0.9972759701653875 Centerline is valid? [True, True] Translation: X:295.39, Y:-47.34, Z:-12.85 [[ 9.83170198e-01 1.79113669e-01 3.59813206e-02 2.95387764e+02] [-1.79029753e-01 9.83827910e-01 -5.56703976e-03 -4.73350488e+01] [-3.63965603e-02 -9.68379347e-04 9.99336957e-01 -1.28496021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters Centerline goodness [0,1] 0.9950284848614164 Centerline is valid? [True, True] Translation: X:295.42, Y:-47.35, Z:-12.85 [[ 9.83582989e-01 1.76392533e-01 3.80812088e-02 2.95417954e+02] [-1.77271662e-01 9.83936394e-01 2.10696577e-02 -4.73513757e+01] [-3.37529569e-02 -2.74744760e-02 9.99052497e-01 -1.28544299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15264 meters Centerline goodness [0,1] 0.9960360590755066 Centerline is valid? [True, True] Translation: X:295.45, Y:-47.32, Z:-12.85 [[ 9.82356807e-01 1.83923591e-01 3.38705770e-02 2.95450797e+02] [-1.82867771e-01 9.82615686e-01 -3.20279780e-02 -4.73197936e+01] [-3.91724610e-02 2.52690653e-02 9.98912905e-01 -1.28504763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters Centerline goodness [0,1] 0.9983773960451733 Centerline is valid? [True, True] Translation: X:295.48, Y:-47.34, Z:-12.85 [[ 9.82413686e-01 1.82425173e-01 3.98045870e-02 2.95477218e+02] [-1.82325395e-01 9.83218992e-01 -6.15334559e-03 -4.73416899e+01] [-4.02591510e-02 -1.21225613e-03 9.99188536e-01 -1.28497229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21264 meters Centerline goodness [0,1] 0.9976771695881278 Centerline is valid? [True, True] Translation: X:295.51, Y:-47.34, Z:-12.85 [[ 9.82426154e-01 1.82215591e-01 4.04515896e-02 2.95505468e+02] [-1.82112419e-01 9.83257839e-01 -6.25205378e-03 -4.73446957e+01] [-4.09135643e-02 -1.22455567e-03 9.99161939e-01 -1.28511757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters Centerline goodness [0,1] 0.9972014925373134 Centerline is valid? [True, True] Translation: X:295.53, Y:-47.34, Z:-12.85 [[ 9.82549641e-01 1.81606005e-01 4.01928093e-02 2.95533783e+02] [-1.81503709e-01 9.83370650e-01 -6.21032298e-03 -4.73449397e+01] [-4.06522610e-02 -1.19319337e-03 9.99172643e-01 -1.28547638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27264 meters Centerline goodness [0,1] 0.9982374688332903 Centerline is valid? [True, True] Translation: X:295.56, Y:-47.35, Z:-12.85 [[ 9.82635630e-01 1.80770600e-01 4.18235490e-02 2.95562566e+02] [-1.80659214e-01 9.83524544e-01 -6.45906428e-03 -4.73513461e+01] [-4.23020959e-02 -1.20890281e-03 9.99104134e-01 -1.28534231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters Centerline goodness [0,1] 0.9980868854925733 Centerline is valid? [True, True] Translation: X:295.59, Y:-47.35, Z:-12.86 [[ 9.83000921e-01 1.78564857e-01 4.27057604e-02 2.95590551e+02] [-1.78446693e-01 9.83927485e-01 -6.59410689e-03 -4.73494736e+01] [-4.31968471e-02 -1.13868858e-03 9.99065932e-01 -1.28581439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33264 meters Centerline goodness [0,1] 0.9986871839018616 Centerline is valid? [True, True] Translation: X:295.62, Y:-47.36, Z:-12.86 [[ 9.83286321e-01 1.76697444e-01 4.38864944e-02 2.95619281e+02] [-1.76570920e-01 9.84264613e-01 -6.77364195e-03 -4.73555962e+01] [-4.43928087e-02 -1.08864922e-03 9.99013560e-01 -1.28579805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters Centerline goodness [0,1] 0.9985457656116339 Centerline is valid? [True, True] Translation: X:295.65, Y:-47.36, Z:-12.86 [[ 9.83680271e-01 1.74326959e-01 4.45335340e-02 2.95646799e+02] [-1.74194381e-01 9.84687318e-01 -6.87054443e-03 -4.73589555e+01] [-4.50493273e-02 -9.99072384e-04 9.98984264e-01 -1.28607400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39264000000003 meters Centerline goodness [0,1] 0.9995037113757984 Centerline is valid? [True, True] Translation: X:295.68, Y:-47.37, Z:-12.86 [[ 9.84710149e-01 1.67812215e-01 4.67437986e-02 2.95675824e+02] [-1.67658988e-01 9.85818702e-01 -7.20766382e-03 -4.73701782e+01] [-4.72904449e-02 -7.39558239e-04 9.98880907e-01 -1.28606385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters Centerline goodness [0,1] 0.9990125576902437 Centerline is valid? [True, True] Translation: X:295.70, Y:-47.38, Z:-12.86 [[ 9.85405419e-01 1.63711530e-01 4.66336171e-02 2.95704481e+02] [-1.63554435e-01 9.86508105e-01 -7.19061133e-03 -4.73779410e+01] [-4.71816273e-02 -5.41467540e-04 9.98886180e-01 -1.28635143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45264000000003 meters Centerline goodness [0,1] 0.9991236507427594 Centerline is valid? [True, True] Translation: X:295.73, Y:-47.39, Z:-12.86 [[ 9.86096663e-01 1.59423727e-01 4.68769198e-02 2.95734804e+02] [-1.59260194e-01 9.87210191e-01 -7.22704438e-03 -4.73876672e+01] [-4.74295352e-02 -3.39062994e-04 9.98874529e-01 -1.28648601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48264 meters Centerline goodness [0,1] 0.9987313464929256 Centerline is valid? [True, True] Translation: X:295.77, Y:-47.40, Z:-12.87 [[ 9.86819225e-01 1.55020165e-01 4.64388427e-02 2.95765300e+02] [-1.54854837e-01 9.87911298e-01 -7.15869622e-03 -4.73969100e+01] [-4.69871997e-02 -1.26940374e-04 9.98895484e-01 -1.28672371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51264000000003 meters Centerline goodness [0,1] 0.9975972883683014 Centerline is valid? [True, True] Translation: X:295.80, Y:-47.41, Z:-12.87 [[ 9.88075262e-01 1.45393422e-01 5.06757352e-02 2.95795693e+02] [-1.45183415e-01 9.89373850e-01 -7.82048596e-03 -4.74117719e+01] [-5.12742945e-02 3.69952414e-04 9.98684540e-01 -1.28680182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54264 meters Centerline goodness [0,1] 0.9965942680889346 Centerline is valid? [True, True] Translation: X:295.83, Y:-47.44, Z:-12.87 [[ 9.89141481e-01 1.37657103e-01 5.14747827e-02 2.95825677e+02] [-1.39281505e-01 9.89815976e-01 2.94107990e-02 -4.74406148e+01] [-4.69019569e-02 -3.62609265e-02 9.98241129e-01 -1.28723814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57264000000004 meters Centerline goodness [0,1] 0.9957872111767867 Centerline is valid? [True, True] Translation: X:295.86, Y:-47.41, Z:-12.87 [[ 9.89204745e-01 1.38239039e-01 4.86203725e-02 2.95858538e+02] [-1.36202832e-01 9.89748484e-01 -4.29735712e-02 -4.74114236e+01] [-5.40625651e-02 3.58874281e-02 9.97892445e-01 -1.28655394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60264 meters Centerline goodness [0,1] 0.9944096697604144 Centerline is valid? [True, True] Translation: X:295.89, Y:-47.44, Z:-12.87 [[ 9.89698081e-01 1.31872227e-01 5.57442804e-02 2.95885508e+02] [-1.31596229e-01 9.91266015e-01 -8.60933995e-03 -4.74410455e+01] [-5.63927435e-02 1.18491012e-03 9.98407960e-01 -1.28689864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63264000000004 meters Centerline goodness [0,1] 0.9929944083810014 Centerline is valid? [True, True] Translation: X:295.91, Y:-47.45, Z:-12.87 [[ 9.90215406e-01 1.28096057e-01 5.53610954e-02 2.95914399e+02] [-1.27817430e-01 9.91760778e-01 -8.55938451e-03 -4.74515523e+01] [-5.60013864e-02 1.39952147e-03 9.98429710e-01 -1.28726217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66264 meters Centerline goodness [0,1] 0.9911266935030083 Centerline is valid? [True, True] Translation: X:295.94, Y:-47.46, Z:-12.88 [[ 9.90547472e-01 1.25109473e-01 5.62434508e-02 2.95944058e+02] [-1.24817070e-01 9.92141663e-01 -8.69590894e-03 -4.74620725e+01] [-5.68894114e-02 1.59356788e-03 9.98379214e-01 -1.28757554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69264 meters Centerline goodness [0,1] 0.9878663793103448 Centerline is valid? [True, True] Translation: X:295.97, Y:-47.48, Z:-12.88 [[ 9.91104122e-01 1.19281257e-01 5.90305044e-02 2.95972656e+02] [-1.18948227e-01 9.92858422e-01 -9.13632787e-03 -4.74753733e+01] [-5.96987262e-02 2.03347836e-03 9.98214369e-01 -1.28778287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72264 meters Centerline goodness [0,1] 0.9859145801378297 Centerline is valid? [True, True] Translation: X:296.00, Y:-47.48, Z:-12.88 [[ 9.91184846e-01 1.17671757e-01 6.08765924e-02 2.96002727e+02] [-1.17314501e-01 9.93050114e-01 -9.42228728e-03 -4.74828290e+01] [-6.15622441e-02 2.19752132e-03 9.98100827e-01 -1.28788917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75264 meters Centerline goodness [0,1] 0.9843632212625729 Centerline is valid? [True, True] Translation: X:296.03, Y:-47.49, Z:-12.88 [[ 9.91201016e-01 1.17050161e-01 6.18045764e-02 2.96034448e+02] [-1.16680387e-01 9.93123397e-01 -9.57106714e-03 -4.74889014e+01] [-6.24998659e-02 2.27546959e-03 9.98042378e-01 -1.28812611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78264 meters Centerline goodness [0,1] 0.9809362515198888 Centerline is valid? [True, True] Translation: X:296.06, Y:-47.50, Z:-12.88 [[ 9.90828820e-01 1.17854571e-01 6.60950051e-02 2.96064629e+02] [-1.17432630e-01 9.93027987e-01 -1.02466733e-02 -4.74951314e+01] [-6.68418071e-02 2.39098899e-03 9.97760721e-01 -1.28822066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81264 meters Centerline goodness [0,1] 0.6999614759010359 Centerline is valid? [True, False] Translation: X:296.06, Y:-47.50, Z:-12.88 [[ 9.90798256e-01 1.17972441e-01 6.63424428e-02 2.96064167e+02] [-1.17562558e-01 9.93014497e-01 -1.00624477e-02 -4.74961076e+01] [-6.70660990e-02 2.17046835e-03 9.97746174e-01 -1.28826951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84264 meters Centerline goodness [0,1] 0.7686379195281049 Centerline is valid? [False, False] Translation: X:296.06, Y:-47.50, Z:-12.88 [[ 9.90767184e-01 1.18098996e-01 6.65808785e-02 2.96063694e+02] [-1.17701431e-01 9.92999915e-01 -9.87637321e-03 -4.74970058e+01] [-6.72811964e-02 1.94852179e-03 9.97732150e-01 -1.28831789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87264 meters Centerline goodness [0,1] 0.9683023270888702 Centerline is valid? [False, True] Translation: X:296.06, Y:-47.50, Z:-12.88 [[ 9.90706559e-01 1.18422413e-01 6.69077434e-02 2.96063464e+02] [-1.18019776e-01 9.92961367e-01 -9.95274036e-03 -4.74961431e+01] [-6.76154319e-02 1.96380827e-03 9.97709525e-01 -1.28842200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90264 meters Centerline goodness [0,1] 0.9633746706933111 Centerline is valid? [True, True] Translation: X:296.11, Y:-47.48, Z:-12.88 [[ 9.91524898e-01 1.21029111e-01 4.72263756e-02 2.96105229e+02] [-1.18870957e-01 9.91838294e-01 -4.61139205e-02 -4.74756456e+01] [-5.24220546e-02 4.01092559e-02 9.97819210e-01 -1.28756601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93264 meters Centerline goodness [0,1] 0.9625767134457749 Centerline is valid? [True, True] Translation: X:296.14, Y:-47.48, Z:-12.87 [[ 9.91430379e-01 1.22579154e-01 4.51680751e-02 2.96139152e+02] [-1.21563391e-01 9.92278823e-01 -2.45983523e-02 -4.74846247e+01] [-4.78345696e-02 1.88967694e-02 9.98676507e-01 -1.28716362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96264 meters Centerline goodness [0,1] 0.9623758099352052 Centerline is valid? [True, True] Translation: X:296.17, Y:-47.48, Z:-12.87 [[ 9.91166892e-01 1.26055772e-01 4.12084219e-02 2.96174005e+02] [-1.25099216e-01 9.91828425e-01 -2.50312284e-02 -4.74825968e+01] [-4.40270150e-02 1.96549836e-02 9.98836975e-01 -1.28698111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99264 meters Centerline goodness [0,1] 0.9640622321275502 Centerline is valid? [True, True] Translation: X:296.20, Y:-47.52, Z:-12.88 [[ 9.90471310e-01 1.23530318e-01 6.08838550e-02 2.96196910e+02] [-1.25696768e-01 9.91515515e-01 3.31256178e-02 -4.75211593e+01] [-5.62752687e-02 -4.04628779e-02 9.97595033e-01 -1.28822782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02264 meters Centerline goodness [0,1] 0.9655068599200034 Centerline is valid? [True, True] Translation: X:296.23, Y:-47.50, Z:-12.89 [[ 9.86148045e-01 1.36784008e-01 9.38198775e-02 2.96225120e+02] [-1.36674528e-01 9.90586684e-01 -7.62203135e-03 -4.74974963e+01] [-9.39792933e-02 -5.30633618e-03 9.95560011e-01 -1.28903255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05264 meters Centerline goodness [0,1] 0.9563764141241001 Centerline is valid? [True, True] Translation: X:296.27, Y:-47.48, Z:-12.88 [[ 9.89820223e-01 1.36436809e-01 4.05083034e-02 2.96269335e+02] [-1.34653721e-01 9.89919582e-01 -4.39043940e-02 -4.74760700e+01] [-4.60901382e-02 3.80028633e-02 9.98214146e-01 -1.28788471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08264 meters Centerline goodness [0,1] 0.9611802575107297 Centerline is valid? [True, True] Translation: X:296.29, Y:-47.52, Z:-12.90 [[ 9.85456492e-01 1.38770907e-01 9.80721005e-02 2.96287124e+02] [-1.41456736e-01 9.89722705e-01 2.09513343e-02 -4.75164416e+01] [-9.41567490e-02 -3.45195876e-02 9.94958745e-01 -1.28989226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11264 meters Centerline goodness [0,1] 0.9507544141252007 Centerline is valid? [True, True] Translation: X:296.34, Y:-47.46, Z:-12.88 [[ 9.89509018e-01 1.42060084e-01 2.62837468e-02 2.96338371e+02] [-1.39952304e-01 9.87707867e-01 -6.96169715e-02 -4.74642096e+01] [-3.58504562e-02 6.52081502e-02 9.97227478e-01 -1.28751582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264000000003 meters Centerline goodness [0,1] 0.9568644341552708 Centerline is valid? [True, True] Translation: X:296.35, Y:-47.54, Z:-12.90 [[ 9.84749208e-01 1.40681639e-01 1.02360506e-01 2.96350059e+02] [-1.46144383e-01 9.88100622e-01 4.79476891e-02 -4.75373324e+01] [-9.43971200e-02 -6.21758618e-02 9.93591136e-01 -1.29048422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17264 meters Centerline goodness [0,1] 0.9510165966297381 Centerline is valid? [True, True] Translation: X:296.39, Y:-47.50, Z:-12.90 [[ 9.84239217e-01 1.49880735e-01 9.38558940e-02 2.96387399e+02] [-1.49219510e-01 9.88704070e-01 -1.40641114e-02 -4.75019362e+01] [-9.49036438e-02 -1.62680495e-04 9.95486450e-01 -1.28999758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264000000003 meters Centerline goodness [0,1] 0.948555260224642 Centerline is valid? [True, False] Translation: X:296.37, Y:-47.49, Z:-12.91 [[ 9.83603171e-01 1.51504636e-01 9.78322377e-02 2.96371262e+02] [-1.50174123e-01 9.88439340e-01 -2.08663289e-02 -4.74937606e+01] [-9.98625781e-02 5.83231684e-03 9.94984145e-01 -1.29060889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23264 meters Centerline goodness [0,1] 0.9451842741422453 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.49, Z:-12.91 [[ 9.83591117e-01 1.51501753e-01 9.79578188e-02 2.96371576e+02] [-1.50129985e-01 9.88437457e-01 -2.12692368e-02 -4.74917116e+01] [-1.00047504e-01 6.21382656e-03 9.94963258e-01 -1.29069287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264000000003 meters Centerline goodness [0,1] 0.9395743954237903 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.49, Z:-12.91 [[ 9.83517094e-01 1.51750451e-01 9.83154433e-02 2.96371596e+02] [-1.50344444e-01 9.88397719e-01 -2.15985276e-02 -4.74899123e+01] [-1.00452346e-01 6.46134051e-03 9.94920890e-01 -1.29083691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29264 meters Centerline goodness [0,1] 0.9367368873602752 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.48, Z:-12.91 [[ 9.84072581e-01 1.48398666e-01 9.78723220e-02 2.96372047e+02] [-1.46478759e-01 9.88857223e-01 -2.65587060e-02 -4.74848551e+01] [-1.00723029e-01 1.17994780e-02 9.94844532e-01 -1.29093233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264000000004 meters Centerline goodness [0,1] 0.9338625470729203 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.48, Z:-12.91 [[ 9.84042702e-01 1.48403274e-01 9.81653133e-02 2.96371760e+02] [-1.46469994e-01 9.88855896e-01 -2.66563006e-02 -4.74844254e+01] [-1.01027231e-01 1.18526652e-02 9.94813054e-01 -1.29102866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35264 meters Centerline goodness [0,1] 0.9307840205084383 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.48, Z:-12.91 [[ 9.84631894e-01 1.44891712e-01 9.75009000e-02 2.96373013e+02] [-1.42443091e-01 9.89296530e-01 -3.16597848e-02 -4.74791526e+01] [-1.01044542e-01 1.72849044e-02 9.94731739e-01 -1.29113665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264000000004 meters Centerline goodness [0,1] 0.1703971887977851 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.48, Z:-12.91 [[ 9.84586483e-01 1.44878872e-01 9.79773932e-02 2.96372870e+02] [-1.42428301e-01 9.89300669e-01 -3.15969335e-02 -4.74798538e+01] [-1.01506829e-01 1.71551600e-02 9.94686918e-01 -1.29133344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41264 meters Centerline goodness [0,1] 0.17106446776611695 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.47, Z:-12.91 [[ 9.85160416e-01 1.41228154e-01 9.75374921e-02 2.96373340e+02] [-1.38253179e-01 9.89718630e-01 -3.66482238e-02 -4.74748239e+01] [-1.01710434e-01 2.26195111e-02 9.94556859e-01 -1.29143295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters Centerline goodness [0,1] 0.17598472496352868 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.47, Z:-12.92 [[ 9.85134162e-01 1.41176163e-01 9.78773384e-02 2.96373128e+02] [-1.38187817e-01 9.89725818e-01 -3.67005712e-02 -4.74745849e+01] [-1.02052975e-01 2.26295307e-02 9.94521541e-01 -1.29157549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47264 meters Centerline goodness [0,1] 0.17583639941815687 Centerline is valid? [False, False] Translation: X:296.37, Y:-47.47, Z:-12.92 [[ 9.85115782e-01 1.41130358e-01 9.81280669e-02 2.96372902e+02] [-1.38137647e-01 9.89733390e-01 -3.66852363e-02 -4.74746416e+01] [-1.02298025e-01 2.25840250e-02 9.94497399e-01 -1.29166875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters Centerline goodness [0,1] 0.18434532867522557 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.92 [[ 9.85376746e-01 1.39538418e-01 9.77839389e-02 2.96377159e+02] [-1.36345116e-01 9.89907379e-01 -3.86444070e-02 -4.74740271e+01] [-1.02189422e-01 2.47469375e-02 9.94457094e-01 -1.29218937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53264 meters Centerline goodness [0,1] 0.184173460241581 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.92 [[ 9.85337484e-01 1.39570396e-01 9.81333159e-02 2.96376586e+02] [-1.36381659e-01 9.89907313e-01 -3.85169420e-02 -4.74748326e+01] [-1.02518712e-01 2.45686023e-02 9.94427623e-01 -1.29227384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters Centerline goodness [0,1] 0.18579668503548685 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.48, Z:-12.92 [[ 9.85303408e-01 1.39587967e-01 9.84499569e-02 2.96376181e+02] [-1.36393461e-01 9.89906440e-01 -3.84975845e-02 -4.74750469e+01] [-1.02830046e-01 2.45038708e-02 9.94397075e-01 -1.29236659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59264 meters Centerline goodness [0,1] 0.19387166392444288 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.48, Z:-12.93 [[ 9.85243088e-01 1.39656779e-01 9.89547427e-02 2.96376153e+02] [-1.36449498e-01 9.89898485e-01 -3.85035543e-02 -4.74754423e+01] [-1.03332432e-01 2.44330357e-02 9.94346738e-01 -1.29255514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters Centerline goodness [0,1] 0.19387166392444288 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.48, Z:-12.93 [[ 9.85243088e-01 1.39656779e-01 9.89547427e-02 2.96376153e+02] [-1.36449498e-01 9.89898485e-01 -3.85035543e-02 -4.74754423e+01] [-1.03332432e-01 2.44330357e-02 9.94346738e-01 -1.29255514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65264 meters Centerline goodness [0,1] 0.19862116363480165 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.93 [[ 9.85802777e-01 1.36035734e-01 9.84233902e-02 2.96377134e+02] [-1.32314824e-01 9.90256118e-01 -4.34235980e-02 -4.74706765e+01] [-1.03371525e-01 2.97842299e-02 9.94196775e-01 -1.29266523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters Centerline goodness [0,1] 0.19597808544975792 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.93 [[ 9.85764175e-01 1.36061246e-01 9.87741265e-02 2.96376853e+02] [-1.32349177e-01 9.90259611e-01 -4.32388423e-02 -4.74715708e+01] [-1.03695159e-01 2.95506274e-02 9.94170043e-01 -1.29280495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71264 meters Centerline goodness [0,1] 0.20723271109597496 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.93 [[ 9.85733626e-01 1.36066160e-01 9.90717851e-02 2.96376652e+02] [-1.32354079e-01 9.90262646e-01 -4.31542581e-02 -4.74719303e+01] [-1.03978922e-01 2.94260484e-02 9.94144100e-01 -1.29292215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters Centerline goodness [0,1] 0.18716109474403309 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.93 [[ 9.85690270e-01 1.36103536e-01 9.94510906e-02 2.96376363e+02] [-1.32388986e-01 9.90261558e-01 -4.30720641e-02 -4.74723818e+01] [-1.04344852e-01 2.92894854e-02 9.94109792e-01 -1.29306775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77264 meters Centerline goodness [0,1] 0.1911597468082824 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.93 [[ 9.85641929e-01 1.36207767e-01 9.97869286e-02 2.96376117e+02] [-1.32506716e-01 9.90255267e-01 -4.28541393e-02 -4.74736191e+01] [-1.04651598e-01 2.90163983e-02 9.94085555e-01 -1.29319947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters Centerline goodness [0,1] 0.19414552908019467 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.48, Z:-12.94 [[ 9.85538111e-01 1.36591681e-01 1.00286314e-01 2.96377014e+02] [-1.32920500e-01 9.90217192e-01 -4.24505885e-02 -4.74763154e+01] [-1.05103630e-01 2.85065657e-02 9.94052616e-01 -1.29351530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83264 meters Centerline goodness [0,1] 0.19833978252880524 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.48, Z:-12.94 [[ 9.85507508e-01 1.36660418e-01 1.00493191e-01 2.96377362e+02] [-1.32977723e-01 9.90207127e-01 -4.25061175e-02 -4.74759922e+01] [-1.05317978e-01 2.85267422e-02 9.94029350e-01 -1.29366237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters Centerline goodness [0,1] 0.20173728446408457 Centerline is valid? [False, False] Translation: X:296.38, Y:-47.47, Z:-12.94 [[ 9.85477959e-01 1.36722735e-01 1.00697994e-01 2.96377653e+02] [-1.33012740e-01 9.90193631e-01 -4.27104619e-02 -4.74747590e+01] [-1.05550003e-01 2.86961028e-02 9.93999864e-01 -1.29378097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89264000000003 meters Centerline goodness [0,1] 0.19933866666666666 Centerline is valid? [False, False] Translation: X:296.42, Y:-47.48, Z:-12.94 [[ 9.85216358e-01 1.37597481e-01 1.02057142e-01 2.96422389e+02] [-1.33807537e-01 9.90068430e-01 -4.31282727e-02 -4.74784871e+01] [-1.06977896e-01 2.88346649e-02 9.93843193e-01 -1.29440150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92264 meters Centerline goodness [0,1] 0.19669082280510486 Centerline is valid? [False, False] Translation: X:296.42, Y:-47.48, Z:-12.95 [[ 9.85189646e-01 1.37690474e-01 1.02189501e-01 2.96423360e+02] [-1.33860744e-01 9.90046476e-01 -4.34658117e-02 -4.74765777e+01] [-1.07157184e-01 2.91429050e-02 9.93814887e-01 -1.29456531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95264000000003 meters Centerline goodness [0,1] 0.1800353814290645 Centerline is valid? [False, False] Translation: X:296.42, Y:-47.47, Z:-12.95 [[ 9.85179665e-01 1.37853458e-01 1.02065923e-01 2.96424976e+02] [-1.33992009e-01 9.90013924e-01 -4.38014927e-02 -4.74744252e+01] [-1.07084873e-01 2.94763217e-02 9.93812848e-01 -1.29471154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98264 meters Centerline goodness [0,1] 0.06227979719859067 Centerline is valid? [False, False] Translation: X:296.43, Y:-47.47, Z:-12.95 [[ 9.85161121e-01 1.38088813e-01 1.01926664e-01 2.96426928e+02] [-1.34194426e-01 9.89970725e-01 -4.41567559e-02 -4.74719575e+01] [-1.07001968e-01 2.98235289e-02 9.93811419e-01 -1.29489873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01264000000003 meters Centerline goodness [0,1] 0.6958256467458921 Centerline is valid? [False, False] Translation: X:296.45, Y:-47.47, Z:-12.95 [[ 9.84600400e-01 1.44664041e-01 9.81548125e-02 2.96450412e+02] [-1.40917308e-01 9.89037624e-01 -4.41235761e-02 -4.74743584e+01] [-1.03461897e-01 2.96123787e-02 9.94192508e-01 -1.29503148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04264 meters Centerline goodness [0,1] 0.6812478588557725 Centerline is valid? [False, False] Translation: X:296.45, Y:-47.47, Z:-12.95 [[ 9.84595203e-01 1.44746118e-01 9.80859219e-02 2.96452168e+02] [-1.40949767e-01 9.89010552e-01 -4.46238760e-02 -4.74717737e+01] [-1.03467145e-01 3.01112664e-02 9.94176977e-01 -1.29521249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07264000000004 meters Centerline goodness [0,1] 0.6698906011563178 Centerline is valid? [False, False] Translation: X:296.45, Y:-47.47, Z:-12.95 [[ 9.84582908e-01 1.44809350e-01 9.81160007e-02 2.96453392e+02] [-1.40967826e-01 9.88988587e-01 -4.50516010e-02 -4.74693381e+01] [-1.03559498e-01 3.05258370e-02 9.94154718e-01 -1.29535935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10264 meters Centerline goodness [0,1] 0.6566776781500707 Centerline is valid? [False, False] Translation: X:296.45, Y:-47.47, Z:-12.96 [[ 9.84572901e-01 1.44863099e-01 9.81370726e-02 2.96454660e+02] [-1.40984042e-01 9.88969985e-01 -4.54078102e-02 -4.74673319e+01] [-1.03632535e-01 3.08715383e-02 9.94136432e-01 -1.29552069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13264000000004 meters Centerline goodness [0,1] 0.6472022065898351 Centerline is valid? [False, False] Translation: X:296.46, Y:-47.47, Z:-12.96 [[ 9.84373156e-01 1.46239218e-01 9.80998550e-02 2.96461186e+02] [-1.42461389e-01 9.88799243e-01 -4.45062980e-02 -4.74673141e+01] [-1.03509629e-01 2.98353634e-02 9.94180873e-01 -1.29620621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16264 meters Centerline goodness [0,1] 0.6484506442338409 Centerline is valid? [False, False] Translation: X:296.46, Y:-47.46, Z:-12.96 [[ 9.84380501e-01 1.46067420e-01 9.82819314e-02 2.96462056e+02] [-1.42246243e-01 9.88814151e-01 -4.48618015e-02 -4.74648472e+01] [-1.03735412e-01 3.01808472e-02 9.94146911e-01 -1.29637699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19264 meters Centerline goodness [0,1] 0.6707975780807597 Centerline is valid? [False, False] Translation: X:296.46, Y:-47.46, Z:-12.97 [[ 9.84396473e-01 1.45875522e-01 9.84068939e-02 2.96462810e+02] [-1.42011097e-01 9.88831134e-01 -4.52309303e-02 -4.74622278e+01] [-1.03905886e-01 3.05502973e-02 9.94117823e-01 -1.29651343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22264 meters Centerline goodness [0,1] 0.6826231081257905 Centerline is valid? [False, False] Translation: X:296.46, Y:-47.46, Z:-12.97 [[ 9.84399599e-01 1.45715030e-01 9.86131803e-02 2.96463596e+02] [-1.41819866e-01 9.88848226e-01 -4.54567014e-02 -4.74605226e+01] [-1.04137193e-01 3.07622507e-02 9.94087083e-01 -1.29668754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25264 meters Centerline goodness [0,1] 0.7001586348825244 Centerline is valid? [False, False] Translation: X:296.51, Y:-47.46, Z:-12.97 [[ 9.85178828e-01 1.43680580e-01 9.36940089e-02 2.96514480e+02] [-1.39762592e-01 9.89061751e-01 -4.71515761e-02 -4.74627389e+01] [-9.94439263e-02 3.33578170e-02 9.94483867e-01 -1.29688545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28264 meters Centerline goodness [0,1] 0.6585725899619186 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.46, Z:-12.97 [[ 9.85159190e-01 1.43714990e-01 9.38475994e-02 2.96515148e+02] [-1.39810792e-01 9.89063883e-01 -4.69635837e-02 -4.74640843e+01] [-9.95706420e-02 3.31456989e-02 9.94478280e-01 -1.29706794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31264 meters Centerline goodness [0,1] 0.6793000408452824 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.47, Z:-12.97 [[ 9.85140245e-01 1.43757300e-01 9.39815789e-02 2.96515883e+02] [-1.39874248e-01 9.89066938e-01 -4.67095944e-02 -4.74659119e+01] [-9.96689177e-02 3.28698985e-02 9.94477590e-01 -1.29724098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34264 meters Centerline goodness [0,1] 0.6610162308768064 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.47, Z:-12.97 [[ 9.85116535e-01 1.43747278e-01 9.42450628e-02 2.96516530e+02] [-1.39868091e-01 9.89073744e-01 -4.65837588e-02 -4.74670085e+01] [-9.99116056e-02 3.27085541e-02 9.94458557e-01 -1.29742261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37264 meters Centerline goodness [0,1] 0.7052421432251417 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.46, Z:-12.98 [[ 9.85390995e-01 1.42230445e-01 9.36754359e-02 2.96523122e+02] [-1.38212336e-01 9.89233819e-01 -4.81019880e-02 -4.74642659e+01] [-9.95084764e-02 3.44521650e-02 9.94440099e-01 -1.29794127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40264 meters Centerline goodness [0,1] 0.7121212121212122 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.46, Z:-12.98 [[ 9.85396493e-01 1.42124304e-01 9.37786468e-02 2.96523983e+02] [-1.38091543e-01 9.89245514e-01 -4.82082930e-02 -4.74632183e+01] [-9.96216757e-02 3.45542449e-02 9.94425224e-01 -1.29807018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43264 meters Centerline goodness [0,1] 0.7091554599246908 Centerline is valid? [False, False] Translation: X:296.52, Y:-47.46, Z:-12.98 [[ 9.85397138e-01 1.41976889e-01 9.39949097e-02 2.96524807e+02] [-1.37919108e-01 9.89261353e-01 -4.83765991e-02 -4.74619829e+01] [-9.98538906e-02 3.47064681e-02 9.94396632e-01 -1.29822893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46264 meters Centerline goodness [0,1] 0.7119193061020412 Centerline is valid? [False, False] Translation: X:296.53, Y:-47.46, Z:-12.98 [[ 9.85403818e-01 1.41898548e-01 9.40431648e-02 2.96525832e+02] [-1.37828266e-01 9.89268895e-01 -4.84811479e-02 -4.74610239e+01] [-9.99133823e-02 3.48117019e-02 9.94386978e-01 -1.29835759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49264 meters Centerline goodness [0,1] 0.709342033713975 Centerline is valid? [False, False] Translation: X:296.53, Y:-47.46, Z:-12.98 [[ 9.85404287e-01 1.41834345e-01 9.41350651e-02 2.96526767e+02] [-1.37742844e-01 9.89272135e-01 -4.86574977e-02 -4.74600140e+01] [-1.00026501e-01 3.49808752e-02 9.94369668e-01 -1.29849808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52264 meters Centerline goodness [0,1] 0.7188099389712292 Centerline is valid? [False, False] Translation: X:296.58, Y:-47.46, Z:-12.98 [[ 9.85943796e-01 1.41699635e-01 8.85214409e-02 2.96577973e+02] [-1.37818143e-01 9.89266876e-01 -4.85510871e-02 -4.74642913e+01] [-9.44510006e-02 3.56687825e-02 9.94890319e-01 -1.29833452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55264 meters Centerline goodness [0,1] 0.7009011774508299 Centerline is valid? [False, False] Translation: X:296.58, Y:-47.46, Z:-12.99 [[ 9.85927492e-01 1.41769087e-01 8.85917992e-02 2.96579140e+02] [-1.37886211e-01 9.89257862e-01 -4.85414885e-02 -4.74644880e+01] [-9.45218163e-02 3.56428005e-02 9.94884524e-01 -1.29851496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58264 meters Centerline goodness [0,1] 0.6817737133134836 Centerline is valid? [False, False] Translation: X:296.58, Y:-47.46, Z:-12.99 [[ 9.85926298e-01 1.41662913e-01 8.87747417e-02 2.96580589e+02] [-1.37762671e-01 9.89269691e-01 -4.86510596e-02 -4.74638857e+01] [-9.47142121e-02 3.57365135e-02 9.94862865e-01 -1.29875505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5499.49 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%| | 0/10285 [00:00